--- 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([ 0.00000000e+00, -1.07992675e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.07992675e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0024697072310001233
  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, 46.81852975,
       -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.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,  2.80171463e-14,  1.00000000e+00,  1.56992097e-27,
        1.00000000e+00, -2.80171463e-14, -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([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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([-3.99516246e-14, -7.99032492e-14,  1.00000000e+00, -3.19226462e-27,
        1.00000000e+00,  7.99032492e-14, -1.00000000e+00,  0.00000000e+00,
       -3.99516246e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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([ 0.00000000e+00, -4.21844399e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.21844399e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,  8.91225839e-14,  1.00000000e+00,  3.97141748e-27,
        1.00000000e+00, -8.91225839e-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([-9.41726451e-14, -4.70863226e-14,  1.00000000e+00, -4.43424354e-27,
        1.00000000e+00,  4.70863226e-14, -1.00000000e+00,  0.00000000e+00,
       -9.41726451e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0009985934236903526
  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, -6.20639574e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.20639574e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0008023056095590037
  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: -0.0007605787524917196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.29854089e-14, -1.45970818e-13,  1.00000000e+00, -1.06537398e-26,
        1.00000000e+00,  1.45970818e-13, -1.00000000e+00,  0.00000000e+00,
       -7.29854089e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0007216315505429727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.69245070e-14,  7.69245070e-14,  1.00000000e+00,  5.91737977e-27,
        1.00000000e+00, -7.69245070e-14, -1.00000000e+00,  0.00000000e+00,
       -7.69245070e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, -8.94501913e-14,  1.00000000e+00, -1.60026735e-26,
        1.00000000e+00,  8.94501913e-14, -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.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,  9.81819575e-14,  1.00000000e+00,  9.63969678e-27,
        1.00000000e+00, -9.81819575e-14, -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: -0.0005189290438698396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0004347867518441767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55348862e-13,  1.27674431e-13,  1.00000000e+00, -3.26015208e-26,
        1.00000000e+00, -1.27674431e-13, -1.00000000e+00,  0.00000000e+00,
        2.55348862e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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([-1.52560592e-13,  6.44640205e-07,  1.00000000e+00,  9.83466914e-20,
        1.00000000e+00, -6.44640205e-07, -1.00000000e+00,  1.20370622e-35,
       -1.52560592e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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([ 1.54712435e-13, -7.82416056e-07,  1.00000000e+00,  1.21049493e-19,
        1.00000000e+00,  7.82416056e-07, -1.00000000e+00, -2.40741243e-35,
        1.54712435e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,  3.95196821e-14,  1.00000000e+00,  6.24722110e-27,
        1.00000000e+00, -3.95196821e-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, -1.21071685e-13,  1.00000000e+00, -9.77223528e-27,
        1.00000000e+00,  1.21071685e-13, -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([-2.27335310e-13, -1.13667655e-13,  1.00000000e+00, -2.58406717e-26,
        1.00000000e+00,  1.13667655e-13, -1.00000000e+00,  0.00000000e+00,
       -2.27335310e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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([-7.17941630e-14, -7.17941630e-14,  1.00000000e+00, -5.15440184e-27,
        1.00000000e+00,  7.17941630e-14, -1.00000000e+00,  0.00000000e+00,
       -7.17941630e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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([-8.04056355e-14, -8.04056355e-14,  1.00000000e+00, -6.46506621e-27,
        1.00000000e+00,  8.04056355e-14, -1.00000000e+00,  0.00000000e+00,
       -8.04056355e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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([-5.13260833e-14, -2.05304333e-13,  1.00000000e+00, -1.05374673e-26,
        1.00000000e+00,  2.05304333e-13, -1.00000000e+00,  0.00000000e+00,
       -5.13260833e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0004894859902072057
  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, -3.50931495e-13,  1.00000000e+00, -6.15764571e-26,
        1.00000000e+00,  3.50931495e-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: -0.00048403867754903684
  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: -0.0005009410169253548
  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: -0.0005225038553524214
  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,  5.31093929e-14,  1.00000000e+00,  5.64121522e-27,
        1.00000000e+00, -5.31093929e-14, -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: -0.0005202497302051051
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.33504854e-14,  5.33504854e-14,  1.00000000e+00,  2.84627429e-27,
        1.00000000e+00, -5.33504854e-14, -1.00000000e+00,  0.00000000e+00,
       -5.33504854e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005159315591504732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07594021e-13, -5.37970107e-14,  1.00000000e+00, -5.78823672e-27,
        1.00000000e+00,  5.37970107e-14, -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: -0.000495304404662042
  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: -0.0004782032298567135
  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, -3.76796037e-14,  1.00000000e+00,  4.54320811e-27,
        1.00000000e+00,  3.76796037e-14, -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: -0.0004515543341245265
  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: -0.00044289613349197954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.76010177e-13, -1.01836090e-13,  1.00000000e+00, -3.82914061e-26,
        1.00000000e+00,  1.01836090e-13, -1.00000000e+00,  0.00000000e+00,
       -3.76010177e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0004344798133739114
  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([-2.60399588e-13, -4.06874357e-14,  1.00000000e+00, -1.05949915e-26,
        1.00000000e+00,  4.06874357e-14, -1.00000000e+00,  0.00000000e+00,
       -2.60399588e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.00041838872495442863
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.78934318e-07,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.78934318e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.00047737814685572255
  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: -0.0005231281223679607
  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: -0.0005574224707419057
  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: -0.0005820165508858832
  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: -0.0005984780398924777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000612356040447487
  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: -0.0006120238666206396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.07009583e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.07009583e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000608091362062399
  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: -0.0005923850458097457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.37078875e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.37078875e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000581817675905219
  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: -0.0005700897374232017
  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: -0.0005575892335325794
  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: -0.0005446377016202625
  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: -0.0005314991987672435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.08885174e-13, -1.04442587e-13,  1.00000000e+00, -2.18165079e-26,
        1.00000000e+00,  1.04442587e-13, -1.00000000e+00,  0.00000000e+00,
       -2.08885174e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005183882000591583
  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: -0.0005054765240724152
  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: -0.0004957179001440631
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005168792931355415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005315319343710545
  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: -0.0005407495154706454
  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: -0.0005454744602899353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01766728e-13,  1.01766728e-13,  1.00000000e+00,  1.03564670e-26,
        1.00000000e+00, -1.01766728e-13, -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([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005182858551108782
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.07105279e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.07105279e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005090864412835849
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09040718e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.09040718e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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([-1.13386716e-13, -2.26773432e-13,  1.00000000e+00, -2.57130947e-26,
        1.00000000e+00,  2.26773432e-13, -1.00000000e+00,  0.00000000e+00,
       -1.13386716e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0004796477597589083
  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([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.00046014966709745364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, -1.30696619e-13,  1.00000000e+00, -1.70816061e-26,
        1.00000000e+00,  1.30696619e-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, -2.66336376e-13,  1.00000000e+00, -3.54675326e-26,
        1.00000000e+00,  2.66336376e-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,  1.40307595e-13,  1.00000000e+00,  1.96862211e-26,
        1.00000000e+00, -1.40307595e-13, -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: -0.00038934402578512384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.85152192e-13,  1.42576096e-13,  1.00000000e+00,  4.06558864e-26,
        1.00000000e+00, -1.42576096e-13, -1.00000000e+00,  0.00000000e+00,
       -2.85152192e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0003834063414799027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44784124e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.44784124e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.00036749895462787063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51051181e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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, -2.81883978e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.81883978e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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([-1.10235892e-13, -1.10235892e-13,  1.00000000e+00, -1.21519519e-26,
        1.00000000e+00,  1.10235892e-13, -1.00000000e+00,  0.00000000e+00,
       -1.10235892e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005893992418881111
  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([ 0.00000000e+00, -8.47804192e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.47804192e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, -7.89851283e-14,  1.00000000e+00, -3.11932525e-27,
        1.00000000e+00,  7.89851283e-14, -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: -0.0007578495132517793
  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.        ,
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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: -0.0007694792617287394
  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.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007730774996858591
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.18054157e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.18054157e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
        9.50290504,  1.3501518 ,  9.50290504, 61.61073548,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        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: -0.0007622474956658631
  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([-3.69931718e-14, -7.39863436e-14,  1.00000000e+00, -2.73698952e-27,
        1.00000000e+00,  7.39863436e-14, -1.00000000e+00,  0.00000000e+00,
       -3.69931718e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0007352982560025895
  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([-1.15958502e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.15958502e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000699281636509827
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.96915551e-14, -7.93831102e-14,  1.00000000e+00, -3.15083909e-27,
        1.00000000e+00,  7.93831102e-14, -1.00000000e+00,  0.00000000e+00,
       -3.96915551e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006794764314317636
  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: -0.0006591149441492611
  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([-4.34651003e-14, -8.69302006e-14,  1.00000000e+00, -3.77842989e-27,
        1.00000000e+00,  8.69302006e-14, -1.00000000e+00,  0.00000000e+00,
       -4.34651003e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006181498351064962
  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([ 0.00000000e+00, -9.28135645e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.28135645e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000541815807399787
  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: -0.0005247277188750593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11580785e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.000508584618631111
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.45741546e-14, -1.09148309e-13,  1.00000000e+00, -5.95667671e-27,
        1.00000000e+00,  1.09148309e-13, -1.00000000e+00,  0.00000000e+00,
       -5.45741546e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0004934158086091489
  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: -0.00047923142799496943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.73750556e-13, -2.31667407e-13,  1.00000000e+00, -4.02523407e-26,
        1.00000000e+00,  2.31667407e-13, -1.00000000e+00,  0.00000000e+00,
       -1.73750556e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.00046602315309025866
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19116724e-13, -1.19116724e-13,  1.00000000e+00, -1.41887939e-26,
        1.00000000e+00,  1.19116724e-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: -0.0004537677322771494
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22333845e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.22333845e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0004424306088611496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.27343024e-14,  2.50937210e-13,  1.00000000e+00,  1.57423708e-26,
        1.00000000e+00, -2.50937210e-13, -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: -0.00043196892453105373
  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: -0.0004223339890799954
  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: -0.00041347329332980243
  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: -0.00040533213360591236
  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: -0.00039785490789899514
  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: -0.0003909861361891531
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.09886440e-14,  1.41977288e-13,  1.00000000e+00, -1.00787751e-26,
        1.00000000e+00, -1.41977288e-13, -1.00000000e+00,  0.00000000e+00,
        7.09886440e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0003846712504044919
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0003788571931551271
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0003734928587428854
  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: -0.00042110932079718333
  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: -0.0005114494960853089
  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: -0.0005816756288298808
  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: -0.00063470803650989
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.74918697e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.74918697e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006732108099842399
  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: -0.0006995590686413311
  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: -0.0007158368357614298
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.75472125e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.75472125e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0007238520344432786
  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: -0.0007251599620339139
  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, 45.50474156,
       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: -0.0007210899716190017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.69822816e-14,  7.69822816e-14,  1.00000000e+00,  5.92627168e-27,
        1.00000000e+00, -7.69822816e-14, -1.00000000e+00,  0.00000000e+00,
       -7.69822816e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0007127723125916197
  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: -0.0007011634924134202
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.91700535e-14, -7.91700535e-14,  1.00000000e+00, -6.26789738e-27,
        1.00000000e+00,  7.91700535e-14, -1.00000000e+00,  0.00000000e+00,
       -7.91700535e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.00068706938462057
  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: -0.0006711658162510126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006540166524568597
  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: -0.0006360895434805725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.74538795e-13, -8.72693975e-14,  1.00000000e+00, -1.52318955e-26,
        1.00000000e+00,  8.72693975e-14, -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: -0.0006177695647947012
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.98573747e-14,  8.98573747e-14,  1.00000000e+00,  8.07434778e-27,
        1.00000000e+00, -8.98573747e-14, -1.00000000e+00,  0.00000000e+00,
       -8.98573747e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005993709997776098
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.26156775e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.26156775e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005811475072371591
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.55198991e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.55198991e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005633008962821623
  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: -0.0005293307618437632
  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: -0.0005134148547511763
  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: -0.0004983016694056486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0004840290403220482
  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: -0.0004706135454725091
  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([ 0.00000000e+00, -1.21189286e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.21189286e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0004463319174545233
  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: -0.0004252877076262873
  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: -0.0004158874148762898
  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: -0.00040717531925657524
  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: -0.0004845519053284508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.14561826e-13, -1.14561826e-13,  1.00000000e+00, -1.31244121e-26,
        1.00000000e+00,  1.14561826e-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,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0006160733786303857
  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: -0.0006579299066023087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21862197e-14,  8.43724395e-14,  1.00000000e+00,  3.55935427e-27,
        1.00000000e+00, -8.43724395e-14, -1.00000000e+00,  0.00000000e+00,
       -4.21862197e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006871593635504464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21175278e-13, -8.07835186e-14,  1.00000000e+00, -9.78896532e-27,
        1.00000000e+00,  8.07835186e-14, -1.00000000e+00,  0.00000000e+00,
       -1.21175278e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0007058898073711017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.93199836e-14, -7.86399671e-14,  1.00000000e+00, -3.09212221e-27,
        1.00000000e+00,  7.86399671e-14, -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: -0.0007159746285090862
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.87661441e-14, -7.75322882e-14,  1.00000000e+00, -3.00562786e-27,
        1.00000000e+00,  7.75322882e-14, -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: -0.0007190132546391892
  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: -0.0007163763327502071
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.74888124e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0007092318692784177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91346988e-14,  1.56538795e-13,  1.00000000e+00, -6.12609861e-27,
        1.00000000e+00, -1.56538795e-13, -1.00000000e+00,  0.00000000e+00,
        3.91346988e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006985703758571882
  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: -0.0006852280415943768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.05056039e-14, -8.10112077e-14,  1.00000000e+00, -3.28140789e-27,
        1.00000000e+00,  8.10112077e-14, -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: -0.000669907535827699
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.28639003e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.28639003e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, -8.49838624e-14,  1.00000000e+00, -7.22225687e-27,
        1.00000000e+00,  8.49838624e-14, -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: -0.0006355830020785685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.74677897e-13, -1.74677897e-13,  1.00000000e+00, -3.05123679e-26,
        1.00000000e+00,  1.74677897e-13, -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: -0.0006308363933839323
  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: -0.0006299874235459746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.81146975e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.81146975e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02819537, -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: -0.0006254686257445019
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43756481e-14,  4.43756481e-14,  1.00000000e+00,  1.96919814e-27,
        1.00000000e+00, -4.43756481e-14, -1.00000000e+00,  0.00000000e+00,
       -4.43756481e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006180662340019433
  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: -0.0006084483460380846
  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: -0.000597179547432547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.64777733e-14,  4.64777733e-14,  1.00000000e+00,  2.16018341e-27,
        1.00000000e+00, -4.64777733e-14, -1.00000000e+00,  0.00000000e+00,
       -4.64777733e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005847341562656289
  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: -0.0005715080585331073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45696505e-13,  4.85655017e-14,  1.00000000e+00,  7.07582388e-27,
        1.00000000e+00, -4.85655017e-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: -0.000557829190915321
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.97564058e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0005439667718230984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02048791e-13,  5.10243953e-14,  1.00000000e+00,  5.20697784e-27,
        1.00000000e+00, -5.10243953e-14, -1.00000000e+00,  0.00000000e+00,
       -1.02048791e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005301394003124488
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04710480e-13,  1.04710480e-13,  1.00000000e+00,  1.09642847e-26,
        1.00000000e+00, -1.04710480e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04710480e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005165221459621783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.37354997e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0005032527478161103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10304716e-13,  1.10304716e-13,  1.00000000e+00,  1.21671303e-26,
        1.00000000e+00, -1.10304716e-13, -1.00000000e+00,  0.00000000e+00,
       -1.10304716e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0004904370311585582
  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: -0.00047815282869426157
  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: -0.00046645249919607945
  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: -0.0004553673619687032
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0004501657360301281
  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: -0.0004817520221045146
  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: -0.0005053414147001278
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005221533359911629
  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: -0.000533272163093651
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005396554532929448
  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: -0.0005513110618987904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00689348e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.00689348e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000573623767385914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005884143696176097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.88680475e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.88680475e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005969689569112202
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.29883382e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.29883382e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006004079096679354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.24557294e-14, -1.84911459e-13,  1.00000000e+00, -1.70961238e-26,
        1.00000000e+00,  1.84911459e-13, -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: -0.000599700003800635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.85129734e-13, -9.25648672e-14,  1.00000000e+00, -1.71365093e-26,
        1.00000000e+00,  9.25648672e-14, -1.00000000e+00,  0.00000000e+00,
       -1.85129734e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005956775817040905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.79569785e-13, -9.31899285e-14,  1.00000000e+00, -2.60530883e-26,
        1.00000000e+00,  9.31899285e-14, -1.00000000e+00,  0.00000000e+00,
       -2.79569785e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005890516220495023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.42381774e-14, -9.42381774e-14,  1.00000000e+00,  8.88083407e-27,
        1.00000000e+00,  9.42381774e-14, -1.00000000e+00,  0.00000000e+00,
        9.42381774e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000580426044019533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.56386293e-14, -1.91277259e-13,  1.00000000e+00,  1.82934948e-26,
        1.00000000e+00,  1.91277259e-13, -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: -0.0005703109059069095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005591343604063742
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000547253350580687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01435928e-13, -2.02871855e-13,  1.00000000e+00, -2.05784948e-26,
        1.00000000e+00,  2.02871855e-13, -1.00000000e+00,  0.00000000e+00,
       -1.01435928e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005349630996894783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.07532636e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.07532636e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, -1.08829093e-13,  1.00000000e+00, -1.18437715e-26,
        1.00000000e+00,  1.08829093e-13, -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: -0.0004978321824798404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11505751e-13, -2.23011501e-13,  1.00000000e+00, -2.48670649e-26,
        1.00000000e+00,  2.23011501e-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: -0.0004858952885676282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28490181e-13, -2.28490181e-13,  1.00000000e+00, -5.22077628e-26,
        1.00000000e+00,  2.28490181e-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: -0.0004743575595882038
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.34047714e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.34047714e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.00046328429385386616
  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: -0.0004527187491717294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22617301e-13, -2.45234602e-13,  1.00000000e+00, -3.00700051e-26,
        1.00000000e+00,  2.45234602e-13, -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: -0.0004426860623262391
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.50792406e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.50792406e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.00043319663233852557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28143081e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0004242490216431194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30845679e-13, -1.30845679e-13,  1.00000000e+00, -1.71205917e-26,
        1.00000000e+00,  1.30845679e-13, -1.00000000e+00,  0.00000000e+00,
       -1.30845679e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0004185184027122868
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.32637301e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.32637301e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.00047292876275514817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.86887028e-14,  1.17377406e-13,  1.00000000e+00, -6.88872768e-27,
        1.00000000e+00, -1.17377406e-13, -1.00000000e+00,  0.00000000e+00,
        5.86887028e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005277167926102805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05191178e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0005692171844072919
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.87609587e-14, -1.95043835e-13,  1.00000000e+00, -9.51052437e-27,
        1.00000000e+00,  1.95043835e-13, -1.00000000e+00,  0.00000000e+00,
       -4.87609587e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005994549099876817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.26027134e-14,  9.26027134e-14,  1.00000000e+00, -8.57526253e-27,
        1.00000000e+00, -9.26027134e-14, -1.00000000e+00,  0.00000000e+00,
        9.26027134e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006202391900028831
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006331642639920421
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.38362952e-14, -8.76725905e-14,  1.00000000e+00, -3.84324156e-27,
        1.00000000e+00,  8.76725905e-14, -1.00000000e+00,  0.00000000e+00,
       -4.38362952e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006396203797943006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30181479e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.30181479e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000640810073173459
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.33132636e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.33132636e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006377666177528468
  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: -0.0006313727586090973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.39606797e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.39606797e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006223786551491223
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.45959632e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0006114184776361969
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.07907649e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.07907649e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005990254225290148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.63345537e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.63345537e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005856451025509773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47863322e-14, -9.47863322e-14,  1.00000000e+00, -8.98444877e-27,
        1.00000000e+00,  9.47863322e-14, -1.00000000e+00,  0.00000000e+00,
       -9.47863322e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005716473746998629
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71073317e-14,  9.71073317e-14,  1.00000000e+00,  9.42983387e-27,
        1.00000000e+00, -9.71073317e-14, -1.00000000e+00,  0.00000000e+00,
       -9.71073317e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005573367243771332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005429613468838912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11188794e-14, -1.02237759e-13,  1.00000000e+00, -5.22627966e-27,
        1.00000000e+00,  1.02237759e-13, -1.00000000e+00,  0.00000000e+00,
       -5.11188794e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005287210718475932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.04991373e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.04991373e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005147742700362806
  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: -0.0005012438706442079
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.53733965e-14, -1.10746793e-13,  1.00000000e+00, -6.13242609e-27,
        1.00000000e+00,  1.10746793e-13, -1.00000000e+00,  0.00000000e+00,
       -5.53733965e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0004882226036201226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.70550741e-13, -2.27400988e-13,  1.00000000e+00, -3.87834070e-26,
        1.00000000e+00,  2.27400988e-13, -1.00000000e+00,  0.00000000e+00,
       -1.70550741e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0004757763553747407
  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: -0.00046663220604872824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48701564e-13, -5.94806258e-14,  1.00000000e+00,  8.84486210e-27,
        1.00000000e+00,  5.94806258e-14, -1.00000000e+00,  0.00000000e+00,
        1.48701564e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.00046641935181808425
  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: -0.00046460758076039
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19479650e-13,  8.96097377e-14,  1.00000000e+00,  1.07065401e-26,
        1.00000000e+00, -8.96097377e-14, -1.00000000e+00,  0.00000000e+00,
       -1.19479650e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005184860828015142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.07063918e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.07063918e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
        4.60946474,  3.18521838,  4.60946474, 13.77615779,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005667198191124517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95903335e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.95903335e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006023895703870796
  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: -0.0006274796624945594
  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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  0.17147519, 0.99956949, 0.02799698,-0.00125683,-0.008685  ]

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: -0.0006437461684930257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.62314278e-14, -8.62314278e-14,  1.00000000e+00,  7.43585914e-27,
        1.00000000e+00,  8.62314278e-14, -1.00000000e+00,  0.00000000e+00,
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  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.096241  , -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: -0.0006527249431677318
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.70090485e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0006557472216461024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
       28.16395394,  4.69771892, 28.16395394, 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: -0.0006539586688577709
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.48848006e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0006483393658830439
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006397232778366096
  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: -0.0006288164265954022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006162134131976194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.00842955e-14,  9.00842955e-14,  1.00000000e+00,  8.11518030e-27,
        1.00000000e+00, -9.00842955e-14, -1.00000000e+00,  0.00000000e+00,
       -9.00842955e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006024121870852744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.21481212e-14, -1.84296242e-13,  1.00000000e+00, -1.69825525e-26,
        1.00000000e+00,  1.84296242e-13, -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: -0.0005878271030556048
  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: -0.0005728003823252115
  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: -0.0005576121280033569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95515493e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.00054248905458186
  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: -0.0005276120865543438
  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: -0.0005082545169294295
  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: -0.000539100923332203
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.14849343e-14,  1.02969869e-13,  1.00000000e+00,  5.30139692e-27,
        1.00000000e+00, -1.02969869e-13, -1.00000000e+00,  0.00000000e+00,
       -5.14849343e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005701578756720921
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73610181e-14,  9.73610181e-14,  1.00000000e+00,  9.47916784e-27,
        1.00000000e+00, -9.73610181e-14, -1.00000000e+00,  0.00000000e+00,
       -9.73610181e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,  8.50441526e-03, -6.36634068e+00,
        6.36639699e+00,  3.79026613e-02,  8.50441526e-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: -0.0005920762395320023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40635143e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.40635143e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006063551652459309
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.83097809e-13, -9.72707112e-14,  1.00000000e+00, -1.78100541e-26,
        1.00000000e+00,  9.72707112e-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: -0.0006143107077693777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.60110209e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.60110209e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006170879006518748
  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: -0.0006156757500909299
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.94462973e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.94462973e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006109231816839589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.81728744e-13, -9.65433952e-14,  1.00000000e+00, -1.75447100e-26,
        1.00000000e+00,  9.65433952e-14, -1.00000000e+00,  0.00000000e+00,
       -1.81728744e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006035547638985339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.19736775e-14, -5.17351936e-14,  1.00000000e+00, -4.75827601e-27,
        1.00000000e+00,  5.17351936e-14, -1.00000000e+00,  0.00000000e+00,
       -9.19736775e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005941855512935912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.34239332e-14, -2.91949791e-14,  1.00000000e+00, -2.72750978e-27,
        1.00000000e+00,  2.91949791e-14, -1.00000000e+00,  0.00000000e+00,
       -9.34239332e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005833347213829998
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.16332644e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.16332644e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005714378833593103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94285863e-13, -6.07143323e-15,  1.00000000e+00, -1.17959365e-27,
        1.00000000e+00,  6.07143323e-15, -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: -0.0005588580580124375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.20810043e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.20810043e-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([ 0.02803433, -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: -0.00054589539571398
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03376514e-13, -1.08043773e-13,  1.00000000e+00, -2.19735659e-26,
        1.00000000e+00,  1.08043773e-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: -0.0005327957331519029
  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: -0.0005197581026702425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13603794e-13, -8.67765411e-14,  1.00000000e+00, -1.85357984e-26,
        1.00000000e+00,  8.67765411e-14, -1.00000000e+00,  0.00000000e+00,
       -2.13603794e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000506941309077219
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09502126e-13, -1.16346009e-13,  1.00000000e+00, -1.27401354e-26,
        1.00000000e+00,  1.16346009e-13, -1.00000000e+00,  0.00000000e+00,
       -1.09502126e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0004944696830337658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.00048243783925555617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15063842e-13, -5.75319209e-14,  1.00000000e+00, -6.61984385e-27,
        1.00000000e+00,  5.75319209e-14, -1.00000000e+00,  0.00000000e+00,
       -1.15063842e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0004709132146125117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35759582e-13, -1.17879791e-13,  1.00000000e+00, -2.77912902e-26,
        1.00000000e+00,  1.17879791e-13, -1.00000000e+00,  0.00000000e+00,
       -2.35759582e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0004599402690783627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.03460438e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.03460438e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0004823738628112195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005179201364289149
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.14361819e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.14361819e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000544108529635573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02022204e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.02022204e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005624042590852557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005741052980874906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.6691585e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.6691585e-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([ 0.0962354 , -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: -0.0005803498035465149
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.56511933e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.56511933e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005821276310796208
  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: -0.0005802937291515126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.91320872e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.91320872e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005755820213810547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64435114e-14,  9.64435114e-14,  1.00000000e+00,  9.30135089e-27,
        1.00000000e+00, -9.64435114e-14, -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: -0.0005686189424794208
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.9524904e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.9524904e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005599361613213977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.97415072e-13, -9.91383573e-14,  1.00000000e+00, -2.94852417e-26,
        1.00000000e+00,  9.91383573e-14, -1.00000000e+00,  0.00000000e+00,
       -2.97415072e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005581599332567383
  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: -0.0005775009916834661
  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: -0.0005898461431734364
  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: -0.0005964107954631315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.86150726e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.86150726e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005982502296948133
  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: -0.0005962744839295292
  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: -0.0005912636620861306
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.38856128e-14, -9.38856128e-14,  1.00000000e+00, -8.81450829e-27,
        1.00000000e+00,  9.38856128e-14, -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: -0.0005838827696787174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005746955849447316
  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: -0.0005641773334626177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005628187769555759
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.86305957e-14, -1.97261191e-13,  1.00000000e+00,  1.94559888e-26,
        1.00000000e+00,  1.97261191e-13, -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: -0.0005763205187384185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63199286e-14, -9.63199286e-14,  1.00000000e+00, -9.27752865e-27,
        1.00000000e+00,  9.63199286e-14, -1.00000000e+00,  0.00000000e+00,
       -9.63199286e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005839998485773074
  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: -0.0005869033403668872
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005859355041310799
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47393541e-14,  9.47393541e-14,  1.00000000e+00,  8.97554522e-27,
        1.00000000e+00, -9.47393541e-14, -1.00000000e+00,  0.00000000e+00,
       -9.47393541e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005818732646403063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.54007592e-14, -9.54007592e-14,  1.00000000e+00, -9.10130486e-27,
        1.00000000e+00,  9.54007592e-14, -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: -0.0005753801691911337
  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: -0.0005670197882114147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78998483e-14, -2.93699545e-13,  1.00000000e+00, -2.87531409e-26,
        1.00000000e+00,  2.93699545e-13, -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: -0.0005572680397304686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96130179e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0005732622547520855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93667561e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.93667561e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005867101012301812
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.89228551e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.89228551e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005942241943782955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.86835715e-13, -9.34178577e-14,  1.00000000e+00, -1.74537923e-26,
        1.00000000e+00,  9.34178577e-14, -1.00000000e+00,  0.00000000e+00,
       -1.86835715e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005968756196235298
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.30028793e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.30028793e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005955895264154049
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.32037062e-14, -9.32037062e-14,  1.00000000e+00, -8.68693085e-27,
        1.00000000e+00,  9.32037062e-14, -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: -0.0005911601288338814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.87804111e-13, -9.39020555e-14,  1.00000000e+00, -1.76351921e-26,
        1.00000000e+00,  9.39020555e-14, -1.00000000e+00,  0.00000000e+00,
       -1.87804111e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000584265396741529
  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: -0.0005754808862452193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92920921e-13, -9.64604604e-14,  1.00000000e+00, -1.86092408e-26,
        1.00000000e+00,  9.64604604e-14, -1.00000000e+00,  0.00000000e+00,
       -1.92920921e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000565292437050377
  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: -0.0005626303944506056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86636196e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0005752287936691414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.65027339e-14,  9.65027339e-14,  1.00000000e+00, -9.31277766e-27,
        1.00000000e+00, -9.65027339e-14, -1.00000000e+00,  0.00000000e+00,
        9.65027339e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005822135711188309
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.53449971e-14, -1.90689994e-13,  1.00000000e+00, -1.81813369e-26,
        1.00000000e+00,  1.90689994e-13, -1.00000000e+00,  0.00000000e+00,
       -9.53449971e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005845980484109198
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.89912202e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.89912202e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005832576829008923
  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: -0.0005789442139157719
  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: -0.0005722994847137397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69966822e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.69966822e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005638684488385448
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47670484e-13,  9.84469894e-14,  1.00000000e+00,  1.45377146e-26,
        1.00000000e+00, -9.84469894e-14, -1.00000000e+00,  0.00000000e+00,
       -1.47670484e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005609911428848396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.8951921e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.8951921e-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([ 0.0345304 , -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: -0.0005710465416364913
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94419009e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.94419009e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000576064943674362
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63626616e-14,  2.40906654e-14,  1.00000000e+00,  2.32144064e-27,
        1.00000000e+00, -2.40906654e-14, -1.00000000e+00,  0.00000000e+00,
       -9.63626616e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000576970881482633
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62113566e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0005745618588388207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.24610636e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.24610636e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005695217181883733
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94939541e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.94939541e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005624335208867653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86981557e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0005620877253577905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.93794373e-14,  1.23448593e-13,  1.00000000e+00,  6.09582208e-27,
        1.00000000e+00, -1.23448593e-13, -1.00000000e+00,  0.00000000e+00,
       -4.93794373e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.00057012002552842
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73674818e-14, -4.86837409e-14,  1.00000000e+00, -4.74021326e-27,
        1.00000000e+00,  4.86837409e-14, -1.00000000e+00,  0.00000000e+00,
       -9.73674818e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005735152904890323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67910571e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.67910571e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005731405283371238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68543463e-14, -9.68543463e-14,  1.00000000e+00, -9.38076440e-27,
        1.00000000e+00,  9.68543463e-14, -1.00000000e+00,  0.00000000e+00,
       -9.68543463e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005697419658888675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46148137e-13,  1.70506160e-13,  1.00000000e+00,  2.49191576e-26,
        1.00000000e+00, -1.70506160e-13, -1.00000000e+00,  0.00000000e+00,
       -1.46148137e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005639581490862466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.92156655e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.92156655e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005645768638233017
  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: -0.0005715385654696675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71258189e-14, -1.94251638e-13,  1.00000000e+00, -1.88668494e-26,
        1.00000000e+00,  1.94251638e-13, -1.00000000e+00,  0.00000000e+00,
       -9.71258189e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005740669372184398
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93396092e-13, -9.66980462e-14,  1.00000000e+00, -1.87010243e-26,
        1.00000000e+00,  9.66980462e-14, -1.00000000e+00,  0.00000000e+00,
       -1.93396092e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005730000069230634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93756197e-13, -9.68780987e-14,  1.00000000e+00, -1.87707320e-26,
        1.00000000e+00,  9.68780987e-14, -1.00000000e+00,  0.00000000e+00,
       -1.93756197e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000569058360449945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95098271e-13, -1.95098271e-13,  1.00000000e+00, -3.80633355e-26,
        1.00000000e+00,  1.95098271e-13, -1.00000000e+00,  0.00000000e+00,
       -1.95098271e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005628580340928946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86237166e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.00057315281851264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68522695e-14, -2.42130674e-14,  1.00000000e+00, -2.34509053e-27,
        1.00000000e+00,  2.42130674e-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: -0.0005807107558926106
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.77958697e-14,  7.16938045e-14,  1.00000000e+00,  3.42666774e-27,
        1.00000000e+00, -7.16938045e-14, -1.00000000e+00,  0.00000000e+00,
       -4.77958697e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005835764614154637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.75611637e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.75611637e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005826353611842333
  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: -0.0005786485239236555
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.59324165e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.59324165e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005722663868941019
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70022921e-14, -9.70022921e-14,  1.00000000e+00, -9.40944468e-27,
        1.00000000e+00,  9.70022921e-14, -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, 9.37974899e-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: -0.0005690536966444365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75499352e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0005763665172732746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63122415e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.63122415e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005791056904766861
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005781343008373074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.60177439e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0005741944914394032
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66765653e-14, -1.93353131e-13,  1.00000000e+00, -1.86927165e-26,
        1.00000000e+00,  1.93353131e-13, -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: -0.0005679207443596151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.77445388e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.77445388e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005816998411055652
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.86287604e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.86287604e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005837899225154125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50875462e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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([-9.53445510e-14, -2.86033653e-13,  1.00000000e+00, -2.72717502e-26,
        1.00000000e+00,  2.86033653e-13, -1.00000000e+00,  0.00000000e+00,
       -9.53445510e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005709327952293092
  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: -0.0005759591510938189
  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: -0.0005836297874222129
  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: -0.0005865469424333608
  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: -0.0005856071196769508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47924801e-14, -9.47924801e-14,  1.00000000e+00, -8.98561428e-27,
        1.00000000e+00,  9.47924801e-14, -1.00000000e+00,  0.00000000e+00,
       -9.47924801e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005815810456982484
  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: -0.0005751275251666688
  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: -0.0005687190683483639
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76073325e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.76073325e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005746106826748226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.66065423e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.66065423e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000576205198730792
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.92678412e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.92678412e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005743256715319833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93308967e-13, -1.93308967e-13,  1.00000000e+00, -3.73683568e-26,
        1.00000000e+00,  1.93308967e-13, -1.00000000e+00,  0.00000000e+00,
       -1.93308967e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005696786356335082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74429227e-14, -9.74429227e-14,  1.00000000e+00, -9.49512318e-27,
        1.00000000e+00,  9.74429227e-14, -1.00000000e+00,  0.00000000e+00,
       -9.74429227e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005711001587407616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72003779e-14, -9.72003779e-14,  1.00000000e+00, -9.44791346e-27,
        1.00000000e+00,  9.72003779e-14, -1.00000000e+00,  0.00000000e+00,
       -9.72003779e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005753158372746453
  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: -0.0005755605850729789
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64471033e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0005726105716333252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.6943986e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.6943986e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005671308877352732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005762820334013069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63263611e-14, -9.63263611e-14,  1.00000000e+00, -9.27876784e-27,
        1.00000000e+00,  9.63263611e-14, -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: -0.0005819504801159309
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90776202e-13, -9.53881011e-14,  1.00000000e+00, -1.81977797e-26,
        1.00000000e+00,  9.53881011e-14, -1.00000000e+00,  0.00000000e+00,
       -1.90776202e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005832494934204097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.51756527e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0005810201227831047
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.55408411e-14, -1.91081682e-13,  1.00000000e+00,  1.82561046e-26,
        1.00000000e+00,  1.91081682e-13, -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: -0.0005759838130366401
  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: -0.0005687559266192438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76010071e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.76010071e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005823635172535757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.53204478e-14, -9.53204478e-14,  1.00000000e+00, -9.08598776e-27,
        1.00000000e+00,  9.53204478e-14, -1.00000000e+00,  0.00000000e+00,
       -9.53204478e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 51.33058799,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000590998052878558
  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: -0.0005945537034304504
  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,-9.51575534e-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: -0.0005939822310213061
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.34559122e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.34559122e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005901022000290718
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.40704021e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0005836135838052786
  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: -0.0005751116398364647
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65223922e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0005738460576882876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000582444454645184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90614404e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.90614404e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005860592401463888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.89438703e-13,  9.47193516e-14,  1.00000000e+00,  1.79435111e-26,
        1.00000000e+00, -9.47193516e-14, -1.00000000e+00,  0.00000000e+00,
       -1.89438703e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005856214132686083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.47901664e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.47901664e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005907678069056732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40946622e-13, -1.40946622e-13,  1.00000000e+00, -1.98659503e-26,
        1.00000000e+00,  1.40946622e-13, -1.00000000e+00,  0.00000000e+00,
       -1.40946622e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006048143066682277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37673210e-13,  4.58910699e-14,  1.00000000e+00,  6.31797089e-27,
        1.00000000e+00, -4.58910699e-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: -0.0006125774557467212
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.06189915e-14,  6.79642436e-14,  1.00000000e+00,  6.15885121e-27,
        1.00000000e+00, -6.79642436e-14, -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: -0.0006151950505298015
  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: -0.0006136498882069463
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.35690935e-13,  9.04606231e-14,  1.00000000e+00,  1.22746865e-26,
        1.00000000e+00, -9.04606231e-14, -1.00000000e+00,  0.00000000e+00,
       -1.35690935e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-3.08944764e-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: -0.0006087856107328676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55917077e-14,  9.11834154e-14,  1.00000000e+00,  4.15720762e-27,
        1.00000000e+00, -9.11834154e-14, -1.00000000e+00,  0.00000000e+00,
       -4.55917077e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006013223157109171
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38472704e-13, -9.23151358e-14,  1.00000000e+00, -1.27831264e-26,
        1.00000000e+00,  9.23151358e-14, -1.00000000e+00,  0.00000000e+00,
       -1.38472704e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005918712891612582
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.6894614e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.6894614e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006039448441872847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006112499696962065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.81631588e-13, -9.08157938e-14,  1.00000000e+00, -1.64950168e-26,
        1.00000000e+00,  9.08157938e-14, -1.00000000e+00,  0.00000000e+00,
       -1.81631588e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006135503802651848
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.80950589e-13, -9.04752943e-14,  1.00000000e+00, -1.63715578e-26,
        1.00000000e+00,  9.04752943e-14, -1.00000000e+00,  0.00000000e+00,
       -1.80950589e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006118067893153278
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.07331403e-14, -9.07331403e-14,  1.00000000e+00, -8.23250274e-27,
        1.00000000e+00,  9.07331403e-14, -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: -0.0006068437490661938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.82950393e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.82950393e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005993649171076726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.85233235e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.85233235e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005899674603658256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.88183773e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.88183773e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005791552886837553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58484750e-14, -9.58484750e-14,  1.00000000e+00, -9.18693017e-27,
        1.00000000e+00,  9.58484750e-14, -1.00000000e+00,  0.00000000e+00,
       -9.58484750e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005673510037254997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.7842695e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.7842695e-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([ 0.06385671, -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: -0.0005585140254859844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93907918e-14,  9.93907918e-14,  1.00000000e+00,  9.87852950e-27,
        1.00000000e+00, -9.93907918e-14, -1.00000000e+00,  0.00000000e+00,
       -9.93907918e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005521741315639012
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.00531966e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.00531966e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005442688205725132
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01992157e-13, -2.03984315e-13,  1.00000000e+00, -2.08048004e-26,
        1.00000000e+00,  2.03984315e-13, -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: -0.000535210274597242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005253437988863852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -3.1699899e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  3.1699899e-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([ 0.09608482, -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: -0.000514956504074196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.15595495e-13, -2.15595495e-13,  1.00000000e+00, -4.64814175e-26,
        1.00000000e+00,  2.15595495e-13, -1.00000000e+00,  0.00000000e+00,
       -2.15595495e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005042850219573319
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.10078921e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.10078921e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0004935223297042046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12479513e-13, -5.62397564e-14,  1.00000000e+00, -6.32582041e-27,
        1.00000000e+00,  5.62397564e-14, -1.00000000e+00,  0.00000000e+00,
       -1.12479513e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005195421794391558
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06846284e-13, -1.06846284e-13,  1.00000000e+00, -1.14161284e-26,
        1.00000000e+00,  1.06846284e-13, -1.00000000e+00,  0.00000000e+00,
       -1.06846284e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005410549318757979
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12989975e-14, -1.02597995e-13,  1.00000000e+00, -5.26317430e-27,
        1.00000000e+00,  1.02597995e-13, -1.00000000e+00,  0.00000000e+00,
       -5.12989975e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005557221630663051
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.99450579e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.99450579e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005646829419763827
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83049905e-14,  1.84321857e-14,  1.00000000e+00,  1.81197584e-27,
        1.00000000e+00, -1.84321857e-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: -0.0005689349056589438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75703032e-14, -1.46355455e-13,  1.00000000e+00, -1.42799461e-26,
        1.00000000e+00,  1.46355455e-13, -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: -0.0005693451240441072
  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: -0.0005666621967429508
  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: -0.0005615285486266636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.88572199e-14, -4.94286100e-14,  1.00000000e+00, -4.88637497e-27,
        1.00000000e+00,  4.94286100e-14, -1.00000000e+00,  0.00000000e+00,
       -9.88572199e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005544923064025875
  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: -0.0005460184139572666
  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: -0.0005444862902680703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01951421e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.01951421e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005485023400723515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01204949e-13, -1.01204949e-13,  1.00000000e+00, -1.02424417e-26,
        1.00000000e+00,  1.01204949e-13, -1.00000000e+00,  0.00000000e+00,
       -1.01204949e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005489404535528042
  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: -0.0005464951193585171
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01576664e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0005417622293923396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.04928097e-13, -1.02464048e-13,  1.00000000e+00, -2.09977624e-26,
        1.00000000e+00,  1.02464048e-13, -1.00000000e+00,  0.00000000e+00,
       -2.04928097e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005352501312741592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03710673e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.03710673e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005447756291513811
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.03794547e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.03794547e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 8.19723470e-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: -0.0005679348607656315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95484219e-13, -9.77421093e-14,  1.00000000e+00, -1.91070399e-26,
        1.00000000e+00,  9.77421093e-14, -1.00000000e+00,  0.00000000e+00,
       -1.95484219e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005834684188342765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.90279883e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.90279883e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-9.18262773e-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: -0.0005926702873360334
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.36627876e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.36627876e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 3.78286154e-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: -0.0005966680829521676
  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: -0.0005964372347320862
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005928162110265811
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005865216364066839
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.46446777e-14, -9.46446777e-14,  1.00000000e+00, -8.95761501e-27,
        1.00000000e+00,  9.46446777e-14, -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: -0.0005781626383119381
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.60130378e-14, -1.92026076e-13,  1.00000000e+00, -1.84370068e-26,
        1.00000000e+00,  1.92026076e-13, -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: -0.0005682540844680478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.76872015e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.76872015e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005572285734954663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96200731e-14, -9.96200731e-14,  1.00000000e+00, -9.92415897e-27,
        1.00000000e+00,  9.96200731e-14, -1.00000000e+00,  0.00000000e+00,
       -9.96200731e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005725520063789707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69539022e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.69539022e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005906768690390751
  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: -0.0006018806519262759
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  7.78455315e-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: -0.0006073814664374899
  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,-1.34411269e-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: -0.0006082346350207296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006053484593664116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.17011522e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0005995001657476545
  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: -0.0005913511913240854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.38717162e-14, -1.87743432e-13,  1.00000000e+00, -1.76237982e-26,
        1.00000000e+00,  1.87743432e-13, -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,-1.99736705e-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: -0.0005814613692201598
  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, 4.11330422e-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: -0.0005703018181191788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73364444e-14,  9.73364444e-14,  1.00000000e+00,  9.47438342e-27,
        1.00000000e+00, -9.73364444e-14, -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, 8.23090555e-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: -0.0005582664925249115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.98869723e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.98869723e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005673737033516368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.78387805e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.78387805e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 24.81416659,
       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: -0.0005844061606330303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.49872793e-14, -1.89974559e-13,  1.00000000e+00, -1.80451665e-26,
        1.00000000e+00,  1.89974559e-13, -1.00000000e+00,  0.00000000e+00,
       -9.49872793e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005948167254865022
  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: -0.0005997738374219769
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.25534723e-14, -1.85106945e-13,  1.00000000e+00, -1.71322905e-26,
        1.00000000e+00,  1.85106945e-13, -1.00000000e+00,  0.00000000e+00,
       -9.25534723e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 21.9852831 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006002894941246062
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005972345366512394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005913540059533651
  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,-1.88623139e-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: -0.0005832818186922856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.90340756e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.90340756e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005735543667084453
  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: -0.0005626228690735896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005535324325438712
  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: -0.0005678550757575729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.77558423e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.77558423e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 3.08142564e-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: -0.0005763406266267312
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005800246229131778
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.91409637e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.91409637e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005798040499814527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005764509622315922
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005706260304432775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72811408e-14, -9.72811408e-14,  1.00000000e+00, -9.46362036e-27,
        1.00000000e+00,  9.72811408e-14, -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: -0.0005628914370462701
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86178641e-14, -9.86178641e-14,  1.00000000e+00, -9.72548312e-27,
        1.00000000e+00,  9.86178641e-14, -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: -0.0005537228157068835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.00250793e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.00250793e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005606906732900374
  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,-7.64038114e-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: -0.0005727818284220476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93830001e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.93830001e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005793949323705111
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005815201458370389
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90917380e-13,  9.54586898e-14,  1.00000000e+00,  1.82247229e-26,
        1.00000000e+00, -9.54586898e-14, -1.00000000e+00,  0.00000000e+00,
       -1.90917380e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005800128615141287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005756075625606288
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64392319e-14,  1.92878464e-13,  1.00000000e+00,  1.86010509e-26,
        1.00000000e+00, -1.92878464e-13, -1.00000000e+00,  0.00000000e+00,
       -9.64392319e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005689313346571578
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005605165680842711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 46.30236621,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005620110590786459
  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, 8.40325839e-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: -0.0005733964016815946
  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, 6.26507829e-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: -0.0005794444011958527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58006517e-14, -9.58006517e-14,  1.00000000e+00, -9.17776486e-27,
        1.00000000e+00,  9.58006517e-14, -1.00000000e+00,  0.00000000e+00,
       -9.58006517e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-4.75960865e-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: -0.0005811243852285042
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.55236996e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.55236996e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-6.11422755e-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, 14.91397277,
  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: -0.0005792734553072137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58289228e-14, -9.58289228e-14,  1.00000000e+00, -9.18318245e-27,
        1.00000000e+00,  9.58289228e-14, -1.00000000e+00,  0.00000000e+00,
       -9.58289228e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-4.04431037e-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: -0.0005746101649749813
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66066294e-14,  9.66066294e-14,  1.00000000e+00,  9.33284084e-27,
        1.00000000e+00, -9.66066294e-14, -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,
 -1.45114724e-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, 1.41397669e-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: -0.0005677478116213192
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.77743112e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.77743112e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005592069073620809
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92676423e-14, -9.92676423e-14,  1.00000000e+00, -9.85406480e-27,
        1.00000000e+00,  9.92676423e-14, -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: -0.0005711601021696905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005823434684655571
  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, 8.76006196e-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: -0.0005880862194905662
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.88785758e-13, -9.43928788e-14,  1.00000000e+00, -1.78200311e-26,
        1.00000000e+00,  9.43928788e-14, -1.00000000e+00,  0.00000000e+00,
       -1.88785758e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-4.77488771e-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,-5.96197132e-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: -0.0005893831295078478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.41851717e-14, -9.41851717e-14,  1.00000000e+00,  8.87084656e-27,
        1.00000000e+00,  9.41851717e-14, -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: -0.0005870921510057886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.89105411e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.89105411e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005819488390161193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.53883701e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.53883701e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  2.26052442e-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: -0.0005745802853061449
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66116532e-14, -9.66116532e-14,  1.00000000e+00, -9.33381152e-27,
        1.00000000e+00,  9.66116532e-14, -1.00000000e+00,  0.00000000e+00,
       -9.66116532e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005655181326550962
  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: -0.0005725837214388824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.6948532e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.6948532e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005843927254218645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  6.08168690e-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: -0.0005906126394602945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.39891014e-14, -9.39891014e-14,  1.00000000e+00, -8.83395117e-27,
        1.00000000e+00,  9.39891014e-14, -1.00000000e+00,  0.00000000e+00,
       -9.39891014e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005922608861249484
  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: -0.0005902155255443076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.40523399e-14, -9.40523399e-14,  1.00000000e+00, -8.84584264e-27,
        1.00000000e+00,  9.40523399e-14, -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: -0.0005852298004517253
  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: -0.0005779462554654363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.60489850e-14, -9.60489850e-14,  1.00000000e+00, -9.22540752e-27,
        1.00000000e+00,  9.60489850e-14, -1.00000000e+00,  0.00000000e+00,
       -9.60489850e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005689099628063965
  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: -0.000564856022996732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.96549736e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.96549736e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005748007526164417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65745973e-14, -1.93149195e-13,  1.00000000e+00, -1.86533057e-26,
        1.00000000e+00,  1.93149195e-13, -1.00000000e+00,  0.00000000e+00,
       -9.65745973e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -7.86010093e-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, 40.68675666,
       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: -0.0005796324586184592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.57695698e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.57695698e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005802916895191468
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.56607724e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.56607724e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005775892949144712
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.6108345e-14, -1.9221669e-13,  1.0000000e+00, -1.8473628e-26,
        1.0000000e+00,  1.9221669e-13, -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: -0.0005722201909134916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94020246e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.94020246e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005647765877295069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005664514716319236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.79980705e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.79980705e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005747533555328227
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005834159366011893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.51485e-14,  0.00000e+00,  1.00000e+00,  0.00000e+00,
        1.00000e+00,  0.00000e+00, -1.00000e+00,  0.00000e+00,
       -9.51485e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005960810065232108
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.3126858e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.3126858e-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([ 0.02773142, -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: -0.0006028735224563042
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20776069e-14, -9.20776069e-14,  1.00000000e+00, -8.47828570e-27,
        1.00000000e+00,  9.20776069e-14, -1.00000000e+00,  0.00000000e+00,
       -9.20776069e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006048614887920606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.17749803e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.17749803e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006029672913475809
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.84126575e-13, -4.60316439e-14,  1.00000000e+00, -8.47564895e-27,
        1.00000000e+00,  4.60316439e-14, -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: -0.0005979826530883858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.28307049e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0005905832895433255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.69968861e-14, -7.04953292e-14,  1.00000000e+00, -3.31306096e-27,
        1.00000000e+00,  7.04953292e-14, -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: -0.0005813427075490596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.54878259e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.54878259e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005707448732664572
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45891327e-13, -4.86304423e-14,  1.00000000e+00, -7.09475975e-27,
        1.00000000e+00,  4.86304423e-14, -1.00000000e+00,  0.00000000e+00,
       -1.45891327e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005591956503399886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48904461e-13,  9.92696406e-14,  1.00000000e+00,  1.47816923e-26,
        1.00000000e+00, -9.92696406e-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, 44.52102657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005744013987887125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66417410e-14, -1.93283482e-13,  1.00000000e+00, -1.86792522e-26,
        1.00000000e+00,  1.93283482e-13, -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: -0.00058671668250318
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.46132143e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.46132143e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005933158855462722
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.87121743e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.87121743e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-1.38965302e-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: -0.0005952392715231763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005933847052795732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.35500203e-14, -9.35500203e-14,  1.00000000e+00, -8.75160630e-27,
        1.00000000e+00,  9.35500203e-14, -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: -0.0005885224227228508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.43229163e-14, -1.88645833e-13,  1.00000000e+00,  1.77936251e-26,
        1.00000000e+00,  1.88645833e-13, -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: -0.0005813094281972436
  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: -0.0005723030116695921
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93992169e-13, -9.69960844e-14,  1.00000000e+00, -1.88164808e-26,
        1.00000000e+00,  9.69960844e-14, -1.00000000e+00,  0.00000000e+00,
       -1.93992169e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005617173188051011
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12671984e-07,  3.12671817e-07,  1.00000000e+00, -9.77637172e-14,
        1.00000000e+00, -3.12671817e-07, -1.00000000e+00,  1.26217745e-29,
        3.12671984e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005598613321505796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91516078e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0005555179132283317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99853686e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.99853686e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000549563086729975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.31310042e-15,  7.70853197e-07,  1.00000000e+00, -4.86647364e-21,
        1.00000000e+00, -7.70853197e-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: -0.0005568118832191826
  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: -0.000559581908871995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48801678e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.48801678e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005589563276283266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.96560719e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.000555610505712012
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005501232583704219
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.00906752e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.00906752e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000542987735360087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.53349185e-13,  1.02232790e-13,  1.00000000e+00,  1.56773151e-26,
        1.00000000e+00, -1.02232790e-13, -1.00000000e+00,  0.00000000e+00,
       -1.53349185e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005346215586376768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.55748913e-13, -1.03832609e-13,  1.00000000e+00, -1.61718160e-26,
        1.00000000e+00,  1.03832609e-13, -1.00000000e+00,  0.00000000e+00,
       -1.55748913e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005253760925931217
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05659835e-13,  1.32074794e-13,  1.00000000e+00,  1.39550009e-26,
        1.00000000e+00, -1.32074794e-13, -1.00000000e+00,  0.00000000e+00,
       -1.05659835e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005155448155459152
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07674735e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.000509591373823115
  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: -0.0005211641427269598
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06513758e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.06513758e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-1.29766428e-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: -0.0005280762090000418
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05119584e-13,  2.10239167e-13,  1.00000000e+00,  2.21002537e-26,
        1.00000000e+00, -2.10239167e-13, -1.00000000e+00,  0.00000000e+00,
       -1.05119584e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005311441525467919
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04512402e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0005310773906744282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.09051081e-13, -2.09051081e-13,  1.00000000e+00, -4.37023543e-26,
        1.00000000e+00,  2.09051081e-13, -1.00000000e+00,  0.00000000e+00,
       -2.09051081e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005284883082908171
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005239023551954214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05957056e-13,  1.05957056e-13,  1.00000000e+00,  1.12268977e-26,
        1.00000000e+00, -1.05957056e-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: -0.0005177677152018584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07212461e-13, -1.07212461e-13,  1.00000000e+00, -1.14945119e-26,
        1.00000000e+00,  1.07212461e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07212461e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005211749756923181
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07343665e-13,  3.85653270e-07,  1.00000000e+00,  4.13974355e-20,
        1.00000000e+00, -3.85653270e-07, -1.00000000e+00,  6.01853108e-36,
       -1.07343665e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005452046254589143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01817095e-13, -1.01817095e-13,  1.00000000e+00, -1.03667209e-26,
        1.00000000e+00,  1.01817095e-13, -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: -0.0005616588371284426
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.88342879e-14, -9.88342879e-14,  1.00000000e+00, -9.76821647e-27,
        1.00000000e+00,  9.88342879e-14, -1.00000000e+00,  0.00000000e+00,
       -9.88342879e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000571931400216788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005771007413715168
  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: -0.0005781031446184526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.60229187e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.60229187e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  4.80430291e-06, 8.56687469e-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: -0.0005757461395742847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92832040e-13, -9.64160199e-14,  1.00000000e+00, -1.85920978e-26,
        1.00000000e+00,  9.64160199e-14, -1.00000000e+00,  0.00000000e+00,
       -1.92832040e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005707220797343399
  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: -0.0005636212222186743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84901722e-14, -9.84901722e-14,  1.00000000e+00, -9.70031402e-27,
        1.00000000e+00,  9.84901722e-14, -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, 4.59942272e-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: -0.0005549439327457301
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00030198e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.00030198e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005451118400704863
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03668852e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.03668852e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005638543669086449
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.96898896e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.96898896e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005821981494218975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90695045e-13, -9.53475226e-14,  1.00000000e+00, -1.81823001e-26,
        1.00000000e+00,  9.53475226e-14, -1.00000000e+00,  0.00000000e+00,
       -1.90695045e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005936900807891748
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.35019011e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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, 34.60371739,
       20.59246295,  5.19011437, 20.59246295, 21.47905411,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005995286241405606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.85182655e-13, -1.85182655e-13,  1.00000000e+00, -3.42926158e-26,
        1.00000000e+00,  1.85182655e-13, -1.00000000e+00,  0.00000000e+00,
       -1.85182655e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-9.02947453e-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: -0.0006007530186827592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.24026172e-14,  1.84805234e-13,  1.00000000e+00,  1.70764873e-26,
        1.00000000e+00, -1.84805234e-13, -1.00000000e+00,  0.00000000e+00,
       -9.24026172e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005982584786107803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.27879056e-14,  9.27879056e-14,  1.00000000e+00,  8.60959542e-27,
        1.00000000e+00, -9.27879056e-14, -1.00000000e+00,  0.00000000e+00,
       -9.27879056e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005928116357208357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.36404549e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.000585065395687992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.89760501e-13, -9.48802504e-14,  1.00000000e+00, -1.80045238e-26,
        1.00000000e+00,  9.48802504e-14, -1.00000000e+00,  0.00000000e+00,
       -1.89760501e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005755727625746943
  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: -0.0005647994298085546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.82847154e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.82847154e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005547357778938194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00067732e-13, -2.00135464e-13,  1.00000000e+00, -2.00271020e-26,
        1.00000000e+00,  2.00135464e-13, -1.00000000e+00,  0.00000000e+00,
       -1.00067732e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-6.80366932e+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: -0.0005697739565779514
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005788033544531779
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.91813509e-13, -9.59067545e-14,  1.00000000e+00, -1.83962111e-26,
        1.00000000e+00,  9.59067545e-14, -1.00000000e+00,  0.00000000e+00,
       -1.91813509e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005828862663686957
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-5.30668713e+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: -0.0005829431335169083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.52256713e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.52256713e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-2.66041763e-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: -0.0005797664042697798
  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, 1.08740846e-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: -0.0005740343726275687
  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: -0.0005663243774658017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80200631e-14, -9.80200631e-14,  1.00000000e+00, -9.60793278e-27,
        1.00000000e+00,  9.80200631e-14, -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,-5.80192813e-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: -0.0005571250366432079
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96385866e-14, -9.96385866e-14,  1.00000000e+00, -9.92784795e-27,
        1.00000000e+00,  9.96385866e-14, -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: -0.0005597634795223017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.98337881e-13,  9.91689406e-14,  1.00000000e+00,  1.96689575e-26,
        1.00000000e+00, -9.91689406e-14, -1.00000000e+00,  0.00000000e+00,
       -1.98337881e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005714319459518419
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71439410e-14,  9.71439410e-14,  1.00000000e+00,  9.43694527e-27,
        1.00000000e+00, -9.71439410e-14, -1.00000000e+00,  0.00000000e+00,
       -9.71439410e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005777188044842202
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92173600e-13, -9.60868000e-14,  1.00000000e+00, -1.84653463e-26,
        1.00000000e+00,  9.60868000e-14, -1.00000000e+00,  0.00000000e+00,
       -1.92173600e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  1.33318506e-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: -0.0005795992485005813
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.87325172e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.87325172e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -4.81477190e-08, 8.40403374e-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: -0.0005779154519214569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.60541045e-14, -9.60541045e-14,  1.00000000e+00, -9.22639100e-27,
        1.00000000e+00,  9.60541045e-14, -1.00000000e+00,  0.00000000e+00,
       -9.60541045e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000573390332095497
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005666409254817817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 4.78723700e-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: -0.0005581909378601646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.98896641e-13, -9.94483204e-14,  1.00000000e+00, -1.97799369e-26,
        1.00000000e+00,  9.94483204e-14, -1.00000000e+00,  0.00000000e+00,
       -1.98896641e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 38.39385787,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005681378107778023
  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,-3.83542428e-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: -0.0005798911295945841
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 5.74155891e-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,
        8.65903159,  1.16186395,  8.65903159, 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: -0.0005861347712137893
  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: -0.0005878698970740448
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.44276132e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.44276132e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005859607846571135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.47352667e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.47352667e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005811490618334442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.55196435e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.55196435e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 8.54608019e-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: -0.0005740675321955907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66979460e-14, -9.66979460e-14,  1.00000000e+00, -9.35049276e-27,
        1.00000000e+00,  9.66979460e-14, -1.00000000e+00,  0.00000000e+00,
       -9.66979460e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 1.73575234e-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, -3.45221646]

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,
        43.503801  , -12.89064418,  -5.84395938, -12.89064418,
        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: -0.0005700731154724553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73754940e-14, -9.73754940e-14,  1.00000000e+00, -9.48198683e-27,
        1.00000000e+00,  9.73754940e-14, -1.00000000e+00,  0.00000000e+00,
       -9.73754940e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -4.84627764e-07,-7.74304000e-06,-4.90500744e+00, 2.57468890e-04,
  1.18421967e-02,-6.21502861e-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: -0.0005702974646332876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73371875e-14,  4.86685937e-14,  1.00000000e+00,  4.73726403e-27,
        1.00000000e+00, -4.86685937e-14, -1.00000000e+00,  0.00000000e+00,
       -9.73371875e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 43.51716954,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005780233293941894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92072356e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.92072356e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005877550557793626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.88892127e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.88892127e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005922565890938286
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.37282122e-14,  9.37282122e-14,  1.00000000e+00, -8.78497775e-27,
        1.00000000e+00, -9.37282122e-14, -1.00000000e+00,  0.00000000e+00,
        9.37282122e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005924989234683958
  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: -0.0005893179792017117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.41955840e-14, -1.88391168e-13,  1.00000000e+00, -1.77456161e-26,
        1.00000000e+00,  1.88391168e-13, -1.00000000e+00,  0.00000000e+00,
       -9.41955840e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005834292001062197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.51463369e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.51463369e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005922917092092556
  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, 1.91431753e-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,
        64.63168677,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005991141058006438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.63276951e-14, -4.63276951e-14,  1.00000000e+00, -2.14625533e-27,
        1.00000000e+00,  4.63276951e-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: -0.0006011920595449943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.61675685e-14, -6.92513528e-14,  1.00000000e+00, -3.19716658e-27,
        1.00000000e+00,  6.92513528e-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: -0.0005994338928120707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.3890894e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.3890894e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  1.46556999e-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: -0.0005946195804205495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.33557405e-14, -4.66778702e-14,  1.00000000e+00, -4.35764714e-27,
        1.00000000e+00,  4.66778702e-14, -1.00000000e+00,  0.00000000e+00,
       -9.33557405e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -1.39400749e-07,-8.25027362e-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: -0.0005874150745290158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.45007264e-14,  9.45007264e-14,  1.00000000e+00,  8.93038729e-27,
        1.00000000e+00, -9.45007264e-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: -0.0005783858081903903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.39939978e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.39939978e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-9.54935077e-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,
 -1.83955866e-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, 56.32086178,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005683370315936955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.66942121e-07,  1.95345889e-13,  1.00000000e+00, -1.49818990e-19,
        1.00000000e+00, -1.95345889e-13, -1.00000000e+00,  0.00000000e+00,
        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: -0.000574662651511848
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65978058e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.65978058e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005763544169036933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92628527e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.92628527e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005745749401506739
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66125519e-14,  9.66125519e-14,  1.00000000e+00,  9.33398519e-27,
        1.00000000e+00, -9.66125519e-14, -1.00000000e+00,  0.00000000e+00,
       -9.66125519e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005700319108161156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73825328e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.73825328e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  6.45874569e-08, 8.74963421e-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,  5.48439227]

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: -0.0005633293243037241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.97082413e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.97082413e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-4.82314337e-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: -0.0005549797311662635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.0004749e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.0004749e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
        5.05296172, -0.78189583,  5.05296172, 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: -0.000547126213933255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.07297492e-14,  1.01459498e-13,  1.00000000e+00,  5.14701491e-27,
        1.00000000e+00, -1.01459498e-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,
        61.82918762,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005520163134003081
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00560708e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.00560708e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-5.30681031e-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: -0.0005531989650058022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00345725e-13,  2.50864313e-14,  1.00000000e+00,  2.51731613e-27,
        1.00000000e+00, -2.50864313e-14, -1.00000000e+00,  0.00000000e+00,
       -1.00345725e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005513854779253952
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.55068189e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.55068189e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -2.64163450e-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: -0.0005471876170759921
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.07240565e-14, -5.07240565e-14,  1.00000000e+00, -2.57292991e-27,
        1.00000000e+00,  5.07240565e-14, -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: -0.0005411284326896082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02584059e-13, -7.69380445e-14,  1.00000000e+00, -7.89261692e-27,
        1.00000000e+00,  7.69380445e-14, -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, 4.14210082e-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, 51.2650349 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005380423358505304
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.06344919e-13, -1.03172460e-13,  1.00000000e+00, -2.12891129e-26,
        1.00000000e+00,  1.03172460e-13, -1.00000000e+00,  0.00000000e+00,
       -2.06344919e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 7.71277872e-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: -0.0005413644779451582
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02539331e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.02539331e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005413732999617199
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.0253766e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.0253766e-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([ 0.09578116, -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: -0.0005387169092831434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03043269e-13, -1.03043269e-13,  1.00000000e+00, -1.06179152e-26,
        1.00000000e+00,  1.03043269e-13, -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,
 -3.54649478e-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: -0.0005341540745281865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.60081932e-07, -2.07846964e-13,  1.00000000e+00, -9.56266327e-20,
        1.00000000e+00,  2.07846964e-13, -1.00000000e+00,  1.20370622e-35,
       -4.60081932e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.000537928822688008
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03194231e-13, -5.15971155e-14,  1.00000000e+00, -5.32452466e-27,
        1.00000000e+00,  5.15971155e-14, -1.00000000e+00,  0.00000000e+00,
       -1.03194231e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 5.91444344e-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: -0.000538245462267356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.54700286e-13, -2.57833810e-14,  1.00000000e+00, -3.98869640e-27,
        1.00000000e+00,  2.57833810e-14, -1.00000000e+00,  0.00000000e+00,
       -1.54700286e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005359342538030359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17891428e-14,  1.81262000e-13,  1.00000000e+00,  9.38740360e-27,
        1.00000000e+00, -1.81262000e-13, -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: -0.0005315396389965615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04434641e-13,  2.61086602e-14,  1.00000000e+00,  2.72664855e-27,
        1.00000000e+00, -2.61086602e-14, -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, 59.65128392,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005266967436529935
  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, -0.23928011, -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: -0.0005285655348227919
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.10044536e-13,  1.05022268e-13,  1.00000000e+00,  2.20593535e-26,
        1.00000000e+00, -1.05022268e-13, -1.00000000e+00,  0.00000000e+00,
       -2.10044536e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005275714990233549
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05220148e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.05220148e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -4.67099569e-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, 42.77286475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005272091574434618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05292464e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.05292464e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005397134536539311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02853006e-13, -1.02853006e-13,  1.00000000e+00, -1.05787409e-26,
        1.00000000e+00,  1.02853006e-13, -1.00000000e+00,  0.00000000e+00,
       -1.02853006e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -1.52205694e-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: -0.0005483954192419677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.02449361e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.02449361e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005526106691476074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00452551e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.00452551e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -0.09234505,15.37912378,17.30497316,-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: -0.0005531787172704944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00349398e-13, -2.00698796e-13,  1.00000000e+00, -2.01400033e-26,
        1.00000000e+00,  2.00698796e-13, -1.00000000e+00,  0.00000000e+00,
       -1.00349398e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005508069134655263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00781508e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.00781508e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -23.61989361,  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: -0.000561493505102803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.97726779e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.97726779e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  4.94199765e-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: -0.0005708576197494958
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.9448335e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.9448335e-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([ 0.0957562 , -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, 1.27656734e-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, 1.45265876e-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, 42.6538166 ,
       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: -0.0005752993095917008
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92981811e-13, -9.64909054e-14,  1.00000000e+00, -1.86209896e-26,
        1.00000000e+00,  9.64909054e-14, -1.00000000e+00,  0.00000000e+00,
       -1.92981811e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005757281665498409
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92838060e-13, -9.64190298e-14,  1.00000000e+00, -1.85932586e-26,
        1.00000000e+00,  9.64190298e-14, -1.00000000e+00,  0.00000000e+00,
       -1.92838060e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 7.92834240e-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,-3.11879258e-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: -0.0005729279100669254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -4.23350359e-08, 2.01502221e-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: -0.0005675698564969744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.93414902e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.93414902e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  4.45419945e-07,-6.08623860e-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, 18.94044069,
       21.10610102, -3.21613233, 21.10610102, 41.3016257 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000576515991258672
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
        7.4658564 ,  1.0643663 ,  7.4658564 , 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: -0.0005856694765926651
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.89564775e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.89564775e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  9.65862175e-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, -5.55222744]

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, 62.62836946,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005897538573309685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.88251931e-13, -9.41259655e-14,  1.00000000e+00, -1.77193948e-26,
        1.00000000e+00,  9.41259655e-14, -1.00000000e+00,  0.00000000e+00,
       -1.88251931e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -9.85309514e-08, 6.68074918e-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,-4.67345748e-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: -0.0005897143083445078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  1.96274267e-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: -0.0005863641443681483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 3.28055725e-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: -0.0005803991833482347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56430554e-14, -9.56430554e-14,  1.00000000e+00, -9.14759404e-27,
        1.00000000e+00,  9.56430554e-14, -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, 5.47001649e-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: -0.0005724114242171008
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69777137e-14, -1.93955427e-13,  1.00000000e+00, -1.88093539e-26,
        1.00000000e+00,  1.93955427e-13, -1.00000000e+00,  0.00000000e+00,
       -9.69777137e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-4.87032853e-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,
       20.2718779 , -3.66574815, 20.2718779 , 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: -0.0005856487502537561
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.89571484e-13, -1.89571484e-13,  1.00000000e+00, -3.59373474e-26,
        1.00000000e+00,  1.89571484e-13, -1.00000000e+00,  0.00000000e+00,
       -1.89571484e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,  6.64639027]

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, -3.85687667,  5.10046698, -3.85687667, 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: -0.0005954537012267946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-5.66384094e-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, 9.35045700e-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, 37.62140095,
       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: -0.000599915302906151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.25316473e-14, -1.85063295e-13,  1.00000000e+00, -1.71242115e-26,
        1.00000000e+00,  1.85063295e-13, -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,  5.59164844]

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 , 49.11903911,
       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: -0.0006000293846088606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.25140546e-14, -9.25140546e-14,  1.00000000e+00, -8.55885029e-27,
        1.00000000e+00,  9.25140546e-14, -1.00000000e+00,  0.00000000e+00,
       -9.25140546e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 3.91417540e-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: -0.0005966523962719072
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  7.36685737e-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: -0.0005905167007778933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.40043714e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.40043714e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005822451302278236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.53398291e-14, -1.90679658e-13,  1.00000000e+00, -1.81793660e-26,
        1.00000000e+00,  1.90679658e-13, -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,-8.70898907e-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,
 -18.47965328,  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: -0.0005723437167144359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.23086497e-07, -3.23086788e-07,  1.00000000e+00,  1.04384979e-13,
        1.00000000e+00,  3.23086788e-07, -1.00000000e+00,  0.00000000e+00,
        3.23086497e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 40.31370854,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005901835926493404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.40574288e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.40574288e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0006013915949975301
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.23045012e-14,  9.23045012e-14,  1.00000000e+00,  8.52012095e-27,
        1.00000000e+00, -9.23045012e-14, -1.00000000e+00,  0.00000000e+00,
       -9.23045012e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, -6.38021968,  1.18956578, -6.38021968,  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: -0.0006069094523802332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.82930587e-13, -1.82930587e-13,  1.00000000e+00, -3.34635997e-26,
        1.00000000e+00,  1.82930587e-13, -1.00000000e+00,  0.00000000e+00,
       -1.82930587e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 66.09902846,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006077880816202225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.13330697e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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,
  4.89731770e-06,-1.37207203e-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: -0.0006049322339429924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.17642475e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.17642475e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  9.46774819e-07, 1.09588540e-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,-2.27806465e-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: -0.0005991162990177934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.26550510e-14, -9.26550510e-14,  1.00000000e+00, -8.58495847e-27,
        1.00000000e+00,  9.26550510e-14, -1.00000000e+00,  0.00000000e+00,
       -9.26550510e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  7.77634457e-09,-6.30489365e-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: -0.0005909994685297792
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.39275823e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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, -0.46683496, 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: -0.000581139816903456
  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: -0.0005700071033651749
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  1.40301653e-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,
 -24.37180191,  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: -0.0005769868292108266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.62086974e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.62086974e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, -9.54224909,
 -23.50871337,  7.03444935]

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,
       15.45668466,  4.99470205, 15.45668466, 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: -0.0005899097540187359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.41010906e-14,  9.41010906e-14,  1.00000000e+00, -8.85501526e-27,
        1.00000000e+00, -9.41010906e-14, -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,
  9.83847990e-06,-1.97109798e-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, 33.5227293 ,
       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: -0.0005969444398007534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.85984315e-13,  9.29921573e-14,  1.00000000e+00,  1.72950826e-26,
        1.00000000e+00, -9.29921573e-14, -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,-8.48617243e-06,-4.90500405e+00, 2.66262522e-04,
  1.18254620e-02,-5.87148247e-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,-7.63162223e-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, 43.67954796,
       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: -0.0005991588821147309
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.26484659e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.26484659e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-1.84262506e-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: -0.000597474707673365
  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, 5.42439899e-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: -0.0005926824505106537
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.36608654e-14, -1.87321731e-13,  1.00000000e+00, -1.75447154e-26,
        1.00000000e+00,  1.87321731e-13, -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, 8.52286534e-06,-4.90500608e+00, 2.64266541e-04,
  1.18193888e-02,-5.94570294e-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: -0.000585456419323338
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48168803e-14, -9.48168803e-14,  1.00000000e+00, -8.99024079e-27,
        1.00000000e+00,  9.48168803e-14, -1.00000000e+00,  0.00000000e+00,
       -9.48168803e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 9.25551202e-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: -0.0005763686362052906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.63118875e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.63118875e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 7.73472615e-06,-4.90501241e+00, 2.56711026e-04,
  1.18203841e-02,-5.97663517e-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: -0.0005659015965153585
  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, 4.04647020e-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 , 18.13679856,
       19.37988538, -3.25374897, 19.37988538, 37.68885187,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005729628067003417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68843886e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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,
  8.25977595e-05,-1.74513653e-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,
        8.19833332,  1.59691809,  8.19833332, 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: -0.0005859875692053179
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47309365e-14, -9.47309365e-14,  1.00000000e+00, -8.97395034e-27,
        1.00000000e+00,  9.47309365e-14, -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,
  6.02001817e-05, 9.26034565e-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: -0.0005931623624390731
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.87170174e-13, -9.35850869e-14,  1.00000000e+00, -1.75163370e-26,
        1.00000000e+00,  9.35850869e-14, -1.00000000e+00,  0.00000000e+00,
       -1.87170174e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 1.61864815e-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, -5.89905725]

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,  1.05153575, -6.30826335,  7.88853413,
        8.95802976,  1.05153575,  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: -0.0005955440872384976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.32108175e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.32108175e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 1.94655470e-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: -0.0005940455687209051
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  1.52752508e-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, -5.26245095]

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: -0.0005894504058683164
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.88348844e-13, -9.41744219e-14,  1.00000000e+00, -1.77376435e-26,
        1.00000000e+00,  9.41744219e-14, -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,
  6.87182338e-06, 1.63456124e-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: -0.000582427484436876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.76549894e-14,  9.53099789e-14,  1.00000000e+00,  4.54199604e-27,
        1.00000000e+00, -9.53099789e-14, -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,
  1.44712208e-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,
        47.1277775 , -14.57051128,  -5.94595535, -14.57051128,
        11.51509428,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005857461492703719
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.89539961e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.89539961e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 1.74462985e-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: -0.0005866456701539569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.89249334e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.89249334e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -2.49802356e-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, -2.74929993,
  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: -0.0005841199184613982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.75169135e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.75169135e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  5.23586006e-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: -0.000578873678026004
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58951034e-14, -7.19213276e-14,  1.00000000e+00, -6.89690315e-27,
        1.00000000e+00,  7.19213276e-14, -1.00000000e+00,  0.00000000e+00,
       -9.58951034e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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 , 44.27415903,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005907266441540354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.39709623e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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: -0.0006020374504910192
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.84410957e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.84410957e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 32.65519289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006076128099922196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.13594156e-14, -1.82718831e-13,  1.00000000e+00, -1.66930856e-26,
        1.00000000e+00,  1.82718831e-13, -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,
  3.27466173e-06,-1.39263946e-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, -4.86065468,  4.32087652, -4.86065468, 30.89509471,
       27.43863645,  4.32087652, 27.43863645, 37.36989424,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000608511901660086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.12244298e-14, -9.12244298e-14,  1.00000000e+00, -8.32189659e-27,
        1.00000000e+00,  9.12244298e-14, -1.00000000e+00,  0.00000000e+00,
       -9.12244298e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -3.03576427e-07,-3.07106769e-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, -0.20442178, -8.90488059,
 -21.46462836,  6.10332836]

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: -0.0006056467074437022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.16559944e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.16559944e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 5.17246565e-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,  5.78147642]

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: -0.000599797857313969
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.25497658e-14, -1.85099532e-13,  1.00000000e+00, -1.71309183e-26,
        1.00000000e+00,  1.85099532e-13, -1.00000000e+00,  0.00000000e+00,
       -9.25497658e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005916298672721948
  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,
  1.79742565e-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: -0.0005817053089797325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.54283043e-14,  9.54283043e-14,  1.00000000e+00,  9.10656126e-27,
        1.00000000e+00, -9.54283043e-14, -1.00000000e+00,  0.00000000e+00,
       -9.54283043e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 48.03998313,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005853498973870386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.74170675e-14,  9.48341351e-14,  1.00000000e+00,  4.49675659e-27,
        1.00000000e+00, -9.48341351e-14, -1.00000000e+00,  0.00000000e+00,
       -4.74170675e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,  0.58946586, -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([ 6.38438491, -6.27640584, -1.16923069, -6.27640584,  7.95260807,
       -8.41818903, -1.16923069, -8.41818903, 51.57304706,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005942364303308523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.34159341e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.34159341e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, -1.80356613,
  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,  -6.22791502,  -1.54270846,  -6.22791502,
         9.9504508 , -14.26800785,  -1.54270846, -14.26800785,
        64.01609843,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005980397539969706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.28218415e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.28218415e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 8.49083169e-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: -0.0005977121309945627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.28727197e-14,  9.28727197e-14,  1.00000000e+00,  8.62534207e-27,
        1.00000000e+00, -9.28727197e-14, -1.00000000e+00,  0.00000000e+00,
       -9.28727197e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  6.30893096e-06, 5.25063514e-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, 9.24476586e-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: -0.0005940732674596799
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40162386e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.40162386e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  1.00907931e-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: -0.0005878246437170664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41652324e-13, -9.44348826e-14,  1.00000000e+00, -1.33769206e-26,
        1.00000000e+00,  9.44348826e-14, -1.00000000e+00,  0.00000000e+00,
       -1.41652324e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  1.00944573e-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: -0.000579563207716835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.57810132e-14, -9.57810132e-14,  1.00000000e+00, -9.17400248e-27,
        1.00000000e+00,  9.57810132e-14, -1.00000000e+00,  0.00000000e+00,
       -9.57810132e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-3.75284848e-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: -0.0005697940732098394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94846362e-13, -9.74231812e-14,  1.00000000e+00, -1.89825525e-26,
        1.00000000e+00,  9.74231812e-14, -1.00000000e+00,  0.00000000e+00,
       -1.94846362e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-6.36386434e-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: -0.0005589420671411743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-8.74169570e-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,
       20.11798569, -4.0433319 , 20.11798569, 28.53592941,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000555583179224557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48494868e-07, -1.48494627e-07,  1.00000000e+00, -2.20506900e-14,
        1.00000000e+00,  1.48494627e-07, -1.00000000e+00,  0.00000000e+00,
       -1.48494868e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005659437593889399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.96171970e-13, -9.80859852e-14,  1.00000000e+00, -1.92417210e-26,
        1.00000000e+00,  9.80859852e-14, -1.00000000e+00,  0.00000000e+00,
       -1.96171970e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-2.09465921e-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 , 30.12008048,
       29.39244167,  3.91001901, 29.39244167, 42.30041204,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005713636262413418
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71555568e-14, -9.71555568e-14,  1.00000000e+00, -9.43920221e-27,
        1.00000000e+00,  9.71555568e-14, -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, 1.64719142e-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, -8.89330942,
 -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: -0.0005726449801764372
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  6.96609502e-06, 2.97426159e-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: -0.0005705852425811342
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,  0.94505556, -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: -0.0005658687348751301
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80989898e-14, -9.80989898e-14,  1.00000000e+00, -9.62341179e-27,
        1.00000000e+00,  9.80989898e-14, -1.00000000e+00,  0.00000000e+00,
       -9.80989898e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  5.40819895e-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: -0.0005590793475235556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92902912e-14, -1.98580582e-13,  1.00000000e+00, -1.97171239e-26,
        1.00000000e+00,  1.98580582e-13, -1.00000000e+00,  0.00000000e+00,
       -9.92902912e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,  5.17894892]

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: -0.0005507124172008382
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00798801e-13, -2.01597602e-13,  1.00000000e+00, -2.03207965e-26,
        1.00000000e+00,  2.01597602e-13, -1.00000000e+00,  0.00000000e+00,
       -1.00798801e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-1.38305943e-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: -0.0005411856203818843
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.07719657e-13, -1.02573219e-13,  1.00000000e+00, -3.15637959e-26,
        1.00000000e+00,  1.02573219e-13, -1.00000000e+00,  0.00000000e+00,
       -3.07719657e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 41.97112389,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005478604071283144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51985297e-13, -7.59926486e-14,  1.00000000e+00, -1.15497653e-26,
        1.00000000e+00,  7.59926486e-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, 46.10690071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005589492420819547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.93134028e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.93134028e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, -1.6745268 ,
  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,  -6.00398927,  -1.28768677,  -6.00398927,
         8.48121694, -10.913757  ,  -1.28768677, -10.913757  ,
        57.02718409,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005650055084939765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82488673e-14,  9.82488673e-14,  1.00000000e+00,  9.65283993e-27,
        1.00000000e+00, -9.82488673e-14, -1.00000000e+00,  0.00000000e+00,
       -9.82488673e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  9.25100327e-06,-1.74181619e-05,-4.90500549e+00, 2.43856022e-04,
  1.18363301e-02,-6.60610208e-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: -0.00056693478115806
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79145275e-14,  1.22393159e-13,  1.00000000e+00,  1.19840684e-26,
        1.00000000e+00, -1.22393159e-13, -1.00000000e+00,  0.00000000e+00,
       -9.79145275e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-9.39927643e-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, 1.97080682e-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: -0.000565521171181832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.90796402e-14, -1.22699101e-13,  1.00000000e+00, -6.02202771e-27,
        1.00000000e+00,  1.22699101e-13, -1.00000000e+00,  0.00000000e+00,
       -4.90796402e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -2.53495499e-07,-1.52893377e-06,-4.90500654e+00, 2.50031107e-04,
  1.18325919e-02,-6.53320979e-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,-1.17490707e-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: -0.0005614393852594185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.94364598e-14, -4.94364598e-14,  1.00000000e+00, -2.44396356e-27,
        1.00000000e+00,  4.94364598e-14, -1.00000000e+00,  0.00000000e+00,
       -4.94364598e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 6.31173669e-06,-4.90500876e+00, 2.51262961e-04,
  1.18304624e-02,-6.49530263e-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: -0.0005552665919534711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.99860356e-14,  2.49930178e-14,  1.00000000e+00,  1.24930188e-27,
        1.00000000e+00, -2.49930178e-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: -0.0005474936621696069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.52087106e-13,  7.60435532e-14,  1.00000000e+00,  1.15652440e-26,
        1.00000000e+00, -7.60435532e-14, -1.00000000e+00,  0.00000000e+00,
       -1.52087106e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005385355592399943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03077968e-13, -1.28847460e-13,  1.00000000e+00, -1.32813344e-26,
        1.00000000e+00,  1.28847460e-13, -1.00000000e+00,  0.00000000e+00,
       -1.03077968e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-6.37462297e-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: -0.0005287407865534888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.24937291e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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, 5.43406618e-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 ,
       10.87159755, -1.26984544, 10.87159755, 55.73174954,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005422342813951042
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 26.94614242,
       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: -0.0005542609110324864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00153466e-13,  1.00153466e-13,  1.00000000e+00,  1.00307167e-26,
        1.00000000e+00, -1.00153466e-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: -0.0005610584814630531
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.89400447e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.89400447e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.0005635607297327788
  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,  9.70239659e-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, 2.68676918e-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: -0.0005625761804308876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.97346255e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.97346255e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-6.06486565e-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,  0.99562378, -0.39188972, -9.2944466 ,
 -20.909649  ,  4.94727204]

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: -0.0005588005623150399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93398271e-14, -1.98679654e-13,  1.00000000e+00, -1.97368025e-26,
        1.00000000e+00,  1.98679654e-13, -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([ 6.17008426,  5.24211121, -3.25426025,  5.24211121, 19.94772564,
       22.19365473, -3.25426025, 22.19365473, 41.92063813,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005685551056599653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76354810e-14, -9.76354810e-14,  1.00000000e+00, -9.53268716e-27,
        1.00000000e+00,  9.76354810e-14, -1.00000000e+00,  0.00000000e+00,
       -9.76354810e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -6.20674865e-07,-1.30960802e-05,-4.90501943e+00, 2.64911417e-04,
  1.18402486e-02,-5.93142995e-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,
        3.63490009,  0.54484702,  3.63490009, 48.06602825,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005824742968124491
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.5302319e-14, -9.5302319e-14,  1.0000000e+00, -9.0825320e-27,
        1.0000000e+00,  9.5302319e-14, -1.0000000e+00,  0.0000000e+00,
       -9.5302319e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -9.05916828e-07, 9.19841547e-07,-4.90501743e+00, 2.68371212e-04,
  1.18332359e-02,-5.86940202e-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([ 6.35245311, -6.34719718,  0.2583572 , -6.34719718,  6.44082736,
        2.17113661,  0.2583572 ,  2.17113661, 59.69190706,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005904124794477578
  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, -8.83994191e-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,
  0.14877916,15.82735056,17.64859545,-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: -0.0005934435379688213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.3540746e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.3540746e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-5.76948578e-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: -0.0005924956390438024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.87380793e-13, -9.36903963e-14,  1.00000000e+00, -1.75557807e-26,
        1.00000000e+00,  9.36903963e-14, -1.00000000e+00,  0.00000000e+00,
       -1.87380793e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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: -0.00058836606702381
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-5.69964184e-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: -0.000581735807364453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90846603e-13, -1.90846603e-13,  1.00000000e+00, -3.64224257e-26,
        1.00000000e+00,  1.90846603e-13, -1.00000000e+00,  0.00000000e+00,
       -1.90846603e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 1.95911327e-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: -0.0005731833102405048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.68471172e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.68471172e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 1.47352319e-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,
       19.78823114, -3.67536055, 19.78823114, 34.13164358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005885731935829364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.43147799e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.43147799e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 7.34602907e-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,-8.75731003e-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, 4.19315683e-01,-9.60365959e+00,
 -2.33977069e+01, 6.82750558e+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, 25.36588972,
       15.35793523,  4.9977397 , 15.35793523, 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: -0.00060037403388076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.24609462e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.24609462e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-5.62955890e-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,
  2.35831463e-02,-7.61328690e-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,
 -22.66567454,  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, 32.76568391,
       19.54929146,  5.20371554, 19.54929146, 21.02796302,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006063611510352396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.15480010e-14, -1.83096002e-13,  1.00000000e+00, -1.67620730e-26,
        1.00000000e+00,  1.83096002e-13, -1.00000000e+00,  0.00000000e+00,
       -9.15480010e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-6.91099096e-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, 42.8638819 ,
       24.23852192,  5.40543543, 24.23852192, 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: -0.000607604901165501
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.13606048e-14,  9.13606048e-14,  1.00000000e+00,  8.34676010e-27,
        1.00000000e+00, -9.13606048e-14, -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,-7.76372681e-02, 1.71434417e-01, 9.99682089e-01,
  2.33296442e-02,-6.63997269e-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,-1.98710961e-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: -0.0006050268555953253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.17498963e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.17498963e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  5.70521552e-06, 9.31865543e-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,-6.79155998e-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: -0.0005994158587451642
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  4.67146941e-07, 3.75532217e-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,-7.75703077e-02, 1.71436460e-01, 9.99690101e-01,
  2.29987109e-02,-7.35859980e-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,  4.56329611]

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: -0.0005914434604816776
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.87714143e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.87714143e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -1.66798195e-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,-8.33523863e-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 ,  4.33469502]

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: -0.0005816782584867064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  3.53040209e-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,-8.94366670e-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, 19.58385444,
       22.01557876, -3.23210699, 22.01557876, 42.53783332,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005761378164834408
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63504732e-14, -9.63504732e-14,  1.00000000e+00, -9.28341368e-27,
        1.00000000e+00,  9.63504732e-14, -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,-9.19117041e-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,
  18.07612799, -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([ 6.32014102, -6.19925044,  1.2302343 , -6.19925044,  7.88793802,
        7.90025633,  1.2302343 ,  7.90025633, 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: -0.0005865428077978241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  4.23340006e-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,-9.08415669e-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,
  0.23863052,15.9690654 ,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,
        7.64742338,  0.93004376,  7.64742338, 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: -0.000591620206701185
  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, -8.80388722e-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,
  5.58912505e-07,-4.51661505e-06,-4.90500408e+00, 2.81984566e-04,
  1.18212610e-02,-5.33305595e-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,-8.62818753e-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,
  0.04679089,15.48746925,17.48884371,-4.91631749]

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: -0.0005923540397072824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  1.05020393e-07, 8.55233727e-07,-4.90500293e+00, 2.83130011e-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,-7.82803110e-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: -0.0005895919176246572
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.41518185e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.41518185e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  2.69172978e-06, 3.14054235e-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,-6.68772078e-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, 14.76088176,
  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: -0.0005840596804247283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.50436284e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.50436284e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  8.17782359e-06, 2.55130807e-06,-4.90500313e+00, 2.81602079e-04,
  1.18172411e-02,-5.28731633e-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,-5.21061641e-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: -0.0005763754436092366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.631075e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -9.631075e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  1.64541655e-05,-7.50015956e-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,-3.39946448e-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, -3.94823499]

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: -0.0005670626539386742
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78924478e-14, -9.78924478e-14,  1.00000000e+00, -9.58293133e-27,
        1.00000000e+00,  9.78924478e-14, -1.00000000e+00,  0.00000000e+00,
       -9.78924478e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-6.64061244e-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,-2.06528143e-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([ 6.27403882,  5.09890323, -3.65578296,  5.09890323, 22.04602416,
       21.99797633, -3.65578296, 21.99797633, 36.955716  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005810203210505904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.55408085e-14,  9.55408085e-14,  1.00000000e+00,  9.12804609e-27,
        1.00000000e+00, -9.55408085e-14, -1.00000000e+00,  0.00000000e+00,
       -9.55408085e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-5.30405551e-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,-1.19190452e-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,  0.32299257, -9.80324908,
 -23.00364304,  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, -3.72675038,  5.1525245 , -3.72675038, 30.88658637,
       17.74045036,  5.1525245 , 17.74045036, 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: -0.0005911992801202332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.3895837e-14,  9.3895837e-14,  1.0000000e+00,  8.8164282e-27,
        1.0000000e+00, -9.3895837e-14, -1.0000000e+00,  0.0000000e+00,
       -9.3895837e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  2.21973600e-05,-7.17103193e-06,-4.90500544e+00, 2.76992165e-04,
  1.18157983e-02,-5.30965613e-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,-7.65764376e-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,  5.57241078]

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([ 6.39928784, -3.50265996,  5.35558196, -3.50265996, 40.05676758,
       22.01267904,  5.35558196, 22.01267904, 20.79602945,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005960211927160675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  9.47105379e-06,-2.19814659e-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,-7.75517467e-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, -3.19383947,  5.54970823, -3.19383947, 52.2590568 ,
       26.38994943,  5.54970823, 26.38994943, 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: -0.000596479456776905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.30646489e-14, -9.30646489e-14,  1.00000000e+00, -8.66102888e-27,
        1.00000000e+00,  9.30646489e-14, -1.00000000e+00,  0.00000000e+00,
       -9.30646489e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  2.23441555e-06, 1.14410003e-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,-1.21172708e-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,  4.7756772 ]

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: -0.0005934290754892879
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.35430257e-14, -9.35430257e-14,  1.00000000e+00, -8.75029765e-27,
        1.00000000e+00,  9.35430257e-14, -1.00000000e+00,  0.00000000e+00,
       -9.35430257e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -1.11699613e-08,-5.45921453e-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,-2.06658891e-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: -0.0005876016817211588
  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,
  2.35714214e-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,-3.33369671e-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,
 -20.6144606 ,  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: -0.000579619894405442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.57716458e-14, -9.57716458e-14,  1.00000000e+00, -9.17220814e-27,
        1.00000000e+00,  9.57716458e-14, -1.00000000e+00,  0.00000000e+00,
       -9.57716458e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  9.05625081e-06,-7.30843292e-06,-4.90500246e+00, 2.80886187e-04,
  1.18164852e-02,-5.28089208e-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,-5.00784286e-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: -0.0005700106252395781
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73861693e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.73861693e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  1.98763617e-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,-6.31062044e-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, -6.32078051]

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, -3.22814764,  5.33599365, 20.12928586,
       22.96421877, -3.22814764, 22.96421877, 44.19538424,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005765199660835996
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62866067e-14, -9.62866067e-14,  1.00000000e+00, -9.27111063e-27,
        1.00000000e+00,  9.62866067e-14, -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,
  2.20434175e-02,-7.24984149e-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,  0.52315395, 16.56741504,
  18.21405313, -5.71973107]

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,
        7.66522456,  1.20326965,  7.66522456, 45.94484165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000588137733918706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-1.18411949e-05,-4.90500562e+00, 2.80257535e-04,
  1.18199933e-02,-5.22651741e-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,-7.83238480e-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,
        7.40438939,  0.90800196,  7.40438939, 57.91204558,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005941690720905335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.34265243e-14, -9.34265243e-14,  1.00000000e+00, -8.72851544e-27,
        1.00000000e+00,  9.34265243e-14, -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,-4.28822451e-06,-4.90500292e+00, 2.83577433e-04,
  1.18187676e-02,-5.21881961e-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,-8.06423554e-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: -0.0005956354819989795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.86393030e-13, -9.31965152e-14,  1.00000000e+00, -1.73711809e-26,
        1.00000000e+00,  9.31965152e-14, -1.00000000e+00,  0.00000000e+00,
       -1.86393030e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  4.10060974e-06,-1.57191217e-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,-7.95054208e-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, 15.10819876,
  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: -0.0005934178865209805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.35447894e-14, -9.35447894e-14,  1.00000000e+00, -8.75062763e-27,
        1.00000000e+00,  9.35447894e-14, -1.00000000e+00,  0.00000000e+00,
       -9.35447894e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  6.08423123e-07, 8.41736833e-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,-7.49568040e-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, -4.30950474]

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: -0.0005882714629325131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.8872631e-13, -9.4363155e-14,  1.0000000e+00, -1.7808810e-26,
        1.0000000e+00,  9.4363155e-14, -1.0000000e+00,  0.0000000e+00,
       -1.8872631e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  1.44789308e-07,-1.06768207e-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,-6.70332056e-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, 14.51574414,
  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: -0.0005808399873527964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.55704711e-14, -9.55704711e-14,  1.00000000e+00, -9.13371495e-27,
        1.00000000e+00,  9.55704711e-14, -1.00000000e+00,  0.00000000e+00,
       -9.55704711e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  2.57575084e-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,-5.57649143e-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: -0.0005716692351079855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94207237e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.94207237e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  7.79708046e-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,-4.92239874e-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, 4.79943418e-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: -0.0005651106391054983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82305895e-14, -1.96461179e-13,  1.00000000e+00, -1.92984974e-26,
        1.00000000e+00,  1.96461179e-13, -1.00000000e+00,  0.00000000e+00,
       -9.82305895e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-4.72591900e-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, 33.23581003,
       18.85038872,  5.10209875, 18.85038872, 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: -0.0005747172398557487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.65886307e-14, -9.65886307e-14,  1.00000000e+00,  9.32936358e-27,
        1.00000000e+00,  9.65886307e-14, -1.00000000e+00,  0.00000000e+00,
        9.65886307e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  5.13733984e-06,-1.14797412e-05,-4.90500337e+00, 2.79007077e-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,-4.97437672e-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,
 -22.22044503,  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, 42.99763368,
       23.06410506,  5.30155058, 23.06410506, 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: -0.0005793051415604045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58236812e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.58236812e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  2.72362775e-07,-3.18997345e-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,-5.65719814e-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: -0.0005798011548753951
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.57417052e-14, -9.57417052e-14,  1.00000000e+00,  9.16647411e-27,
        1.00000000e+00,  9.57417052e-14, -1.00000000e+00,  0.00000000e+00,
        9.57417052e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  5.73762530e-07, 2.36463185e-06,-4.90500238e+00, 2.80764512e-04,
  1.18164308e-02,-5.39898147e-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,-6.76561129e-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: -0.0005770038724936671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92411711e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.92411711e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  5.62008325e-06, 5.37118495e-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,-8.29238833e-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, -9.51767432,
 -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: -0.0005715973769816335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 5.97771188e-06,-4.90500566e+00, 2.77349694e-04,
  1.18156010e-02,-5.42957281e-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,-1.02316256e-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: -0.0005641643721851358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.96790701e-13, -9.83953507e-14,  1.00000000e+00, -1.93632901e-26,
        1.00000000e+00,  9.83953507e-14, -1.00000000e+00,  0.00000000e+00,
       -1.96790701e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 4.29980531e-06,-4.90500885e+00, 2.74111980e-04,
  1.18165188e-02,-5.43907430e-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, 19.39373855,
       22.00605894, -3.18215615, 22.00605894, 42.83748222,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005700237280598097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.73839307e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.73839307e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  4.64791430e-05, 4.26195471e-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,-5.6768553 ]

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,  7.47474539,
        7.4730747 ,  1.00881677,  7.4730747 , 51.9678523 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005785121893966128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.59550244e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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,
  3.03612011e-05, 7.42670760e-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, 15.81027874,
  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, -6.24580723,  0.68752065, -6.24580723,  6.99495838,
        6.46296666,  0.68752065,  6.46296666, 64.99659752,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005821578490894791
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.53541231e-14,  9.53541231e-14,  1.00000000e+00,  9.09240880e-27,
        1.00000000e+00, -9.53541231e-14, -1.00000000e+00,  0.00000000e+00,
       -9.53541231e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  1.78393541e-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: -0.0005818648859094167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.54021330e-14, -9.54021330e-14,  1.00000000e+00, -9.10156698e-27,
        1.00000000e+00,  9.54021330e-14, -1.00000000e+00,  0.00000000e+00,
       -9.54021330e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  8.67006280e-06, 1.10279568e-05,-4.90500603e+00, 2.78311313e-04,
  1.18214572e-02,-5.50179769e-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: -0.0005784115398728557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.59717215e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.59717215e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  2.65632614e-06, 8.19734439e-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: -0.000572463778984747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93937689e-13, -9.69688446e-14,  1.00000000e+00, -1.88059137e-26,
        1.00000000e+00,  9.69688446e-14, -1.00000000e+00,  0.00000000e+00,
       -1.93937689e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -3.59882397e-07, 2.55074980e-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,
  16.75245319, -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: -0.0005645883064592377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83214682e-14, -9.83214682e-14,  1.00000000e+00, -9.66711111e-27,
        1.00000000e+00,  9.83214682e-14, -1.00000000e+00,  0.00000000e+00,
       -9.83214682e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -5.03920697e-07,-5.76958485e-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,  7.02140939]

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,
       21.13756029, -3.62363542, 21.13756029, 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: -0.000573545340234502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93571972e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.93571972e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  2.12627670e-06,-1.66587495e-05,-4.90500918e+00, 2.69979755e-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,  6.39450799]

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, 33.15536836,
       18.76885656,  5.156206  , 18.76885656, 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: -0.0005829186100076156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90459355e-13, -9.52296775e-14,  1.00000000e+00, -1.81373829e-26,
        1.00000000e+00,  9.52296775e-14, -1.00000000e+00,  0.00000000e+00,
       -1.90459355e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -9.30262675e-07,-2.34626044e-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,  0.04606561, -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, 42.93621968,
       23.04462953,  5.35333292, 23.04462953, 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: -0.0005871927183897507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.89073023e-13, -1.89073023e-13,  1.00000000e+00, -3.57486081e-26,
        1.00000000e+00,  1.89073023e-13, -1.00000000e+00,  0.00000000e+00,
       -1.89073023e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  1.55347460e-06, 8.87589625e-06,-4.90501014e+00, 2.71403128e-04,
  1.18240071e-02,-5.77371473e-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: -0.0005873142640426127
  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,
  9.05618232e-06, 1.72664471e-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,  5.20347842]

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: -0.0005840982135863759
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50373583e-14, -9.50373583e-14,  1.00000000e+00, -9.03209948e-27,
        1.00000000e+00,  9.50373583e-14, -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,
  2.11913779e-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 ,  4.96607128]

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: -0.0005782421375595675
  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,
  3.76757442e-05, 2.63405087e-05,-4.90501859e+00, 2.62505242e-04,
  1.18180004e-02,-5.88717704e-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 ,  4.78347677]

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: -0.0005703398010904054
  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,
  5.83054211e-05, 2.73187412e-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([ 6.18601252,  5.28441991, -3.21584469,  5.28441991, 18.23571011,
       19.80060235, -3.21584469, 19.80060235, 38.72324844,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005704666626450833
  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,
  8.29381840e-05, 2.60681895e-05,-4.90502886e+00, 2.51145276e-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,  1.90941142, -1.79274805,  0.37529871, 16.73362228,
  17.72446494, -6.39599639]

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, 46.11201534,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005796147210200414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.57725006e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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,
  6.07048991e-05, 3.25475209e-05,-4.90502494e+00, 2.57179123e-04,
  1.18210729e-02,-5.97578042e-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,
  17.42411615, -5.93543529]

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,  0.99540789, -6.21769587,  7.62171765,
        8.2754983 ,  0.99540789,  8.2754983 , 57.98877681,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005837555553130092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.50931443e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.50931443e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  4.22178862e-05, 3.52919753e-05,-4.90502190e+00, 2.61083778e-04,
  1.18241568e-02,-6.01566188e-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,-1.75602746e-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: -0.000583818435693953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90165804e-13, -9.50829022e-14,  1.00000000e+00, -1.80815166e-26,
        1.00000000e+00,  9.50829022e-14, -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,
  2.72026412e-05, 3.46568203e-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, -5.29315725]

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: -0.0005806037044399082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  1.54359432e-05, 3.09153098e-05,-4.90501843e+00, 2.63613255e-04,
  1.18325149e-02,-6.11849565e-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: -0.0005747966507067964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.65752865e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.65752865e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  6.73733620e-06, 2.42754723e-05,-4.90501797e+00, 2.62623366e-04,
  1.18375960e-02,-6.18097734e-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,-2.86015884,21.10523605,-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([  6.27337122,  -2.16279748,  -5.88875993,  -2.16279748,
        52.82061292, -17.09566326,  -5.88875993, -17.09566326,
        12.55219015,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005809403325063717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.91107927e-13, -4.77769817e-14,  1.00000000e+00, -9.13055991e-27,
        1.00000000e+00,  4.77769817e-14, -1.00000000e+00,  0.00000000e+00,
       -1.91107927e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  9.62112480e-07, 1.48934633e-05,-4.90501835e+00, 2.60305591e-04,
  1.18432055e-02,-6.25060087e-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,  0.36985203, -2.8068337 ,
  20.79536972, -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: -0.0005855598986313215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48001244e-14,  7.11000933e-14,  1.00000000e+00,  6.74029769e-27,
        1.00000000e+00, -7.11000933e-14, -1.00000000e+00,  0.00000000e+00,
       -9.48001244e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,-3.36187658e-07,-4.90501498e+00, 2.56340979e-04,
  1.18455255e-02,-6.31850487e-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,  2.34791897,  0.19631031,  0.17631393, -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: -0.000586027371755074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.18405628e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.18405628e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -8.28803455e-08,-1.50038659e-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,  7.51998143,
        6.35798152, -1.12608711,  6.35798152, 41.83549018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005936938753397375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  5.80300875e-06,-2.91546907e-05,-4.90501210e+00, 2.46060091e-04,
  1.18489761e-02,-6.44988963e-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,  7.35996694]

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, -4.97646814,  4.09323072, -4.97646814, 21.3460078 ,
       18.11806937,  4.09323072, 18.11806937, 28.47117069,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006013269802013083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.23144197e-14,  9.23144197e-14,  1.00000000e+00,  8.52195209e-27,
        1.00000000e+00, -9.23144197e-14, -1.00000000e+00,  0.00000000e+00,
       -9.23144197e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -2.99375467e-07,-1.15071244e-05,-4.90501241e+00, 2.48968631e-04,
  1.18408294e-02,-6.50876949e-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, -8.89869467,
 -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([ 6.46547188, -4.7762649 ,  4.35770813, -4.7762649 , 28.35451046,
       23.99147527,  4.35770813, 23.99147527, 32.76132234,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006039495634195535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.19135547e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -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,
 -7.41792352e-07, 3.12472568e-06,-4.90501342e+00, 2.49707819e-04,
  1.18343407e-02,-6.56443736e-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,  0.99187565, -0.15425876, -8.89024447,
 -21.68973304,  6.3426247 ]

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, 38.66077408,
       31.0512755 ,  4.64593321, 31.0512755 , 36.39028171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006025158464015579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.84264535e-13, -1.84264535e-13,  1.00000000e+00, -3.39534190e-26,
        1.00000000e+00,  1.84264535e-13, -1.00000000e+00,  0.00000000e+00,
       -1.84264535e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  3.94738079e-06, 1.49733868e-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,  5.99192044]

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: -0.0005978447416590954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.28521192e-14, -1.39278179e-13,  1.00000000e+00, -1.29322741e-26,
        1.00000000e+00,  1.39278179e-13, -1.00000000e+00,  0.00000000e+00,
       -9.28521192e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  1.33754625e-05, 2.42299690e-05,-4.90501772e+00, 2.46014801e-04,
  1.18255437e-02,-6.66572098e-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,  0.60953073, -1.85405921,
  21.60953347, -5.6023264 ]

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([ 6.41116485,  6.37090954, -0.71731886,  6.37090954,  7.01199667,
        5.33632302, -0.71731886,  5.33632302, 53.80603065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005974436590796689
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39371681e-13, -4.64572269e-14,  1.00000000e+00, -6.47482179e-27,
        1.00000000e+00,  4.64572269e-14, -1.00000000e+00,  0.00000000e+00,
       -1.39371681e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  2.72534244e-05, 3.10498507e-05,-4.90502108e+00, 2.42022968e-04,
  1.18229408e-02,-6.71121023e-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,
  21.16677606, -5.20978121]

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: -0.000601402807568624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  1.32638196e-05, 2.15889073e-05,-4.90501505e+00, 2.43431412e-04,
  1.18263633e-02,-6.75444102e-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,  0.1860754 , -2.07446585,
  20.7867222 , -4.89989355]

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: -0.0006011431438061876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  4.27167122e-06, 1.23294548e-05,-4.90501055e+00, 2.43411657e-04,
  1.18291798e-02,-6.79670410e-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, 1.77599259e-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: -0.0005975009292729094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -6.35705809e-08, 3.31872645e-06,-4.90500745e+00, 2.42155958e-04,
  1.18314449e-02,-6.83792138e-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, -0.20347203,  2.40517043,  0.40569269,-20.87139473,
  -2.02979102,  3.10863679]

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([ 6.41812582,  4.4911574 , -4.58495847,  4.4911574 , 30.78965249,
       23.87292342, -4.58495847, 23.87292342, 29.80264662,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005982773958985721
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.27849717e-14, -4.63924858e-14,  1.00000000e+00, -4.30452548e-27,
        1.00000000e+00,  4.63924858e-14, -1.00000000e+00,  0.00000000e+00,
       -9.27849717e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -9.74915230e-09,-5.41805113e-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,  2.89613923]

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: -0.0005993218841536113
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  5.12698136e-08,-3.24207271e-06,-4.90500341e+00, 2.39312266e-04,
  1.18300149e-02,-6.90768488e-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, 2.40289437e-02,-2.03598517e+01,
 -1.82031503e+00, 2.72565914e+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: -0.0005967683912442984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.30195903e-14, -9.30195903e-14,  1.00000000e+00, -8.65264417e-27,
        1.00000000e+00,  9.30195903e-14, -1.00000000e+00,  0.00000000e+00,
       -9.30195903e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  8.50404663e-08,-1.65591952e-06,-4.90500170e+00, 2.38987486e-04,
  1.18278669e-02,-6.92773547e-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, -0.12656502,-20.14963303,
  -1.74469562,  2.5889799 ]

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: -0.0005913613283495545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.38701071e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.38701071e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  8.68583845e-08,-6.01851588e-07,-4.90500057e+00, 2.38843130e-04,
  1.18266554e-02,-6.93828889e-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,  2.47952753]

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: -0.0005837355735857502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.50963994e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.50963994e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  5.41207549e-08,-3.57415689e-08,-4.90500003e+00, 2.38888270e-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,-19.81666478,
  -1.63428107,  2.39204165]

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: -0.0005744295244383413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66370092e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.66370092e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -1.45326623e-08, 7.58421906e-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: -0.0005638970595744641
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.96883989e-13, -9.84419945e-14,  1.00000000e+00, -1.93816526e-26,
        1.00000000e+00,  9.84419945e-14, -1.00000000e+00,  0.00000000e+00,
       -1.96883989e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -1.19749542e-07,-2.42091060e-07,-4.90500080e+00, 2.39569955e-04,
  1.18279381e-02,-6.91380040e-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: -0.0005525183319498028
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00469338e-13, -1.00469338e-13,  1.00000000e+00, -1.00940879e-26,
        1.00000000e+00,  1.00469338e-13, -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,
 -2.61789635e-07,-9.71188322e-07,-4.90500210e+00, 2.40213598e-04,
  1.18298508e-02,-6.88714187e-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: -0.0005406094058021671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02682548e-13, -5.13412740e-14,  1.00000000e+00, -5.27185283e-27,
        1.00000000e+00,  5.13412740e-14, -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,
 -4.40721405e-07,-2.09838296e-06,-4.90500402e+00, 2.41061966e-04,
  1.18324573e-02,-6.85131809e-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, 1.83370567e-01, 1.16667828e-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, 25.77952949,
       25.93068405, -3.59682002, 25.93068405, 39.76284116,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005377409535989447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -6.56539086e-07,-3.61483275e-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, -2.13307963,
  19.92088325, -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: -0.0005353365968220891
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03693922e-13, -1.03693922e-13,  1.00000000e+00, -1.07524294e-26,
        1.00000000e+00,  1.03693922e-13, -1.00000000e+00,  0.00000000e+00,
       -1.03693922e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  3.06668692e-07, 6.13973714e-06,-4.90500886e+00, 2.44772185e-04,
  1.18333760e-02,-6.75945916e-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,-2.30672826e-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: -0.0005308723663293297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04565908e-13,  1.30707386e-13,  1.00000000e+00,  1.36675365e-26,
        1.00000000e+00, -1.30707386e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04565908e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  5.31225624e-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,-3.26542618e-01,-2.30949775e+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: -0.0005248089765646086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.28870062e-14, -7.93305094e-14,  1.00000000e+00, -4.19555314e-27,
        1.00000000e+00,  7.93305094e-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,
  1.42509844e-05, 2.58898350e-05,-4.90501664e+00, 2.47164286e-04,
  1.18280161e-02,-6.66231984e-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, -2.44904895,  0.99936854,  0.07490839, -9.63483069,
 -22.28369867,  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: -0.0005323692909726674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 3.59867320e-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, 9.84112059e-01,-9.92187234e-02,-9.53346144e+00,
 -2.18114849e+01, 5.41752376e+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: -0.0005368788906729566
  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, 2.74060533e-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, -9.44723883,
 -21.4125054 ,  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: -0.000537879110268133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.06407537e-13, -1.03203769e-13,  1.00000000e+00, -2.13020357e-26,
        1.00000000e+00,  1.03203769e-13, -1.00000000e+00,  0.00000000e+00,
       -2.06407537e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  3.38902807e-06, 1.66137179e-05,-4.90501674e+00, 2.52647984e-04,
  1.18326510e-02,-6.49787162e-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, -0.38249593, -9.37608086,
 -21.07766566,  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: -0.0005360418799527089
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03557489e-13, -1.03557489e-13,  1.00000000e+00, -1.07241536e-26,
        1.00000000e+00,  1.03557489e-13, -1.00000000e+00,  0.00000000e+00,
       -1.03557489e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 3.69726953e-06,-4.90501596e+00, 2.53442838e-04,
  1.18375712e-02,-6.43516747e-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, -9.3195262 ,
 -20.79891418,  4.80600117]

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: -0.0005319447074876443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.04355115e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.04355115e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
 -9.13798904e-07,-1.12788877e-05,-4.90501637e+00, 2.53075810e-04,
  1.18431859e-02,-6.36868878e-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 ,-6.00183799]

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,
        4.25994033, -0.75023726,  4.25994033, 38.66984062,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005276905157347717
  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, -2.76657151e-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,
  3.55643043e-06,-2.82695688e-05,-4.90501791e+00, 2.51637979e-04,
  1.18494811e-02,-6.29843452e-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, -10.886635  ,  -1.17122205, -10.886635  ,
        59.41356179,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005332538541555215
  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,
 -1.10819156e-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,  0.76871826, 17.29515184,
  18.54632857, -6.40296526]

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: -0.0005469327142454267
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01495394e-13, -1.01495394e-13,  1.00000000e+00, -1.03013150e-26,
        1.00000000e+00,  1.01495394e-13, -1.00000000e+00,  0.00000000e+00,
       -1.01495394e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 4.09817917e-06,-4.90502432e+00, 2.61248748e-04,
  1.18406581e-02,-6.15100840e-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, 5.13104013e-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([ 6.10250827, -6.09751086,  0.24691815, -6.09751086,  6.19327431,
        2.24141839,  0.24691815,  2.24141839, 61.45312862,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005604365822885343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  2.92637298e-06, 1.64322965e-05,-4.90502297e+00, 2.63451635e-04,
  1.18337534e-02,-6.08483440e-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,
  0.28896239,16.11671761,17.80951659,-5.47586919]

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: -0.0005683446442957818
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.7671636e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.7671636e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, 2.51321757e-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,
  1.19914916, 0.00745462, 1.09877991, 0.04552906, 0.05828088,-0.07819479,
  0.17141634, 0.99963909, 0.02497858,-0.00256191,-0.00954918]

qacc:
[-8.11081448,-0.51896034, 2.59456462,-7.54429061,-2.79324991, 2.49265681,
 -9.65328677,13.77854888, 6.29023959,-0.03847641,-0.64256044, 0.7052109 ,
 -0.63644143, 0.73678273, 2.30316895,-9.98153354, 1.84323958,-1.76521972,
  0.09376863,15.66331891,17.5136938 ,-5.13240114]

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., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005716508006500531
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71067497e-14, -9.71067497e-14,  1.00000000e+00, -9.42972084e-27,
        1.00000000e+00,  9.71067497e-14, -1.00000000e+00,  0.00000000e+00,
       -9.71067497e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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,
  2.05302968e-05, 3.05150002e-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,
  1.19956637, 0.00745482, 1.09914439, 0.04553018, 0.05832288,-0.07816526,
  0.17141726, 0.99964294, 0.02483209,-0.00236262,-0.00958047]

qacc:
[ 0.80181489,-0.36247296, 1.47337863,-4.33464987, 1.44988669, 1.49509308,
 -3.75510264,-0.35961761, 9.79013454, 0.34462719,-7.37991449,25.80140241,
 -0.50707799, 0.51471531,-7.8485521 ,25.40490428, 1.81336288,-1.73577887,
 -0.07526017,15.28298971,17.26207191,-4.84881143]

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,
  1.70873897e-02,-1.41994953e-03, 8.17518488e-03,-2.08292031e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000571215994834548
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.71806667e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.71806667e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03394582, -0.05285479,  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,
 -1.01792839e-04,-2.35203653e-05,-6.57907353e-05, 1.04013985e-04,
  3.36839609e-05, 3.28314277e-05,-4.90502329e+00, 2.61423144e-04,
  1.18208279e-02,-5.93298403e-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,
  1.19998284, 0.00745505, 1.09950792, 0.04553078, 0.05837203,-0.07814257,
  0.17141731, 0.99964596, 0.02471586,-0.00212929,-0.00962006]

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, -0.57663433,  0.567524  ,  0.22261878,
  -2.7065497 ,  1.78848977, -1.71036813, -0.22093825, 14.96493023,
  17.05104122, -4.61360223]

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,
  1.70493533e-02,-1.41965942e-03, 8.10895027e-03,-2.11817594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005677813088642569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77685429e-14, -9.77685429e-14,  1.00000000e+00, -9.55868797e-27,
        1.00000000e+00,  9.77685429e-14, -1.00000000e+00,  0.00000000e+00,
       -9.77685429e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03394426, -0.05285481,  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:
[ 2.15534932e-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,
 -1.00300441e-04,-2.89311511e-05,-8.95831326e-05,-3.89648315e-05,
  4.95701898e-05, 3.22778798e-05,-4.90502495e+00, 2.58341278e-04,
  1.18184074e-02,-5.89705700e-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,
  1.20039853, 0.00745531, 1.09987063, 0.04552763, 0.05842826,-0.07812664,
  0.17141597, 0.99964817, 0.02462936,-0.00186229,-0.00966758]

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, -0.83896782,  0.92884206, 10.21501336,
 -37.32253364,  1.76805666, -1.6886172 , -0.34597648, 14.69994845,
  16.87696892, -4.41751897]

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,
  1.70062529e-02,-1.41959283e-03, 8.04552207e-03,-2.31678194e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005619809463039555
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.87776393e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.87776393e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03394224, -0.05285408,  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:
[-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,
 -1.06566299e-04,-2.97904528e-05,-1.13020441e-04,-2.13201246e-04,
  6.81022258e-05, 2.90067076e-05,-4.90502741e+00, 2.54210166e-04,
  1.18166970e-02,-5.86815064e-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,
  1.2008135 , 0.00745534, 1.10023192, 0.04552442, 0.05847434,-0.07810615,
  0.17141711, 0.99965084, 0.02452329,-0.00164376,-0.00970103]

qacc:
[-1.22831073e+00, 1.57492511e+00,-6.59899357e+00, 1.29295885e+01,
  3.34846208e+00,-1.59283390e+00, 5.02554729e+00,-5.91275791e+00,
  2.56732273e+00, 3.36425862e-01,-3.68878834e-01,-1.18595686e+00,
 -2.97398147e-01, 7.79108361e-03,-1.91489809e+00, 3.68876287e+00,
 -2.53569428e+00, 1.13919280e+00, 6.21189919e-01,-9.54114732e+00,
 -2.41506976e+01, 7.65337000e+00]

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,
  1.69654698e-02,-1.43743253e-03, 7.99977757e-03,-2.30816313e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.17212171,  5.02570966, -3.58292183,  5.02570966, 19.58126822,
       18.80880473, -3.58292183, 18.80880473, 32.55494445,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005687996603070677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.95187006e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.95187006e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09548156, -0.09363253,  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:
[-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,
 -1.08707295e-04,-4.90034863e-05,-1.25206263e-04,-1.86135879e-05,
  8.92184909e-05, 2.31344869e-05,-4.90503067e+00, 2.49088364e-04,
  1.18156045e-02,-5.84612042e-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,
  1.20122777, 0.00745514, 1.10059226, 0.04551956, 0.05851052,-0.07808123,
  0.17141971, 0.99965398, 0.02439767,-0.00147201,-0.00972195]

qacc:
[  2.36043066, -0.52109121,  2.24759754, -4.04081914, -4.14012821,
   0.50212773, -5.43352942, 17.32605972, -7.39157303,  0.41841697,
   1.93763283,-13.24854449, -0.44813475,  0.2343803 ,  3.58367544,
 -14.51302453, -2.47648498,  1.10634752,  0.36399084, -9.53962095,
 -23.31780379,  6.85322441]

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,
  1.69314251e-02,-1.44800350e-03, 7.95940091e-03,-2.39043789e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.27225663, -3.82610402,  4.97012387, -3.82610402, 27.7290528 ,
       16.5178849 ,  4.97012387, 16.5178849 , 18.98806562,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005808067873788181
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.55759341e-14, -9.55759341e-14,  1.00000000e+00, -9.13475918e-27,
        1.00000000e+00,  9.55759341e-14, -1.00000000e+00,  0.00000000e+00,
       -9.55759341e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09547482, -0.09363521,  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:
[ 1.41499475e-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,
 -1.07322010e-04,-4.72126836e-05,-1.02008508e-04,-9.98245741e-05,
  5.92716533e-05, 2.49755851e-05,-4.90502330e+00, 2.58351248e-04,
  1.18154568e-02,-5.81679604e-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,
  1.20164126, 0.00745505, 1.10095129, 0.04551475, 0.058537  ,-0.078052  ,
  0.17142287, 0.99965759, 0.02425256,-0.00134558,-0.00973159]

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,
 -5.97263292e-01, 6.33809925e-01,-1.98471663e+00, 4.25089355e+00,
 -2.42455273e+00, 1.07872745e+00, 1.39317472e-01,-9.52102305e+00,
 -2.26157922e+01, 6.20835678e+00]

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,
  1.69014490e-02,-1.43638690e-03, 7.90627688e-03,-2.38361986e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.32582449, -3.63492315,  5.17719896, -3.63492315, 35.75861023,
       20.66482575,  5.17719896, 20.66482575, 20.8346456 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005872234915605401
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.45315575e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.45315575e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09547053, -0.09363778,  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:
[ 8.94496575e-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,
 -1.01946189e-04,-2.43107663e-05,-1.14735527e-04,-1.26407895e-05,
  3.61940983e-05, 2.41570147e-05,-4.90501758e+00, 2.65064590e-04,
  1.18161863e-02,-5.78399624e-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,
  1.20205388, 0.00745537, 1.10130838, 0.04551341, 0.05855396,-0.07801855,
  0.1714258 , 0.99966168, 0.02408802,-0.00126329,-0.00973095]

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, -0.62411732,  0.83745158,-13.33700768,
  42.60264692, -2.37946187,  1.05570118, -0.05566977, -9.49358215,
 -22.02646457,  5.68760608]

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,
  1.68632936e-02,-1.41168976e-03, 7.82959306e-03,-2.20009579e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.34122127, -3.36106918,  5.37720199, -3.36106918, 46.54558843,
       25.13010664,  5.37720199, 25.13010664, 22.04902379,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005890674100261784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.42356516e-14,  9.42356516e-14,  1.00000000e+00,  8.88035804e-27,
        1.00000000e+00, -9.42356516e-14, -1.00000000e+00,  0.00000000e+00,
       -9.42356516e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09546821, -0.09364029,  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:
[ 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,
 -1.01681988e-04,-4.26482810e-06,-1.33406432e-04, 1.67530481e-04,
  1.91894303e-05, 2.08653251e-05,-4.90501340e+00, 2.69725453e-04,
  1.18177208e-02,-5.74759903e-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,
  1.20246561, 0.00745625, 1.10166426, 0.04551449, 0.05856156,-0.07798095,
  0.17142784, 0.99966624, 0.02390413,-0.00122412,-0.00972084]

qacc:
[ -0.61952551, -0.29295613, -2.58546598, 13.63743911, -3.93685325,
   2.06583768, -7.5637858 , 11.1315432 , -9.3680007 ,  1.2702229 ,
  -7.52424183, 21.34031434, -0.88004402,  1.2995411 , -9.04597509,
  29.23870958, -2.34067173,  1.03668728, -0.2239933 , -9.46306292,
 -21.53391016,  5.26610249]

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,
  1.68255931e-02,-1.37948684e-03, 7.79213569e-03,-2.07377758e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005872164939719482
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.45326839e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.45326839e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09546747, -0.09364276,  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:
[-3.85284572e-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,
 -9.60893859e-05, 8.19465775e-06,-8.09409880e-05, 1.18367475e-04,
  7.64731556e-06, 1.52471313e-05,-4.90501063e+00, 2.72701528e-04,
  1.18200053e-02,-5.70751911e-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,
  1.20287665, 0.00745748, 1.10201944, 0.04551602, 0.05855993,-0.07793926,
  0.17142841, 0.99967126, 0.02370095,-0.00122724,-0.00970192]

qacc:
[ -0.47870849, -1.34267922,  5.87697507,-11.73909179, -2.31934354,
  -1.82058377,  7.48642496,-12.61758132,  3.19161114, -1.02303707,
   3.33480859, -1.68605057, -0.7207247 ,  0.99776398, -2.30295424,
   6.70432384, -2.30760371,  1.02116269, -0.36864638, -9.43344729,
 -21.12437216,  4.92400696]

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,
  1.67988503e-02,-1.36086135e-03, 7.76224045e-03,-2.05313439e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005824236596908838
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.9062121e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.9062121e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09546799, -0.09364521,  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:
[-2.92421523e-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,
 -7.84725900e-05,-1.26541586e-06,-5.77501531e-05, 1.59920845e-05,
  1.10065560e-06, 7.41571164e-06,-4.90500919e+00, 2.74265065e-04,
  1.18229989e-02,-5.66369681e-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,
  1.20328715, 0.00745868, 1.10237418, 0.04551607, 0.05854918,-0.07789354,
  0.171427  , 0.99967672, 0.02347855,-0.00127195,-0.00967472]

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, -0.4678173 ,  0.44316751,  3.83291253,
 -14.26727974, -2.27968206,  1.00866413, -0.49247162, -9.40742904,
 -20.78604786,  4.64549736]

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,
  1.67680444e-02,-1.36813822e-03, 7.73688033e-03,-2.13038585e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000575330986110692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64855928e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.64855928e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09546949, -0.09364764,  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:
[-1.84335618e-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,
 -7.50679659e-05,-2.53831173e-05,-5.53584872e-05,-8.49665953e-05,
 -8.06728111e-07,-2.54329314e-06,-4.90500902e+00, 2.74617766e-04,
  1.18266712e-02,-5.61609004e-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,
  1.20369701, 0.00745964, 1.10272796, 0.04551622, 0.05854633,-0.07785502,
  0.17142801, 0.99968125, 0.02329063,-0.00128023,-0.00965937]

qacc:
[-3.14164980e+00,-1.31868801e+00, 5.07997209e+00,-8.65201969e+00,
 -3.70650844e+00,-1.24153513e+00, 4.70533873e+00,-9.14088532e+00,
 -1.00258089e+00, 6.76285161e-01,-3.57148743e+00, 6.89988165e+00,
 -2.60386674e-01,-1.74076104e-02,-1.72025894e+00, 3.96778335e+00,
  1.97461420e+00,-1.80034773e+00, 6.03517107e-01, 1.70634757e+01,
  1.82342585e+01,-6.37723739e+00]

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,
  1.67188346e-02,-1.39071452e-03, 7.69294002e-03,-2.12261846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.19477119,  5.30593449, -3.19722525,  5.30593449, 19.04796522,
       21.33043508, -3.19722525, 21.33043508, 41.59355685,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005715175082484786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71293975e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.71293975e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.033933  , -0.05287449,  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:
[-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,
 -9.75666982e-05,-4.57901798e-05,-8.44678490e-05,-5.36082435e-06,
  1.65542465e-06,-1.45670810e-05,-4.90501003e+00, 2.73909084e-04,
  1.18310003e-02,-5.56466839e-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,
  1.20410609, 0.00746064, 1.1030813 , 0.0455134 , 0.05855118,-0.07782357,
  0.17143048, 0.99968492, 0.02313588,-0.00125277,-0.00965471]

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, -0.81137952,  0.88815234,  8.44853087,
 -30.32649988,  1.92609706, -1.76481001,  0.36544898, 16.40603123,
  17.90548125, -5.78305794]

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,
  1.66799142e-02,-1.38675031e-03, 7.66454386e-03,-2.27785308e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.26800766, -6.17045563,  1.10154316, -6.17045563,  7.66577731,
        7.82981175,  1.10154316,  7.82981175, 50.1278469 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005802976790073855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.5659785e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.5659785e-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([ 0.03393302, -0.05287985,  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:
[-2.93668540e-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,
 -1.04631472e-04,-2.96029184e-05,-7.16514995e-05,-1.67247357e-04,
 -5.31857110e-07,-3.41765317e-06,-4.90500825e+00, 2.77154823e-04,
  1.18258614e-02,-5.51958809e-04]


--- Step 962 ---
qpos:
[ 1.86931502e-02, 3.00963873e-02,-9.51200674e-03,-2.55837640e-02,
  7.87888048e-03, 4.68457398e-03,-7.84700018e-03, 2.71242616e-02,
  1.23162730e-02, 2.79977874e-02,-8.34287474e-03, 2.64507859e-02,
  1.20451431e+00, 7.46216721e-03, 1.10343467e+00, 4.55078935e-02,
  5.85635756e-02,-7.77990397e-02, 1.71433584e-01, 9.99687784e-01,
  2.30131819e-02,-1.19014005e-03,-9.65979764e-03]

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, -1.2481028 ,  1.79736918,  8.24850313,
 -28.512417  ,  1.884709  , -1.73336476,  0.15821634, 15.85913183,
  17.61680263, -5.30392723]

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,
  1.66525286e-02,-1.34928848e-03, 7.69339317e-03,-2.40357779e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.30018915, -6.25158637,  0.7810578 , -6.25158637,  7.18260388,
        7.0628472 ,  0.7810578 ,  7.0628472 , 62.83121592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005841530745847728
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03393223, -0.05288333,  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:
[ 1.79865147e-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,
 -9.33808411e-05, 6.38548070e-06,-2.82343764e-05,-1.45485237e-04,
  5.43540388e-07, 4.18571215e-06,-4.90500715e+00, 2.78778155e-04,
  1.18220897e-02,-5.48237432e-04]


--- Step 963 ---
qpos:
[ 1.86923429e-02, 3.00954786e-02,-9.51228653e-03,-2.55838723e-02,
  7.87916523e-03, 4.68402615e-03,-7.84703140e-03, 2.71218568e-02,
  1.23172389e-02, 2.79975135e-02,-8.34257419e-03, 2.64515291e-02,
  1.20492169e+00, 7.46416140e-03, 1.10378744e+00, 4.55048725e-02,
  5.85833662e-02,-7.77813378e-02, 1.71436603e-01, 9.99689862e-01,
  2.29216353e-02,-1.09286068e-03,-9.67387912e-03]

qacc:
[-3.95540487e+00,-7.14440188e-01, 4.37875135e+00,-9.94134750e+00,
  6.04784552e+00,-2.30757923e+00, 1.60125945e+01,-4.44711478e+01,
  5.19153195e+00, 9.24393336e-01,-4.09330088e+00, 9.33755309e+00,
 -7.97771127e-01, 1.12840211e+00,-8.31028827e+00, 2.79649666e+01,
  1.84970150e+00,-1.70586263e+00,-2.11167026e-02, 1.54051977e+01,
  1.73668735e+01,-4.91690596e+00]

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,
  1.66107962e-02,-1.32774153e-03, 7.70330553e-03,-2.26217634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005840036506013224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90105494e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.90105494e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03393078, -0.05288531,  0.06198951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37319092e-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,
 -9.23279322e-05, 1.80223988e-06,-2.70735773e-05, 1.27920057e-04,
  4.68760406e-06, 8.55504806e-06,-4.90500681e+00, 2.78996190e-04,
  1.18194013e-02,-5.45270259e-04]


--- Step 964 ---
qpos:
[ 1.86909065e-02, 3.00948527e-02,-9.51295838e-03,-2.55837520e-02,
  7.87950901e-03, 4.68389125e-03,-7.84749851e-03, 2.71195474e-02,
  1.23178775e-02, 2.79976549e-02,-8.34237175e-03, 2.64525079e-02,
  1.20532814e+00, 7.46696726e-03, 1.10414043e+00, 4.54978649e-02,
  5.86104383e-02,-7.77703642e-02, 1.71438920e-01, 9.99691180e-01,
  2.28604797e-02,-9.61364574e-04,-9.69634568e-03]

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, -1.60320344,  2.45780762, 12.51682584,
 -42.97978059,  1.82035562, -1.68206365, -0.1755407 , 15.02944595,
  17.15354016, -4.6036743 ]

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,
  1.65711368e-02,-1.28038491e-03, 7.68060756e-03,-2.47941034e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005806410062845074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.56032224e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.56032224e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0339288 , -0.0528861 ,  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:
[-3.23903283e-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,
 -8.99751796e-05, 2.63283158e-05,-2.73414382e-05,-2.15022566e-04,
  1.17486066e-05, 9.93336248e-06,-4.90500725e+00, 2.77970669e-04,
  1.18175864e-02,-5.43030976e-04]


--- Step 965 ---
qpos:
[ 1.86908242e-02, 3.00946738e-02,-9.51403202e-03,-2.55835345e-02,
  7.87987483e-03, 4.68395214e-03,-7.84790672e-03, 2.71180116e-02,
  1.23179542e-02, 2.79974598e-02,-8.34212327e-03, 2.64533649e-02,
  1.20573391e+00, 7.47006980e-03, 1.10449298e+00, 4.54853880e-02,
  5.86446944e-02,-7.77660373e-02, 1.71440004e-01, 9.99691748e-01,
  2.28290909e-02,-7.96017019e-04,-9.72670414e-03]

qacc:
[ 11.59724509,  1.89153784, -6.3343568 ,  8.36760185,  0.19290395,
   1.68662036, -8.90541678, 22.05768972, -4.78083593, -0.81466754,
   2.78953426, -4.73933994, -1.09748298,  1.49249233, 16.00595576,
 -56.68048339,  1.79600393, -1.66168318, -0.30794546, 14.71949787,
  16.97424779, -4.34960609]

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,
  1.65327585e-02,-1.27133291e-03, 7.62764131e-03,-2.76432953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005747423635839577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65844085e-14, -9.65844085e-14,  1.00000000e+00, -9.32854797e-27,
        1.00000000e+00,  9.65844085e-14, -1.00000000e+00,  0.00000000e+00,
       -9.65844085e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03392639, -0.05288594,  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:
[ 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,
 -8.25460494e-05,-4.82198799e-06,-9.77741151e-05,-3.02265506e-04,
  2.16095460e-05, 8.50835483e-06,-4.90500851e+00, 2.75821597e-04,
  1.18164898e-02,-5.41498231e-04]


--- Step 966 ---
qpos:
[ 1.86915897e-02, 3.00950197e-02,-9.51538427e-03,-2.55829237e-02,
  7.87990540e-03, 4.68412319e-03,-7.84791202e-03, 2.71169535e-02,
  1.23176888e-02, 2.79968169e-02,-8.34174180e-03, 2.64544375e-02,
  1.20613945e+00, 7.47199715e-03, 1.10484403e+00, 4.54706344e-02,
  5.86692160e-02,-7.77572255e-02, 1.71442089e-01, 9.99692820e-01,
  2.27779495e-02,-6.76744038e-04,-9.74540499e-03]

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,
  6.19194423e-01,-1.72804312e+00, 4.59667805e+00,-1.94780369e+01,
 -2.43362215e+00, 1.12122448e+00, 2.49990121e-01,-9.65033815e+00,
 -2.29929831e+01, 6.36324445e+00]

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,
  1.64951604e-02,-1.35608389e-03, 7.55656417e-03,-2.87375072e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.17185742,  4.99203271, -3.62924695,  4.99203271, 21.26520026,
       20.76090775, -3.62924695, 20.76090775, 34.72850622,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005687679383513666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75989459e-14, -1.95197892e-13,  1.00000000e+00, -1.90511085e-26,
        1.00000000e+00,  1.95197892e-13, -1.00000000e+00,  0.00000000e+00,
       -9.75989459e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09545947, -0.09366645,  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:
[ 4.36819636e-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,
 -8.63599730e-05,-1.04047157e-04,-1.54331821e-04,-1.39836589e-04,
  3.41820601e-05, 4.42343464e-06,-4.90501059e+00, 2.72637552e-04,
  1.18159963e-02,-5.40654710e-04]


--- Step 967 ---
qpos:
[ 1.86914706e-02, 3.00954961e-02,-9.51669474e-03,-2.55816917e-02,
  7.87938357e-03, 4.68450574e-03,-7.84794644e-03, 2.71162100e-02,
  1.23172235e-02, 2.79961460e-02,-8.34089939e-03, 2.64552086e-02,
  1.20654446e+00, 7.47300437e-03, 1.10519334e+00, 4.54579161e-02,
  5.86841865e-02,-7.77440368e-02, 1.71444353e-01, 9.99694399e-01,
  2.27071107e-02,-6.02212833e-04,-9.75360238e-03]

qacc:
[ -7.59003196,  1.35026079, -7.15437216, 17.70072941, -4.86378185,
   1.01798487, -4.53560449,  9.85212611, -1.68915153, -1.9427605 ,
   8.15223657,-14.09320355,  0.51395602, -1.51322472, -8.81653587,
  26.91374316, -2.38776831,  1.09420971,  0.044873  , -9.62987342,
 -22.34020089,  5.76881759]

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,
  1.64580151e-02,-1.40700031e-03, 7.51201225e-03,-2.75460971e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.21523353, -3.41332417,  5.19406835, -3.41332417, 38.95268795,
       21.51368387,  5.19406835, 21.51368387, 20.3531255 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005739718028331814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67140737e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.67140737e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09545557, -0.09366901,  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:
[-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,
 -1.11894722e-04,-9.58033800e-05,-1.31177529e-04, 9.15386110e-05,
  1.76585346e-05, 6.45844599e-06,-4.90500665e+00, 2.77439596e-04,
  1.18153899e-02,-5.39215282e-04]


--- Step 968 ---
qpos:
[ 1.86911357e-02, 3.00961748e-02,-9.51802962e-03,-2.55804605e-02,
  7.87853086e-03, 4.68508448e-03,-7.84796221e-03, 2.71146105e-02,
  1.23169890e-02, 2.79956003e-02,-8.33938694e-03, 2.64554511e-02,
  1.20694867e+00, 7.47365530e-03, 1.10554108e+00, 4.54486441e-02,
  5.86897651e-02,-7.77265619e-02, 1.71446085e-01, 9.99696482e-01,
  2.26166438e-02,-5.71309416e-04,-9.75222078e-03]

qacc:
[-1.85448032e+00, 3.37470059e-01,-8.05621537e-01, 6.74752718e-01,
 -2.91427736e+00,-1.54932288e+00, 9.52412765e+00,-2.45226455e+01,
  1.98554796e+00,-2.79938880e+00, 1.24460769e+01,-2.27491859e+01,
 -2.92153065e-02,-4.75313915e-01,-1.27498916e+01, 4.12104995e+01,
 -2.34799742e+00, 1.07156311e+00,-1.33188133e-01,-9.60107317e+00,
 -2.17940423e+01, 5.29172076e+00]

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,
  1.64211760e-02,-1.41964833e-03, 7.46214915e-03,-2.57274318e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22410326, -3.12671683,  5.38173794, -3.12671683, 50.46708594,
       25.7045735 ,  5.38173794, 25.7045735 , 21.1581122 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000575035362133991
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93070391e-13, -9.65351957e-14,  1.00000000e+00, -1.86380880e-26,
        1.00000000e+00,  9.65351957e-14, -1.00000000e+00,  0.00000000e+00,
       -1.93070391e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09545351, -0.09367151,  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:
[-1.10986927e-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,
 -1.22598560e-04,-6.20124174e-05,-1.00538271e-04, 1.70041423e-04,
  6.77458844e-06, 5.94836752e-06,-4.90500408e+00, 2.80461793e-04,
  1.18156952e-02,-5.37405287e-04]


--- Step 969 ---
qpos:
[ 1.86917197e-02, 3.00972519e-02,-9.51919624e-03,-2.55792859e-02,
  7.87749031e-03, 4.68554840e-03,-7.84759893e-03, 2.71125072e-02,
  1.23169026e-02, 2.79954121e-02,-8.33806022e-03, 2.64557669e-02,
  1.20735222e+00, 7.47401042e-03, 1.10588771e+00, 4.54382977e-02,
  5.86860882e-02,-7.77048761e-02, 1.71446669e-01, 9.99699057e-01,
  2.25066221e-02,-5.83106895e-04,-9.74200152e-03]

qacc:
[ 7.88129467e+00,-7.54556274e-02, 1.24414101e+00,-2.75342745e+00,
 -1.63875897e+00,-2.24515984e+00, 9.91745463e+00,-1.91632304e+01,
  1.24962376e+00, 1.14032599e+00,-3.69405789e+00, 5.00177328e+00,
 -3.02864026e-01,-4.66641382e-03, 1.62828556e+00,-8.03682092e+00,
 -2.31384797e+00, 1.05272856e+00,-2.86972152e-01,-9.56931194e+00,
 -2.13392391e+01, 4.90836311e+00]

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,
  1.64005413e-02,-1.42728375e-03, 7.38251642e-03,-2.63950853e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005727600310202613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69186888e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.69186888e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0954529 , -0.09367395,  0.06198971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.73392385e-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,
 -1.03550460e-04,-5.13932004e-05,-1.09098907e-04,-7.06453255e-05,
  1.00880777e-06, 3.04602065e-06,-4.90500279e+00, 2.82018761e-04,
  1.18168355e-02,-5.35217325e-04]


--- Step 970 ---
qpos:
[ 1.86928708e-02, 3.00982088e-02,-9.51964332e-03,-2.55781030e-02,
  7.87669242e-03, 4.68601526e-03,-7.84711539e-03, 2.71108086e-02,
  1.23179382e-02, 2.79955654e-02,-8.33716347e-03, 2.64561356e-02,
  1.20775505e+00, 7.47423529e-03, 1.10623278e+00, 4.54315259e-02,
  5.86732721e-02,-7.76790415e-02, 1.71445576e-01, 9.99702112e-01,
  2.23771153e-02,-6.36838324e-04,-9.72353967e-03]

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, -0.12769423, -0.16117436,-13.1364709 ,
  42.57785035, -2.28482206,  1.03720793, -0.41921181, -9.5383211 ,
 -20.96268154,  4.5999556 ]

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,
  1.63683426e-02,-1.43182956e-03, 7.34362090e-03,-2.44400033e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005678328866414867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.77596623e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.77596623e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09545346, -0.09367635,  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:
[ 2.92038182e-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,
 -1.02974131e-04,-4.07224881e-05,-9.96463541e-05, 1.76981847e-04,
 -3.44407481e-08,-2.12963688e-06,-4.90500274e+00, 2.82341187e-04,
  1.18187525e-02,-5.32646331e-04]


--- Step 971 ---
qpos:
[ 1.86943473e-02, 3.00983366e-02,-9.51904121e-03,-2.55772170e-02,
  7.87605368e-03, 4.68653670e-03,-7.84707484e-03, 2.71090663e-02,
  1.23196563e-02, 2.79958542e-02,-8.33622671e-03, 2.64565149e-02,
  1.20815696e+00, 7.47470821e-03, 1.10657668e+00, 4.54293873e-02,
  5.86682404e-02,-7.76602389e-02, 1.71446150e-01, 9.99704330e-01,
  2.22807833e-02,-6.54491203e-04,-9.71551178e-03]

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, -0.51482284,  0.55988028,-15.68826471,
  52.48478498,  1.94610899, -1.75801441,  0.41694129, 16.41303947,
  18.07818225, -5.63371831]

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,
  1.63239089e-02,-1.41681621e-03, 7.31859766e-03,-2.20186305e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22938824,  5.3710609 , -3.1554687 ,  5.3710609 , 19.77607609,
       23.05840824, -3.1554687 , 23.05840824, 45.47811062,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005756690001889331
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64289396e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.64289396e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03391826, -0.05289897,  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:
[ 1.67329725e-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,
 -1.11520008e-04,-1.87510703e-05,-5.31680968e-05, 2.38777388e-04,
  3.34637504e-06,-9.48771930e-06,-4.90500386e+00, 2.81597943e-04,
  1.18214026e-02,-5.29688833e-04]


--- Step 972 ---
qpos:
[ 1.86953136e-02, 3.00977646e-02,-9.51766718e-03,-2.55769049e-02,
  7.87516923e-03, 4.68677360e-03,-7.84750999e-03, 2.71069856e-02,
  1.23203845e-02, 2.79960751e-02,-8.33518943e-03, 2.64572682e-02,
  1.20855809e+00, 7.47509414e-03, 1.10692083e+00, 4.54266824e-02,
  5.86708198e-02,-7.76483446e-02, 1.71447541e-01, 9.99705757e-01,
  2.22165115e-02,-6.36691626e-04,-9.71699216e-03]

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, -0.59999842,  0.50498776,  2.12092526,
  -6.78496017,  1.9027878 , -1.72706012,  0.20407774, 15.85888331,
  17.77054324, -5.16201977]

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,
  1.62828297e-02,-1.42589884e-03, 7.33387187e-03,-2.23603143e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.27171773, -6.23142039,  0.70981912, -6.23142039,  6.98952558,
        6.30155256,  0.70981912,  6.30155256, 61.59232285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005807422182726729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.55865606e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.55865606e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03391778, -0.0529028 ,  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:
[-2.63017458e-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,
 -1.06756948e-04,-3.97873253e-05, 1.29505248e-05,-2.86739352e-05,
  2.56879230e-07,-2.49821813e-06,-4.90500229e+00, 2.83758724e-04,
  1.18188490e-02,-5.27382978e-04]


--- Step 973 ---
qpos:
[ 1.86959513e-02, 3.00972147e-02,-9.51696925e-03,-2.55769376e-02,
  7.87413696e-03, 4.68705772e-03,-7.84855791e-03, 2.71049973e-02,
  1.23201391e-02, 2.79958034e-02,-8.33366264e-03, 2.64586056e-02,
  1.20895856e+00, 7.47487074e-03, 1.10726555e+00, 4.54202206e-02,
  5.86808631e-02,-7.76432502e-02, 1.71449010e-01, 9.99706426e-01,
  2.21833758e-02,-5.83982142e-04,-9.72723863e-03]

qacc:
[-2.84034532e+00, 1.21399989e+00,-2.82254773e+00,-2.08806073e+00,
 -1.32053656e+00, 1.96807679e+00,-7.31244654e+00, 9.85202673e+00,
 -8.27300831e+00,-8.00609058e-01,-5.28784287e-01, 1.01891353e+01,
 -3.47705175e-01,-1.46049567e-01, 1.22085230e+01,-4.14650646e+01,
  1.86595869e+00,-1.69998583e+00, 1.94881258e-02, 1.53994640e+01,
  1.75034743e+01,-4.78313701e+00]

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,
  1.62384582e-02,-1.46695585e-03, 7.34661106e-03,-2.43263702e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005816228135210599
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90883679e-13, -9.54418395e-14,  1.00000000e+00, -1.82182895e-26,
        1.00000000e+00,  9.54418395e-14, -1.00000000e+00,  0.00000000e+00,
       -1.90883679e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03391659, -0.05290508,  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:
[-1.69270482e-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,
 -1.12205555e-04,-7.60412640e-05, 6.42885093e-06,-1.98588672e-04,
  3.73256132e-07, 1.20312336e-06,-4.90500156e+00, 2.84467171e-04,
  1.18172655e-02,-5.25830852e-04]


--- Step 974 ---
qpos:
[ 1.86963904e-02, 3.00965345e-02,-9.51665145e-03,-2.55771786e-02,
  7.87337067e-03, 4.68749979e-03,-7.84971885e-03, 2.71034031e-02,
  1.23200010e-02, 2.79948125e-02,-8.33171595e-03, 2.64596131e-02,
  1.20935816e+00, 7.47468550e-03, 1.10760983e+00, 4.54138314e-02,
  5.86982460e-02,-7.76448621e-02, 1.71449920e-01, 9.99706355e-01,
  2.21806119e-02,-4.96827009e-04,-9.74565570e-03]

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, -0.68308311,  0.669567  , -0.79762635,
   1.99930668,  1.83490849, -1.67658293, -0.13976632, 15.01979065,
  17.27464375, -4.47863178]

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,
  1.62027789e-02,-1.45562984e-03, 7.33648898e-03,-2.42149319e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005791247995069748
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.58535212e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.58535212e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03391482, -0.05290612,  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:
[-1.02366050e-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,
 -1.15654071e-04,-3.37923747e-05,-3.86551936e-05,-1.21318810e-06,
  3.52218347e-06, 1.87307675e-06,-4.90500167e+00, 2.83897663e-04,
  1.18164611e-02,-5.25005861e-04]


--- Step 975 ---
qpos:
[ 1.86970539e-02, 3.00955568e-02,-9.51596540e-03,-2.55775703e-02,
  7.87312216e-03, 4.68772675e-03,-7.85008590e-03, 2.71017318e-02,
  1.23199472e-02, 2.79932509e-02,-8.32993334e-03, 2.64600556e-02,
  1.20975684e+00, 7.47485109e-03, 1.10795336e+00, 4.54102655e-02,
  5.87228648e-02,-7.76531004e-02, 1.71449723e-01, 9.99705554e-01,
  2.22075909e-02,-3.75618127e-04,-9.77176538e-03]

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, -0.74165776,  0.94180261, -9.58966808,
  32.0794603 ,  1.80896807, -1.65658795, -0.27656125, 14.70728971,
  17.08131208, -4.23378453]

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,
  1.61670332e-02,-1.43103040e-03, 7.32337038e-03,-2.27027360e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005739458885841708
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67184404e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.67184404e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03391258, -0.05290618,  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:
[ 1.15470908e-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,
 -1.07681915e-04,-1.06536473e-05,-3.73998149e-05, 1.44775559e-04,
  9.56773441e-06,-2.90300525e-07,-4.90500265e+00, 2.82179505e-04,
  1.18162962e-02,-5.24886483e-04]


--- Step 976 ---
qpos:
[ 1.86978539e-02, 3.00948088e-02,-9.51548810e-03,-2.55784032e-02,
  7.87284538e-03, 4.68769120e-03,-7.84985389e-03, 2.70993577e-02,
  1.23199436e-02, 2.79915496e-02,-8.32882708e-03, 2.64604644e-02,
  1.21015488e+00, 7.47473617e-03, 1.10829637e+00, 4.54045912e-02,
  5.87377682e-02,-7.76568208e-02, 1.71450531e-01, 9.99705277e-01,
  2.22145293e-02,-3.00237166e-04,-9.78686322e-03]

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,
 -3.94913915e-01, 1.45042672e-01, 5.62783666e+00,-2.07524083e+01,
 -2.42885011e+00, 1.12949452e+00, 2.50997008e-01,-9.79719777e+00,
 -2.28827578e+01, 6.01949130e+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,
  1.61312836e-02,-1.45205274e-03, 7.26056629e-03,-2.39284110e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.18881301,  4.99076609, -3.65973501,  4.99076609, 22.47444498,
       22.2086516 , -3.65973501, 22.2086516 , 36.47466294,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005708026809162492
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72510345e-14, -9.72510345e-14,  1.00000000e+00, -9.45776372e-27,
        1.00000000e+00,  9.72510345e-14, -1.00000000e+00,  0.00000000e+00,
       -9.72510345e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09544233, -0.09369103,  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:
[ 7.04025261e-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,
 -9.74056726e-05,-4.87707733e-05,-6.96477802e-05,-1.20580940e-04,
  1.84050176e-05,-5.13590474e-06,-4.90500450e+00, 2.79407981e-04,
  1.18166688e-02,-5.25455326e-04]


--- Step 977 ---
qpos:
[ 1.86980389e-02, 3.00944560e-02,-9.51575399e-03,-2.55791209e-02,
  7.87254435e-03, 4.68763748e-03,-7.84970417e-03, 2.70969201e-02,
  1.23206590e-02, 2.79898520e-02,-8.32846033e-03, 2.64608565e-02,
  1.21055238e+00, 7.47410323e-03, 1.10863872e+00, 4.53974554e-02,
  5.87431385e-02,-7.76561340e-02, 1.71451520e-01, 9.99705525e-01,
  2.22015313e-02,-2.69392844e-04,-9.79199105e-03]

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, -0.10544871, -0.3871694 ,  3.44880916,
 -13.48087109, -2.38328498,  1.10177058,  0.04535629, -9.75165863,
 -22.24849622,  5.4837654 ]

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,
  1.61008638e-02,-1.48220449e-03, 7.23719283e-03,-2.46284689e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.23066658, -3.26927483,  5.30405959, -3.26927483, 42.83681654,
       22.56301288,  5.30405959, 22.56301288, 20.13788028,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000575822256819819
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64032747e-14, -9.64032747e-14,  1.00000000e+00, -9.29359138e-27,
        1.00000000e+00,  9.64032747e-14, -1.00000000e+00,  0.00000000e+00,
       -9.64032747e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0954387 , -0.09369334,  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:
[-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,
 -9.67199632e-05,-6.44617008e-05,-7.37685855e-05,-8.67749611e-05,
  7.10396892e-06,-1.04842337e-06,-4.90500184e+00, 2.82675403e-04,
  1.18152474e-02,-5.25457457e-04]


--- Step 978 ---
qpos:
[ 1.86981850e-02, 3.00945990e-02,-9.51685020e-03,-2.55797712e-02,
  7.87188631e-03, 4.68754405e-03,-7.84964264e-03, 2.70951581e-02,
  1.23218117e-02, 2.79883817e-02,-8.32839301e-03, 2.64611844e-02,
  1.21094922e+00, 7.47312275e-03, 1.10897989e+00, 4.53951291e-02,
  5.87391332e-02,-7.76511337e-02, 1.71451976e-01, 9.99706289e-01,
  2.21687067e-02,-2.82006147e-04,-9.78798049e-03]

qacc:
[ -0.3679223 ,  3.11571531,-10.43861843, 12.55973323, -3.14244518,
   1.59120656, -8.59182649, 20.44444029,  3.71425136,  0.99790992,
  -2.86379022,  2.07781763,  0.1403082 , -0.65667672,-16.33110395,
  54.51282629, -2.34387426,  1.07838127, -0.13312449, -9.70212575,
 -21.71797225,  5.05546805]

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,
  1.60683315e-02,-1.49973156e-03, 7.23218254e-03,-2.19932433e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005767158845907533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.62538968e-14,  1.92507794e-13,  1.00000000e+00, -1.85296253e-26,
        1.00000000e+00, -1.92507794e-13, -1.00000000e+00,  0.00000000e+00,
        9.62538968e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09543685, -0.09369563,  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:
[-1.99059014e-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,
 -1.02137937e-04,-5.56396352e-05,-5.30001575e-05, 2.48231463e-04,
  1.18517003e-06, 4.20152027e-07,-4.90500045e+00, 2.84352164e-04,
  1.18148158e-02,-5.25079376e-04]


--- Step 979 ---
qpos:
[ 1.86990062e-02, 3.00948979e-02,-9.51801146e-03,-2.55810726e-02,
  7.87066858e-03, 4.68739052e-03,-7.84928409e-03, 2.70931102e-02,
  1.23228681e-02, 2.79875026e-02,-8.32860100e-03, 2.64618028e-02,
  1.21134517e+00, 7.47245156e-03, 1.10932027e+00, 4.53969358e-02,
  5.87258874e-02,-7.76418983e-02, 1.71451284e-01, 9.99707558e-01,
  2.21161624e-02,-3.37179947e-04,-9.77549525e-03]

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, -0.58569106,  0.71084923,-13.62268254,
  46.06969992, -2.31013642,  1.05878057, -0.28725541, -9.65304048,
 -21.27649856,  4.71310326]

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,
  1.60345617e-02,-1.47414182e-03, 7.20630675e-03,-1.98990808e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005742837538814105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09543642, -0.09369792,  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:
[ 3.47795449e-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,
 -1.02983490e-04,-1.21915508e-05,-2.65678234e-05, 2.15559746e-04,
  1.82132477e-07,-5.64593416e-07,-4.90500026e+00, 2.84708103e-04,
  1.18152819e-02,-5.24315589e-04]


--- Step 980 ---
qpos:
[ 1.87002389e-02, 3.00947917e-02,-9.51844541e-03,-2.55823976e-02,
  7.86946608e-03, 4.68735050e-03,-7.84884029e-03, 2.70915884e-02,
  1.23231600e-02, 2.79872416e-02,-8.32886366e-03, 2.64622615e-02,
  1.21174021e+00, 7.47233404e-03, 1.10966076e+00, 4.53965454e-02,
  5.87035154e-02,-7.76284929e-02, 1.71448912e-01, 9.99709314e-01,
  2.20439968e-02,-4.34172913e-04,-9.75506485e-03]

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, -1.28028626,  1.82617598,  6.92757099,
 -23.71585291, -2.28155897,  1.0424774 , -0.41979204, -9.60739853,
 -20.91143176,  4.43954099]

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,
  1.59947674e-02,-1.44095244e-03, 7.18389602e-03,-2.11599766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005692117701288912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.7522845e-14,  9.7522845e-14,  1.0000000e+00,  9.5107053e-27,
        1.0000000e+00, -9.7522845e-14, -1.0000000e+00,  0.0000000e+00,
       -9.7522845e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09543712, -0.09370021,  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:
[ 2.11797166e-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,
 -9.88551782e-05, 6.00192591e-06,-1.64972871e-05,-1.18810418e-04,
  3.74245937e-06,-3.87305320e-06,-4.90500124e+00, 2.83939510e-04,
  1.18165758e-02,-5.23162558e-04]


--- Step 981 ---
qpos:
[ 1.87010146e-02, 3.00944821e-02,-9.51853072e-03,-2.55833810e-02,
  7.86829177e-03, 4.68768786e-03,-7.84870273e-03, 2.70907502e-02,
  1.23222901e-02, 2.79872897e-02,-8.32870215e-03, 2.64622861e-02,
  1.21213448e+00, 7.47237500e-03, 1.11000061e+00, 4.53953829e-02,
  5.86889703e-02,-7.76221242e-02, 1.71448362e-01, 9.99710242e-01,
  2.20050563e-02,-4.94916377e-04,-9.74498669e-03]

qacc:
[ -3.90661486, -0.53158756,  0.07900183,  5.40683956,  0.2322651 ,
   2.76177861,-12.01055916, 24.0543059 , -9.89361974, -1.65128591,
   8.34634166,-16.79945444, -0.72865646,  0.85024222,  1.45809773,
  -6.31914795,  1.9567374 , -1.75915018,  0.45539569, 16.43773015,
  18.16725637, -5.58540151]

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,
  1.59513932e-02,-1.43907664e-03, 7.14753443e-03,-2.15467180e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.25312794,  5.38981272, -3.17041447,  5.38981272, 20.0506935 ,
       23.45633195, -3.17041447, 23.45633195, 46.12969212,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005785145903275946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.59546261e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.59546261e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03390531, -0.05292021,  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:
[-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,
 -9.66492155e-05,-1.93758169e-05,-6.53385351e-05,-4.92548951e-05,
  1.16021950e-05,-9.40543390e-06,-4.90500334e+00, 2.82188529e-04,
  1.18186450e-02,-5.21618056e-04]


--- Step 982 ---
qpos:
[ 1.87018396e-02, 3.00941306e-02,-9.51872489e-03,-2.55837896e-02,
  7.86748875e-03, 4.68840835e-03,-7.84867566e-03, 2.70892846e-02,
  1.23214119e-02, 2.79875673e-02,-8.32825922e-03, 2.64620623e-02,
  1.21252804e+00, 7.47246527e-03, 1.11033950e+00, 4.53957435e-02,
  5.86820712e-02,-7.76226684e-02, 1.71448757e-01, 9.99710386e-01,
  2.19982201e-02,-5.20066755e-04,-9.74435244e-03]

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 , -0.42863895,  0.37987705, -6.00405489,
  19.00358043,  1.91149669, -1.72821985,  0.23650228, 15.88042908,
  17.8437142 , -5.12397268]

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,
  1.59165420e-02,-1.43806263e-03, 7.11884282e-03,-2.07043213e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.29932248, -6.25930083,  0.70895472, -6.25930083,  7.00043151,
        6.19003192,  0.70895472,  6.19003192, 60.95058673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005840492607370323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.90090648e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.90090648e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03390495, -0.05292416,  0.06198951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53601033e-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,
 -9.34606252e-05,-2.58590579e-05,-6.92119292e-05, 7.19822134e-05,
  4.52408801e-06,-3.14702410e-06,-4.90500134e+00, 2.84775953e-04,
  1.18172718e-02,-5.20703697e-04]


--- Step 983 ---
qpos:
[ 1.87023521e-02, 3.00935049e-02,-9.51861993e-03,-2.55835065e-02,
  7.86692082e-03, 4.68915649e-03,-7.84888386e-03, 2.70878418e-02,
  1.23212454e-02, 2.79880275e-02,-8.32762759e-03, 2.64613494e-02,
  1.21292092e+00, 7.47234827e-03, 1.11067778e+00, 4.53983430e-02,
  5.86826638e-02,-7.76300175e-02, 1.71449340e-01, 9.99709776e-01,
  2.20225603e-02,-5.10193658e-04,-9.75243733e-03]

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, -0.18748949, -0.11361844, -7.6676955 ,
  25.52699238,  1.87292205, -1.70123886,  0.04661045, 15.41899922,
  17.56246333, -4.7553109 ]

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,
  1.58761757e-02,-1.45527255e-03, 7.11610894e-03,-1.94993598e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005852558409201042
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48493759e-14, -9.48493759e-14,  1.00000000e+00, -8.99640410e-27,
        1.00000000e+00,  9.48493759e-14, -1.00000000e+00,  0.00000000e+00,
       -9.48493759e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03390383, -0.05292653,  0.06198949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61034546e-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,
 -9.84827763e-05,-4.51008286e-05,-3.06147536e-05, 1.14701772e-04,
  7.67718238e-07,-2.17419736e-07,-4.90500022e+00, 2.85853598e-04,
  1.18167786e-02,-5.20544371e-04]


--- Step 984 ---
qpos:
[ 1.87023220e-02, 3.00926709e-02,-9.51833528e-03,-2.55828104e-02,
  7.86615108e-03, 4.68961447e-03,-7.84921609e-03, 2.70867804e-02,
  1.23211754e-02, 2.79883709e-02,-8.32705314e-03, 2.64603936e-02,
  1.21331315e+00, 7.47223758e-03, 1.11101604e+00, 4.53983420e-02,
  5.86906175e-02,-7.76440786e-02, 1.71449453e-01, 9.99708432e-01,
  2.20773107e-02,-4.65785547e-04,-9.76866345e-03]

qacc:
[ -4.64600923,  0.0824267 , -2.41788818,  9.40821656, -1.77411716,
   0.75191329, -4.84187283, 11.84878116,  0.82312998, -0.49622253,
   2.56813122, -6.59159479, -0.68836693,  0.73348323,  7.89126478,
 -27.51593168,  1.84028383, -1.67799848, -0.11727445, 15.03834854,
  17.32094997, -4.46104689]

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,
  1.58538263e-02,-1.44767472e-03, 7.09167179e-03,-2.09305301e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005829704957552723
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.52212018e-14, -9.52212018e-14,  1.00000000e+00, -9.06707728e-27,
        1.00000000e+00,  9.52212018e-14, -1.00000000e+00,  0.00000000e+00,
       -9.52212018e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03390211, -0.05292763,  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:
[-2.79527051e-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,
 -8.70720977e-05,-2.66857310e-05,-3.15575380e-05,-1.41981114e-04,
  1.39573595e-07,-3.49171553e-07,-4.90500000e+00, 2.85606563e-04,
  1.18169935e-02,-5.21113386e-04]


--- Step 985 ---
qpos:
[ 1.87023072e-02, 3.00917077e-02,-9.51794505e-03,-2.55822269e-02,
  7.86560343e-03, 4.69005780e-03,-7.84981432e-03, 2.70859158e-02,
  1.23208084e-02, 2.79882698e-02,-8.32618556e-03, 2.64589429e-02,
  1.21370468e+00, 7.47244124e-03, 1.11135366e+00, 4.53966734e-02,
  5.87058228e-02,-7.76647726e-02, 1.71448534e-01, 9.99706361e-01,
  2.21618423e-02,-3.87256043e-04,-9.79257056e-03]

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, -0.85556893,  1.15003951,  4.18002138,
 -15.80664694,  1.81289516, -1.65823227, -0.25809318, 14.7257985 ,
  17.11622665, -4.22651237]

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,
  1.58263314e-02,-1.42532288e-03, 7.05418187e-03,-2.17736245e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005779102167393912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.60549747e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.60549747e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0338999 , -0.05292772,  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:
[ 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,
 -8.23555683e-05,-4.21744793e-06,-7.48365529e-05,-9.78733718e-05,
  2.48610433e-06,-3.33637833e-06,-4.90500068e+00, 2.84172079e-04,
  1.18177924e-02,-5.22389198e-04]


--- Step 986 ---
qpos:
[ 1.87026562e-02, 3.00906692e-02,-9.51749845e-03,-2.55820701e-02,
  7.86554536e-03, 4.69069369e-03,-7.85062969e-03, 2.70851580e-02,
  1.23199147e-02, 2.79875043e-02,-8.32482994e-03, 2.64575520e-02,
  1.21409525e+00, 7.47306837e-03, 1.11169049e+00, 4.53972427e-02,
  5.87281228e-02,-7.76919907e-02, 1.71446168e-01, 9.99703566e-01,
  2.22754801e-02,-2.75275842e-04,-9.82378372e-03]

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, -0.86200333,  1.13971973, -7.86598406,
  25.99230142,  1.7736652 , -1.63099841, -0.36154446, 14.39166707,
  16.78185155, -4.03179837]

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,
  1.57638226e-02,-1.41218186e-03, 7.05684846e-03,-2.04875385e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005706816062403851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17535906e-06, -1.17535894e-06,  1.00000000e+00, -1.38146878e-12,
        1.00000000e+00,  1.17535894e-06, -1.00000000e+00,  0.00000000e+00,
       -1.17535906e-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([ 0.03420093, -0.05312829,  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:
[ 1.87328561e-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,
 -1.09974637e-04,-6.38199313e-06,-4.72508802e-05, 1.12506923e-04,
  7.68707544e-06,-9.02229888e-06,-4.90500224e+00, 2.81651139e-04,
  1.18190869e-02,-5.24354454e-04]


--- Step 987 ---
qpos:
[ 1.87035716e-02, 3.00896483e-02,-9.51734794e-03,-2.55821604e-02,
  7.86578623e-03, 4.69116893e-03,-7.85106151e-03, 2.70841454e-02,
  1.23187073e-02, 2.79864214e-02,-8.32362775e-03, 2.64565532e-02,
  1.21448499e+00, 7.47387914e-03, 1.11202668e+00, 4.53973602e-02,
  5.87405009e-02,-7.77145820e-02, 1.71445730e-01, 9.99701306e-01,
  2.23687910e-02,-2.10267515e-04,-9.84336532e-03]

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, -0.77019983,  0.9024787 ,  0.48811832,
  -2.92425562, -2.48046847,  1.15668022,  0.48168902, -9.93406427,
 -23.44919586,  6.34264082]

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,
  1.57229606e-02,-1.40480218e-03, 7.00908476e-03,-2.07967498e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.29903261,  5.09725213, -3.70078809,  5.09725213, 23.20157065,
       23.28058131, -3.70078809, 23.28058131, 38.36436296,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005840145388653212
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90101950e-13,  9.50509748e-14,  1.00000000e+00,  1.80693756e-26,
        1.00000000e+00, -9.50509748e-14, -1.00000000e+00,  0.00000000e+00,
       -1.90101950e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09541985, -0.0937166 ,  0.06198951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91679345e-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,
 -1.02885644e-04,-1.97560808e-05,-6.23396320e-05,-3.19197589e-05,
  1.55614597e-05,-1.72173783e-05,-4.90500467e+00, 2.78138524e-04,
  1.18208047e-02,-5.26991319e-04]


--- Step 988 ---
qpos:
[ 1.87041340e-02, 3.00884519e-02,-9.51732885e-03,-2.55823894e-02,
  7.86585630e-03, 4.69134353e-03,-7.85118341e-03, 2.70826578e-02,
  1.23180140e-02, 2.79852800e-02,-8.32262633e-03, 2.64557723e-02,
  1.21487415e+00, 7.47446752e-03, 1.11236180e+00, 4.53965034e-02,
  5.87431708e-02,-7.77326810e-02, 1.71446254e-01, 9.99699581e-01,
  2.24419352e-02,-1.90748309e-04,-9.85245401e-03]

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 , -0.29396275,  0.05759408,  1.38046651,
  -7.08856921, -2.42706332,  1.12307688,  0.24064861, -9.86135157,
 -22.71960782,  5.75840611]

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,
  1.56951088e-02,-1.41856150e-03, 6.94172916e-03,-2.13350877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.36767359, -3.49525925,  5.32263372, -3.49525925, 36.83604371,
       20.00792425,  5.32263372, 20.00792425, 19.50644771,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005922351789712094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.37316006e-14, -1.87463201e-13,  1.00000000e+00,  1.75712259e-26,
        1.00000000e+00,  1.87463201e-13, -1.00000000e+00,  0.00000000e+00,
        9.37316006e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09541499, -0.09371877,  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:
[-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,
 -8.98066885e-05,-4.22917958e-05,-1.04664287e-04,-6.47623231e-05,
  5.16423432e-06,-8.17246326e-06,-4.90500231e+00, 2.81280198e-04,
  1.18174791e-02,-5.29026882e-04]


--- Step 989 ---
qpos:
[ 1.87051537e-02, 3.00870454e-02,-9.51743445e-03,-2.55823565e-02,
  7.86581523e-03, 4.69141112e-03,-7.85158782e-03, 2.70819317e-02,
  1.23186833e-02, 2.79838312e-02,-8.32160478e-03, 2.64555057e-02,
  1.21526259e+00, 7.47494322e-03, 1.11269596e+00, 4.53952688e-02,
  5.87363176e-02,-7.77464021e-02, 1.71446902e-01, 9.99698387e-01,
  2.24950762e-02,-2.15475453e-04,-9.85195538e-03]

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, -0.44560289,  0.29316596, -0.24564327,
  -1.12907113, -2.380756  ,  1.09446478,  0.03107191, -9.78567007,
 -22.10743983,  5.29323156]

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,
  1.56537679e-02,-1.42691901e-03, 6.91061246e-03,-2.14712918e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.39469146, -3.22607754,  5.52127726, -3.22607754, 47.89227161,
       24.24700031,  5.52127726, 24.24700031, 20.56219285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005954707232847523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09541223, -0.09372099,  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:
[ 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,
 -1.02227356e-04,-3.91266700e-05,-8.90917838e-05,-3.12657066e-05,
  3.88123647e-07,-2.02012458e-06,-4.90500114e+00, 2.82700853e-04,
  1.18153462e-02,-5.30682330e-04]


--- Step 990 ---
qpos:
[ 1.87071430e-02, 3.00856900e-02,-9.51747846e-03,-2.55818644e-02,
  7.86605371e-03, 4.69160203e-03,-7.85257146e-03, 2.70823597e-02,
  1.23194907e-02, 2.79821739e-02,-8.32091864e-03, 2.64555562e-02,
  1.21565031e+00, 7.47531478e-03, 1.11302948e+00, 4.53941028e-02,
  5.87201003e-02,-7.77558423e-02, 1.71446950e-01, 9.99697712e-01,
  2.25283717e-02,-2.83412396e-04,-9.84258862e-03]

qacc:
[  8.32107801,  0.82502638, -4.8055146 , 12.63631153,  2.43949604,
   4.15319342,-19.45255596, 40.26929947,  1.16943363,  1.31240527,
  -6.42189549, 12.60328211, -0.43626288,  0.28750729, -1.1348952 ,
   2.65130529, -2.3410172 ,  1.07022937, -0.15013308, -9.71180033,
 -21.59634049,  4.92343086]

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,
  1.56203441e-02,-1.43205619e-03, 6.90126767e-03,-2.13682822e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005946611038074034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09541115, -0.09372325,  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:
[ 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,
 -9.99915483e-05,-3.82225426e-05,-5.72654800e-05,-3.65868188e-06,
  6.97118392e-07, 1.46305662e-06,-4.90500113e+00, 2.82704654e-04,
  1.18142713e-02,-5.31952172e-04]


--- Step 991 ---
qpos:
[ 1.87086736e-02, 3.00846676e-02,-9.51749723e-03,-2.55811037e-02,
  7.86680975e-03, 4.69177208e-03,-7.85379033e-03, 2.70831373e-02,
  1.23196637e-02, 2.79803143e-02,-8.32048558e-03, 2.64557793e-02,
  1.21603734e+00, 7.47582906e-03, 1.11336245e+00, 4.53933393e-02,
  5.86946540e-02,-7.77610833e-02, 1.71445773e-01, 9.99697542e-01,
  2.25419676e-02,-3.93699506e-04,-9.82492378e-03]

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, -0.59426951,  0.67222756, -1.9598817 ,
   5.8224163 , -2.30726293,  1.04980898, -0.30608206, -9.64287711,
 -21.17208772,  4.63010313]

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,
  1.55970217e-02,-1.41747200e-03, 6.88901508e-03,-2.11246983e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005906138770170738
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09541142, -0.09372554,  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:
[-2.36143028e-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,
 -8.79004149e-05,-1.80130357e-05,-4.39696885e-05, 1.56804699e-05,
  5.68694572e-06, 2.45442200e-06,-4.90500224e+00, 2.81511378e-04,
  1.18141514e-02,-5.32833152e-04]


--- Step 992 ---
qpos:
[ 1.87092026e-02, 3.00840868e-02,-9.51775206e-03,-2.55801664e-02,
  7.86821955e-03, 4.69152655e-03,-7.85467370e-03, 2.70834291e-02,
  1.23197856e-02, 2.79783848e-02,-8.31998077e-03, 2.64557204e-02,
  1.21642376e+00, 7.47623439e-03, 1.11369385e+00, 4.53959936e-02,
  5.86600921e-02,-7.77621935e-02, 1.71442838e-01, 9.99697856e-01,
  2.25359946e-02,-5.45628890e-04,-9.79941138e-03]

qacc:
[ -8.60662914,  1.62426176, -5.65841262,  8.73085015,  5.76858408,
  -2.4985435 , 10.14331795,-18.76047428, -0.43285768, -0.87258459,
   4.16930471, -9.11449681, -0.06020473, -0.19827397,-12.68266009,
  40.95655222, -2.27890285,  1.03270083, -0.43976344, -9.58087671,
 -20.82242645,  4.39816674]

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,
  1.55638077e-02,-1.42676547e-03, 6.81112156e-03,-1.93801715e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005840189369336612
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09541274, -0.09372787,  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:
[-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,
 -8.61528124e-05,-3.40258500e-05,-1.01924005e-04, 1.68425550e-04,
  1.50551515e-05, 1.09309975e-06,-4.90500443e+00, 2.79278806e-04,
  1.18149079e-02,-5.33323508e-04]


--- Step 993 ---
qpos:
[ 1.87104963e-02, 3.00836237e-02,-9.51773947e-03,-2.55791277e-02,
  7.87001254e-03, 4.69088725e-03,-7.85485393e-03, 2.70833782e-02,
  1.23195411e-02, 2.79767933e-02,-8.31956256e-03, 2.64554675e-02,
  1.21680964e+00, 7.47605464e-03, 1.11402431e+00, 4.54016134e-02,
  5.86165087e-02,-7.77592298e-02, 1.71437686e-01, 9.99698628e-01,
  2.25105655e-02,-7.38622861e-04,-9.76640608e-03]

qacc:
[  6.56596225, -0.39606007,  1.18798282,  0.0752685 ,  3.39976433,
  -3.1976442 , 12.08090463,-18.83078928, -3.12998997,  0.29560669,
   0.42370872, -3.90244726,  0.27344341, -0.9496117 ,-10.40143991,
  34.26808128, -2.25536855,  1.01846109, -0.55395761, -9.52696406,
 -20.53686364,  4.21558533]

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,
  1.55246749e-02,-1.46794356e-03, 6.78982106e-03,-1.78320007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005754624202614494
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.64635557e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.64635557e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09541488, -0.09373022,  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:
[ 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,
 -9.53401238e-05,-6.93367801e-05,-5.09813390e-05, 1.50756662e-04,
  2.85784373e-05,-2.51335254e-06,-4.90500766e+00, 2.76119062e-04,
  1.18164815e-02,-5.33422431e-04]


--- Step 994 ---
qpos:
[ 1.87126140e-02, 3.00834652e-02,-9.51793445e-03,-2.55780327e-02,
  7.87167162e-03, 4.69025287e-03,-7.85498739e-03, 2.70834815e-02,
  1.23190732e-02, 2.79757928e-02,-8.31954784e-03, 2.64558070e-02,
  1.21719473e+00, 7.47571979e-03, 1.11435467e+00, 4.54089142e-02,
  5.85809371e-02,-7.77634706e-02, 1.71435350e-01, 9.99698502e-01,
  2.25197377e-02,-8.94778118e-04,-9.74505441e-03]

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, -0.39364466,  0.16239962, -5.20778942,
  18.06111832,  2.00293989, -1.80111531,  0.70387342, 17.12127441,
  18.45127444, -6.25684739]

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,
  1.54820064e-02,-1.47447485e-03, 6.80780126e-03,-1.69433705e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.28249026,  5.37841572, -3.24689516,  5.37841572, 19.98536201,
       22.698528  , -3.24689516, 22.698528  , 43.88213963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000582032872990787
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.53745979e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.53745979e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03388764, -0.05294934,  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:
[ 4.24526460e-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,
 -1.11545422e-04,-4.61678293e-05, 7.12404670e-06, 8.97443916e-05,
  4.60954407e-05,-8.28342706e-06,-4.90501193e+00, 2.72110565e-04,
  1.18188275e-02,-5.33129688e-04]


--- Step 995 ---
qpos:
[ 1.87141766e-02, 3.00837883e-02,-9.51861914e-03,-2.55772672e-02,
  7.87322889e-03, 4.68961324e-03,-7.85531516e-03, 2.70837062e-02,
  1.23188221e-02, 2.79753947e-02,-8.32002080e-03, 2.64565225e-02,
  1.21757878e+00, 7.47584365e-03, 1.11468456e+00, 4.54176294e-02,
  5.85531596e-02,-7.77747772e-02, 1.71434811e-01, 9.99697536e-01,
  2.25621791e-02,-1.01485298e-03,-9.73424832e-03]

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, -1.01332061,  1.34664825, -4.87364921,
  16.26578639,  1.94852369, -1.76644164,  0.44917974, 16.45858731,
  18.07774501, -5.69644117]

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,
  1.54372600e-02,-1.44266136e-03, 6.77474706e-03,-1.62719553e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.36384382, -6.25980134,  1.1460346 , -6.25980134,  7.7699697 ,
        7.68045628,  1.1460346 ,  7.68045628, 48.31557061,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005917765525640661
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.38042425e-14, -9.38042425e-14,  1.00000000e+00, -8.79923591e-27,
        1.00000000e+00,  9.38042425e-14, -1.00000000e+00,  0.00000000e+00,
       -9.38042425e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03388785, -0.05295498,  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:
[-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,
 -1.16248155e-04,-6.14985632e-06,-2.77766903e-05, 7.12282100e-05,
  2.99506543e-05, 5.00994508e-07,-4.90500841e+00, 2.77075718e-04,
  1.18182006e-02,-5.33398298e-04]


--- Step 996 ---
qpos:
[ 1.87157150e-02, 3.00839574e-02,-9.51902574e-03,-2.55773714e-02,
  7.87471344e-03, 4.68899061e-03,-7.85555848e-03, 2.70843134e-02,
  1.23190559e-02, 2.79748577e-02,-8.31988778e-03, 2.64567808e-02,
  1.21796190e+00, 7.47655014e-03, 1.11501364e+00, 4.54261778e-02,
  5.85329891e-02,-7.77930278e-02, 1.71435181e-01, 9.99695771e-01,
  2.26367863e-02,-1.09951319e-03,-9.73310797e-03]

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, -1.11587161,  1.60313553, -0.6021986 ,
   0.59307949,  1.90177706, -1.73601158,  0.22742324, 15.90972293,
  17.74908202, -5.25113665]

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,
  1.54019676e-02,-1.40614540e-03, 6.71110849e-03,-1.64450320e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.40119219, -6.34642924,  0.83552214, -6.34642924,  7.34488969,
        7.16810378,  0.83552214,  7.16810378, 60.84841894,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005962492628581451
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.31005784e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.31005784e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03388718, -0.05295865,  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:
[-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,
 -1.00416148e-04, 7.85058848e-06,-7.50963588e-05,-1.84125412e-05,
  1.74873593e-05, 5.58838804e-06,-4.90500581e+00, 2.80170729e-04,
  1.18185691e-02,-5.34457750e-04]


--- Step 997 ---
qpos:
[ 1.87168914e-02, 3.00839286e-02,-9.51909692e-03,-2.55773298e-02,
  7.87579836e-03, 4.68838861e-03,-7.85538773e-03, 2.70847939e-02,
  1.23195835e-02, 2.79739189e-02,-8.31900695e-03, 2.64560711e-02,
  1.21834440e+00, 7.47758579e-03, 1.11534211e+00, 4.54298124e-02,
  5.85202663e-02,-7.78181171e-02, 1.71435694e-01, 9.99693236e-01,
  2.27426481e-02,-1.14933657e-03,-9.74093627e-03]

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,
 -1.02867310e+00, 1.42199941e+00, 1.40586995e+01,-5.02606922e+01,
  1.86189373e+00,-1.70968063e+00, 3.54893191e-02, 1.54567924e+01,
  1.74632821e+01,-4.89818342e+00]

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,
  1.53830273e-02,-1.38486799e-03, 6.64514527e-03,-1.90674396e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005964306561859062
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.86144527e-13, -9.30722636e-14,  1.00000000e+00, -1.73248925e-26,
        1.00000000e+00,  9.30722636e-14, -1.00000000e+00,  0.00000000e+00,
       -1.86144527e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03388578, -0.05296075,  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:
[-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,
 -7.30720540e-05, 3.85398220e-07,-1.06980621e-04,-2.73926573e-04,
  8.44232321e-06, 7.33085396e-06,-4.90500412e+00, 2.81659138e-04,
  1.18197279e-02,-5.36275391e-04]


--- Step 998 ---
qpos:
[ 1.87178352e-02, 3.00840699e-02,-9.51911953e-03,-2.55765226e-02,
  7.87662973e-03, 4.68766857e-03,-7.85453116e-03, 2.70845089e-02,
  1.23202795e-02, 2.79730480e-02,-8.31853105e-03, 2.64554742e-02,
  1.21872641e+00, 7.47883322e-03, 1.11566991e+00, 4.54269006e-02,
  5.85148558e-02,-7.78499553e-02, 1.71435687e-01, 9.99689948e-01,
  2.28790156e-02,-1.16481910e-03,-9.75718256e-03]

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, -0.94893407,  1.27954963, 18.90106137,
 -67.34645278,  1.82809478, -1.68720509, -0.12981515, 15.08469866,
  17.2175802 , -4.61940505]

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,
  1.53632525e-02,-1.37271331e-03, 6.59910116e-03,-2.24012032e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005931639215276535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.35848409e-14, -9.35848409e-14,  1.00000000e+00, -8.75812245e-27,
        1.00000000e+00,  9.35848409e-14, -1.00000000e+00,  0.00000000e+00,
       -9.35848409e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03388379, -0.0529616 ,  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:
[-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,
 -6.19887944e-05,-3.55483552e-06,-1.29295875e-04,-3.63201844e-04,
  2.60279110e-06, 6.00077529e-06,-4.90500335e+00, 2.81737628e-04,
  1.18215323e-02,-5.38824943e-04]


--- Step 999 ---
qpos:
[ 1.87186343e-02, 3.00845753e-02,-9.51933463e-03,-2.55759349e-02,
  7.87730493e-03, 4.68699747e-03,-7.85337313e-03, 2.70844533e-02,
  1.23214137e-02, 2.79724457e-02,-8.31872509e-03, 2.64556386e-02,
  1.21910773e+00, 7.48056944e-03, 1.11599616e+00, 4.54239463e-02,
  5.85166440e-02,-7.78884666e-02, 1.71434594e-01, 9.99685913e-01,
  2.30452772e-02,-1.14638148e-03,-9.78141373e-03]

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, -0.80128072,  1.19082419, -2.09175988,
   4.16032642,  1.79965517, -1.66829208, -0.2715837 , 14.78076319,
  17.00887487, -4.40028042]

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,
  1.53270103e-02,-1.34829391e-03, 6.56503594e-03,-2.22202192e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005871705985283776
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.45400730e-14, -1.89080146e-13,  1.00000000e+00, -1.78756508e-26,
        1.00000000e+00,  1.89080146e-13, -1.00000000e+00,  0.00000000e+00,
       -9.45400730e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03388134, -0.05296145,  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:
[-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,
 -7.39386616e-05, 1.06244394e-05,-1.36560700e-04,-1.93363491e-05,
 -2.01795442e-07, 1.80695830e-06,-4.90500347e+00, 2.80552029e-04,
  1.18238812e-02,-5.42085302e-04]


--- Step 1000 ---
qpos:
[ 1.87193421e-02, 3.00854343e-02,-9.51943082e-03,-2.55751698e-02,
  7.87753781e-03, 4.68672251e-03,-7.85271977e-03, 2.70849055e-02,
  1.23228067e-02, 2.79721034e-02,-8.31926954e-03, 2.64555614e-02,
  1.21948852e+00, 7.48214581e-03, 1.11632095e+00, 4.54218159e-02,
  5.85255358e-02,-7.79335885e-02, 1.71431930e-01, 9.99681129e-01,
  2.32409366e-02,-1.09437583e-03,-9.81329109e-03]

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, -0.15620657, -0.07556618, -4.64890038,
  13.13518483,  1.77591595, -1.65263121, -0.3927125 , 14.53437383,
  16.83399181, -4.22920655]

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,
  1.52862486e-02,-1.37013529e-03, 6.51163253e-03,-2.17445038e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000579064723120512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58634657e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.58634657e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03387854, -0.05296053,  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:
[-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,
 -8.07202764e-05,-3.53014056e-05,-1.19087729e-04, 2.88101662e-05,
 -1.06720845e-07,-5.09246052e-06,-4.90500449e+00, 2.78209473e-04,
  1.18267048e-02,-5.46039576e-04]


--- Step 1001 ---
qpos:
[ 1.87196456e-02, 3.00867946e-02,-9.51945960e-03,-2.55743012e-02,
  7.87749894e-03, 4.68672601e-03,-7.85256462e-03, 2.70846352e-02,
  1.23239968e-02, 2.79715065e-02,-8.31923252e-03, 2.64549924e-02,
  1.21986881e+00, 7.48303534e-03, 1.11664463e+00, 4.54192032e-02,
  5.85414528e-02,-7.79852700e-02, 1.71427282e-01, 9.99675585e-01,
  2.34655955e-02,-1.00909203e-03,-9.85255201e-03]

qacc:
[ -3.4745464 ,  0.69437668, -1.93890465,  3.24013721, -2.4115758 ,
   0.2777889 ,  2.60232947,-14.5245362 , -1.7079534 , -2.97048346,
  12.184965  ,-21.44248923,  0.14701311, -0.82778829, -0.19757751,
  -1.74355236,  1.75628763, -1.63991391, -0.49585402, 14.33666501,
  16.68984148, -4.09690829]

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,
  1.52427863e-02,-1.41928002e-03, 6.46265130e-03,-2.19880765e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000569365935248034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74964391e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.74964391e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03387548, -0.05295902,  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:
[-2.07964716e-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,
 -9.76060901e-05,-7.60802337e-05,-1.01668674e-04,-3.82931856e-05,
  2.78224645e-06,-1.45797689e-05,-4.90500639e+00, 2.74787609e-04,
  1.18299562e-02,-5.50674316e-04]


--- Step 1002 ---
qpos:
[ 1.87193543e-02, 3.00883117e-02,-9.51922661e-03,-2.55736832e-02,
  7.87764534e-03, 4.68677381e-03,-7.85243144e-03, 2.70835565e-02,
  1.23243584e-02, 2.79705395e-02,-8.31876865e-03, 2.64538088e-02,
  1.22024836e+00, 7.48364769e-03, 1.11696762e+00, 4.54126093e-02,
  5.85472542e-02,-7.80323111e-02, 1.71425230e-01, 9.99670540e-01,
  2.36701967e-02,-9.72020792e-04,-9.87866095e-03]

qacc:
[ -5.09778786, -1.03121819,  5.04943982, -9.93353351,  1.62789788,
  -1.54731928,  9.00914798,-22.98963297, -7.04194612, -2.93402141,
  12.37076575,-23.4449253 , -0.60306683,  0.39465752, 11.05607418,
 -40.06741583, -2.52887469,  1.16008312,  0.64868515, -9.78732351,
 -24.04271025,  7.15210404]

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,
  1.52030455e-02,-1.43095794e-03, 6.41101766e-03,-2.40736639e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.31293462,  5.13486456, -3.67237111,  5.13486456, 22.00206349,
       21.93720335, -3.67237111, 21.93720335, 36.98645991,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005856796994038876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47807330e-14,  1.89561466e-13,  1.00000000e+00,  1.79667747e-26,
        1.00000000e+00, -1.89561466e-13, -1.00000000e+00,  0.00000000e+00,
       -9.47807330e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09539421, -0.09375395,  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:
[-3.06236680e-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,
 -1.12666586e-04,-5.30265179e-05,-1.04945222e-04,-2.24263987e-04,
  8.38407895e-06,-2.65695813e-05,-4.90500915e+00, 2.70341567e-04,
  1.18336048e-02,-5.55978896e-04]


--- Step 1003 ---
qpos:
[ 1.87200840e-02, 3.00896135e-02,-9.51902830e-03,-2.55728306e-02,
  7.87825453e-03, 4.68667836e-03,-7.85223117e-03, 2.70816751e-02,
  1.23242085e-02, 2.79698387e-02,-8.31896082e-03, 2.64525868e-02,
  1.22062719e+00, 7.48407020e-03, 1.11728933e+00, 4.54048798e-02,
  5.85431725e-02,-7.80748674e-02, 1.71424710e-01, 9.99665999e-01,
  2.38548908e-02,-9.81501262e-04,-9.89294534e-03]

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, -0.43334669,  0.21909762,  1.57712771,
  -8.18900018, -2.47079922,  1.12123964,  0.38320447, -9.72053608,
 -23.22632287,  6.47343836]

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,
  1.51709025e-02,-1.43804332e-03, 6.36312179e-03,-2.45646489e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.40632864, -3.77146242,  5.17852468, -3.77146242, 29.84233219,
       17.06818296,  5.17852468, 17.06818296, 18.83689808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005968644320191174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.30046226e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.30046226e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09538795, -0.09375639,  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:
[ 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,
 -1.08346852e-04,-4.58821853e-05,-1.24549268e-04,-7.58212362e-05,
  9.76216717e-07,-1.13193767e-05,-4.90500811e+00, 2.73168846e-04,
  1.18274175e-02,-5.60649271e-04]


--- Step 1004 ---
qpos:
[ 1.87204147e-02, 3.00906769e-02,-9.51922319e-03,-2.55721945e-02,
  7.87914151e-03, 4.68598886e-03,-7.85159687e-03, 2.70800400e-02,
  1.23247923e-02, 2.79696244e-02,-8.31992380e-03, 2.64513445e-02,
  1.22100539e+00, 7.48409482e-03, 1.11760945e+00, 4.54021754e-02,
  5.85294097e-02,-7.81130718e-02, 1.71424797e-01, 9.99661960e-01,
  2.40198422e-02,-1.03614046e-03,-9.89645626e-03]

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,  0.24795297, -0.81912904,-17.60387311,
  58.05366307, -2.42026013,  1.08793656,  0.15177869, -9.64538154,
 -22.54073312,  5.93573084]

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,
  1.51433444e-02,-1.46010228e-03, 6.34417470e-03,-2.18035610e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.45256595, -3.56110781,  5.38090314, -3.56110781, 38.67215338,
       21.32307931,  5.38090314, 21.32307931, 20.56428331,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006024031160769688
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.21495088e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.21495088e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09538411, -0.09375881,  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:
[-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,
 -9.95799135e-05,-5.80711241e-05,-8.62692455e-05, 2.55562240e-04,
 -5.84731513e-07, 7.15344402e-07,-4.90500806e+00, 2.74026142e-04,
  1.18227543e-02,-5.64954947e-04]


--- Step 1005 ---
qpos:
[ 1.87204784e-02, 3.00915227e-02,-9.51949001e-03,-2.55717428e-02,
  7.87983972e-03, 4.68492016e-03,-7.85083107e-03, 2.70789013e-02,
  1.23265235e-02, 2.79694152e-02,-8.32085463e-03, 2.64501187e-02,
  1.22138281e+00, 7.48411290e-03, 1.11792898e+00, 4.53990662e-02,
  5.85061399e-02,-7.81470383e-02, 1.71424689e-01, 9.99658413e-01,
  2.41652168e-02,-1.13477573e-03,-9.89002367e-03]

qacc:
[ -2.28915294, -0.46168534,  2.01329947, -4.93337191, -1.64959345,
   0.15657431, -3.37597236, 12.03105049,  9.77909347, -0.06835176,
   0.15054835,  0.11590789, -0.59435954,  0.54575486,  0.40653391,
  -2.56775038, -2.37676488,  1.05949365, -0.04872171, -9.56816243,
 -21.96779597,  5.51104015]

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,
  1.51079022e-02,-1.45535614e-03, 6.30006544e-03,-2.21190304e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.46035032, -3.26451417,  5.57486085, -3.26451417, 50.50773739,
       25.79316739,  5.57486085, 25.79316739, 21.56425383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006033358447101039
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20070500e-14,  9.20070500e-14,  1.00000000e+00,  8.46529725e-27,
        1.00000000e+00, -9.20070500e-14, -1.00000000e+00,  0.00000000e+00,
       -9.20070500e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0953822 , -0.09376124,  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:
[-1.37597498e-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,
 -1.04079821e-04,-3.30090908e-05,-5.70557494e-05,-2.87567542e-05,
  3.09793863e-06, 9.82103509e-06,-4.90500900e+00, 2.73270577e-04,
  1.18194155e-02,-5.68888577e-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,
  1.2217592 , 0.00748474, 1.11824796, 0.0453959 , 0.05847351,-0.07817686,
  0.1714237 , 0.99965534, 0.02429117,-0.00127644,-0.0098743 ]

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, -1.21986438,  1.72554119, -0.52461232,
   0.91922159, -2.33972874,  1.03528393, -0.2215594 , -9.49311262,
 -21.49164264,  5.17705646]

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,
  1.50624400e-02,-1.41700650e-03, 6.28343152e-03,-2.21159200e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006005583703777295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.24325660e-14, -9.24325660e-14,  1.00000000e+00, -8.54377926e-27,
        1.00000000e+00,  9.24325660e-14, -1.00000000e+00,  0.00000000e+00,
       -9.24325660e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09538185, -0.09376367,  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:
[ 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,
 -1.10956879e-04, 6.06929259e-06,-5.10253299e-05,-9.72146243e-06,
  1.15738098e-05, 1.62278058e-05,-4.90501091e+00, 2.71157668e-04,
  1.18172462e-02,-5.72445753e-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,
  1.22213469, 0.00748582, 1.11856654, 0.04539433, 0.05843165,-0.07820263,
  0.17142122, 0.99965274, 0.02439786,-0.00146034,-0.0098498 ]

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, -0.90859286,  1.23370346, -5.33177097,
  17.99522005, -2.30853941,  1.01474354, -0.36992354, -9.42300487,
 -21.09855201,  4.91596763]

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,
  1.50216680e-02,-1.39461395e-03, 6.29395226e-03,-2.12134020e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005948376340363798
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09538274, -0.09376611,  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:
[ 2.07790273e-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,
 -1.00572794e-04,-1.65787720e-06,-1.95911188e-05, 8.19300931e-05,
  2.45094179e-05, 2.01188557e-05,-4.90501380e+00, 2.67868566e-04,
  1.18161272e-02,-5.75624072e-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,
  1.22250958, 0.00748685, 1.1188849 , 0.04538924, 0.05838065,-0.07822441,
  0.17141676, 0.99965056, 0.02448541,-0.00168583,-0.00981691]

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, -0.65067425,  0.65658052, 10.3548395 ,
 -36.59564085, -2.28259557,  0.99737364, -0.49681483, -9.35958312,
 -20.77675266,  4.71354998]

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,
  1.49943881e-02,-1.39963515e-03, 6.24088476e-03,-2.31605543e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005868266837390362
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.4595479e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.4595479e-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([ 0.09538458, -0.09376855,  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:
[-2.44489160e-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,
 -8.25407571e-05,-2.89329346e-05,-5.95085421e-05,-1.94129432e-04,
  4.16612906e-05, 2.16385474e-05,-4.90501764e+00, 2.63529875e-04,
  1.18159668e-02,-5.78422466e-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,
  1.22288408, 0.0074875 , 1.11920258, 0.04538054, 0.05832062,-0.07824225,
  0.17140988, 0.9996488 , 0.02455394,-0.00195237,-0.00977595]

qacc:
[ -5.62285744,  1.84074019, -8.22296845, 15.62295569, -2.03285444,
  -0.34068031, -0.72914853,  9.0457387 ,  1.45765462,  1.25968429,
  -4.73134374,  7.35438227, -0.24554929, -0.04822005,  9.93023965,
 -36.14388207, -2.26132855,  0.98273788, -0.60498917, -9.30387003,
 -20.51619841,  4.5584408 ]

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,
  1.49752074e-02,-1.42077974e-03, 6.19759622e-03,-2.49974721e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005770785433300007
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.61934071e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.61934071e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09538716, -0.09377098,  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:
[-3.36911619e-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,
 -7.24925670e-05,-4.70503419e-05,-9.76166984e-05,-2.03352804e-04,
  6.28556545e-05, 2.08991788e-05,-4.90502242e+00, 2.58228067e-04,
  1.18166954e-02,-5.80840713e-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,
  1.22325815, 0.00748809, 1.11951938, 0.04537095, 0.0582685 ,-0.0782674 ,
  0.17140572, 0.99964604, 0.02465787,-0.00218258,-0.00974812]

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,
 -0.29804711, 0.22195237, 1.42059017,-6.80318513, 1.98082303,-1.82426414,
  0.67900519,17.51585168,18.17166839,-7.05313335]

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,
  1.49662161e-02,-1.41574820e-03, 6.18152590e-03,-2.53330976e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.17021039,  5.26187733, -3.22244367,  5.26187733, 18.32819844,
       19.85258654, -3.22244367, 19.85258654, 38.58718519,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005685702457736558
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.76328812e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.76328812e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0338602 , -0.05298284,  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:
[-2.06065881e-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,
 -6.17348956e-05,-2.28073638e-05,-8.66715291e-05,-5.81104582e-05,
  8.79731081e-05, 1.79865871e-05,-4.90502814e+00, 2.52019992e-04,
  1.18182608e-02,-5.82879096e-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,
  1.22363166, 0.00748876, 1.11983518, 0.04536362, 0.05822409,-0.07829971,
  0.17140327, 0.99964234, 0.02479582,-0.00237717,-0.0097322 ]

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 ,
 -0.27063806, 0.23479039,-8.29155216,26.87708991, 1.92601844,-1.79277475,
  0.42991297,16.82689965,17.82518541,-6.43121991]

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,
  1.49367264e-02,-1.41292874e-03, 6.16585197e-03,-2.40705612e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.25688429, -6.10385783,  1.37532564, -6.10385783,  8.14444642,
        8.37722397,  1.37532564,  8.37722397, 43.43599498,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005789647591142311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58800175e-14, -9.58800175e-14,  1.00000000e+00, -9.19297775e-27,
        1.00000000e+00,  9.58800175e-14, -1.00000000e+00,  0.00000000e+00,
       -9.58800175e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0338602, -0.0529892,  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:
[-2.99560634e-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,
 -7.00584712e-05,-1.65583526e-05,-6.49301738e-05, 1.11244267e-04,
  6.49615104e-05, 2.61801377e-05,-4.90502392e+00, 2.58694590e-04,
  1.18196944e-02,-5.85425099e-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,
  1.22400452, 0.0074891 , 1.12015045, 0.04535776, 0.05818719,-0.07833908,
  0.17140167, 0.99963774, 0.02496664,-0.00253675,-0.00972721]

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,
 -0.13716147,-0.25725998,-5.246742  ,17.23621384, 1.87876   ,-1.765045  ,
  0.21247933,16.25871735,17.51685295,-5.9402836 ]

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,
  1.48789868e-02,-1.44705823e-03, 6.15578525e-03,-2.32972160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.29990191, -6.20230299,  1.10462742, -6.20230299,  7.83557754,
        8.62256846,  1.10462742,  8.62256846, 54.71421916,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005841186679687027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90068061e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.90068061e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03385941, -0.05299348,  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:
[-1.79628584e-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,
 -1.00533607e-04,-5.42875645e-05,-3.09230541e-05, 7.44538121e-05,
  4.57607148e-05, 3.05307076e-05,-4.90502057e+00, 2.63173394e-04,
  1.18221360e-02,-5.88787693e-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,
  1.22437668, 0.00748931, 1.12046554, 0.04534987, 0.05815765,-0.07838542,
  0.17140018, 0.99963228, 0.02516939,-0.00266188,-0.00973238]

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 , -0.58953082,  0.48140643,  5.9314967 ,
 -21.03119763,  1.83825768, -1.74104146,  0.02383788, 15.79203841,
  17.24596658, -5.55446906]

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,
  1.48469329e-02,-1.44971834e-03, 6.12777180e-03,-2.44164086e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005849942178255269
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48917947e-14, -9.48917947e-14,  1.00000000e+00, -9.00445271e-27,
        1.00000000e+00,  9.48917947e-14, -1.00000000e+00,  0.00000000e+00,
       -9.48917947e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03385795, -0.05299607,  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:
[ 2.52547351e-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,
 -9.99332506e-05,-3.98945786e-05,-3.94525274e-05,-1.12966740e-04,
  3.00855983e-05, 3.14182175e-05,-4.90501810e+00, 2.65773486e-04,
  1.18253880e-02,-5.92932154e-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,
  1.22474797, 0.00748975, 1.12077968, 0.04534635, 0.05813532,-0.07843864,
  0.17139812, 0.99962597, 0.02540331,-0.00275305,-0.00974712]

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 , -0.48610985,  0.52596065,-14.57259418,
  49.0138968 ,  1.80374707, -1.72060807, -0.13900076, 15.41067683,
  17.01080917, -5.25312936]

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,
  1.48090155e-02,-1.43356854e-03, 6.12625919e-03,-2.20262121e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005824211563006942
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.53110144e-14, -9.53110144e-14,  1.00000000e+00, -9.08418947e-27,
        1.00000000e+00,  9.53110144e-14, -1.00000000e+00,  0.00000000e+00,
       -9.53110144e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03385597, -0.05299732,  0.06198954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.15395106e-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,
 -1.02704072e-04,-1.69539928e-05,-3.83270297e-05, 2.26305533e-04,
  1.77039301e-05, 2.91358883e-05,-4.90501651e+00, 2.66732510e-04,
  1.18293159e-02,-5.97830711e-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,
  1.22511845, 0.00749016, 1.12109287, 0.04534837, 0.05812009,-0.07849868,
  0.17139495, 0.99961882, 0.02566778,-0.00281064,-0.00977095]

qacc:
[  2.2363843 , -0.55790229,  0.26280808,  4.20598471,  1.97125462,
   1.3583105 , -3.23424288, -1.44504854,  3.20771565, -2.16680493,
   6.13378011, -3.53418069, -0.16540974, -0.07586304,-18.19420696,
  61.60795466,  1.77451551, -1.70352076, -0.2789652 , 15.10108964,
  16.80912195, -5.01977473]

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,
  1.47622935e-02,-1.44195152e-03, 6.09811679e-03,-1.91839561e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005771107476745946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92376078e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.92376078e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03385357, -0.05299751,  0.06198963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33354229e-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,
 -1.06579274e-04,-3.67655687e-05,-2.52325750e-05, 2.90889729e-04,
  8.42758181e-06, 2.39079454e-05,-4.90501578e+00, 2.66227317e-04,
  1.18338302e-02,-6.03461227e-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,
  1.22548829, 0.00749041, 1.12140593, 0.04534946, 0.05811186,-0.07856547,
  0.17139018, 0.99961083, 0.02596229,-0.00283501,-0.00980353]

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, -0.44110694,  0.27881624,  2.66506343,
  -9.52438475,  1.74991443, -1.68952278, -0.39881936, 14.8519756 ,
  16.63840762, -4.84123093]

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,
  1.47369441e-02,-1.44712354e-03, 6.05935637e-03,-1.98278428e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005696692714613621
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74445244e-14, -9.74445244e-14,  1.00000000e+00, -9.49543534e-27,
        1.00000000e+00,  9.74445244e-14, -1.00000000e+00,  0.00000000e+00,
       -9.74445244e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03385084, -0.05299687,  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:
[-6.40855111e-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,
 -9.16266550e-05,-3.97235914e-05,-2.29133008e-05,-5.25272263e-05,
  2.10529223e-06, 1.59037342e-05,-4.90501589e+00, 2.64388213e-04,
  1.18388734e-02,-6.09806132e-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,
  1.22585745, 0.00749059, 1.12171858, 0.04535012, 0.05809374,-0.07862796,
  0.17138656, 0.99960324, 0.02623786,-0.00290638,-0.00982248]

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, -0.48345247,  0.38001024,  0.7376898 ,
  -3.36337112, -2.47366759,  1.0770655 ,  0.28767006, -9.22211835,
 -23.40346175,  7.45022553]

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,
  1.47031291e-02,-1.45023007e-03, 6.04081434e-03,-2.00354094e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.11687039,  4.9732999 , -3.56123455,  4.9732999 , 19.32689606,
       18.44793383, -3.56123455, 18.44793383, 31.87959568,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005621633358352252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09537724, -0.09379421,  0.0619899 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.97002517e-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,
 -9.36179319e-05,-3.44073069e-05,-4.14744106e-05,-2.81153780e-05,
 -1.38330155e-06, 5.24889989e-06,-4.90501683e+00, 2.61309824e-04,
  1.18444109e-02,-6.16851582e-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,
  1.22622573, 0.00749082, 1.1220308 , 0.04534985, 0.05806589,-0.07868626,
  0.17138325, 0.99959606, 0.02649454,-0.00302335,-0.00982901]

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, -0.76802196,  0.78723052,  2.25241506,
  -8.66398633, -2.42969491,  1.04423868,  0.07624229, -9.20067171,
 -22.72732464,  6.83387867]

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,
  1.46482839e-02,-1.45211963e-03, 6.01845540e-03,-2.05150682e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.17105451, -3.56840371,  5.03472033, -3.56840371, 33.7870608 ,
       19.57309501,  5.03472033, 19.57309501, 20.04366318,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005686715664705577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76154858e-14,  9.76154858e-14,  1.00000000e+00,  9.52878307e-27,
        1.00000000e+00, -9.76154858e-14, -1.00000000e+00,  0.00000000e+00,
       -9.76154858e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09537256, -0.09379713,  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:
[-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,
 -1.14665615e-04,-3.22054536e-05,-5.00662461e-05,-5.61054516e-05,
  4.20703115e-06, 2.10729952e-05,-4.90501958e+00, 2.60785377e-04,
  1.18372460e-02,-6.23371442e-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,
  1.22659322, 0.00749101, 1.12234281, 0.04534793, 0.05804793,-0.07874367,
  0.17138268, 0.99958899, 0.02674656,-0.00309699,-0.00984318]

qacc:
[ -3.27234938, -2.71987427,  8.84270046,-11.26812245,  5.06086362,
   1.12223279, -3.45227369,  3.47981324, -6.82626728,  0.9876974 ,
  -6.65782712, 18.18634353, -0.69034948,  0.65046222,  4.71751677,
 -16.82561066,  2.47009166,  0.22531872,  0.68390149, -2.56260144,
  21.53732061, -4.38740256]

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,
  1.46128179e-02,-1.45338025e-03, 6.01512676e-03,-2.13287229e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.21203898,  6.21108714, -0.108742  ,  6.21108714,  6.23035023,
        1.04589537, -0.108742  ,  1.04589537, 65.95112211,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000573588705937142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.83893343e-14,  1.20973336e-13,  1.00000000e+00,  5.85381917e-27,
        1.00000000e+00, -1.20973336e-13, -1.00000000e+00,  0.00000000e+00,
       -4.83893343e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02720517, -0.08182627,  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:
[-1.98439955e-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,
 -1.06372589e-04,-3.59268989e-05,-3.80988364e-05,-9.21521517e-05,
  1.50030067e-05, 3.38696899e-05,-4.90502302e+00, 2.58473015e-04,
  1.18316742e-02,-6.29545780e-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,
  1.22696014, 0.00749085, 1.12265427, 0.0453457 , 0.05803961,-0.07880023,
  0.1713839 , 0.99958203, 0.02699386,-0.00312808,-0.00986466]

qacc:
[  4.00329916, -3.57283356, 16.80394313,-36.83061467, -0.04087526,
   0.04822263, -1.61595981,  7.17083307, -7.22109882, -0.89740501,
   0.74688156,  5.91431936, -0.17611239, -0.18650351,  0.12068979,
  -1.59423168,  2.410382  ,  0.212663  ,  0.45047144, -2.57298588,
  21.14756467, -4.21252442]

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,
  1.45890027e-02,-1.47194489e-03, 5.99658293e-03,-2.14443151e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000580436317000041
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.78184683e-14, -4.78184683e-14,  1.00000000e+00, -2.28660591e-27,
        1.00000000e+00,  4.78184683e-14, -1.00000000e+00,  0.00000000e+00,
       -4.78184683e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02720572, -0.08182753,  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:
[ 2.39356058e-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,
 -9.10252629e-05,-5.22514862e-05,-5.24789241e-05,-2.29679167e-05,
  4.99883502e-06, 2.01853822e-05,-4.90501762e+00, 2.56976562e-04,
  1.18348415e-02,-6.35575560e-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,
  1.22732633, 0.00749074, 1.12296514, 0.04534332, 0.05804072,-0.07885598,
  0.17138612, 0.9995752 , 0.02723646,-0.0031173 ,-0.00989318]

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,
 -5.75175804e-01, 5.62675585e-01,-3.48707604e-01, 8.63799358e-02,
  2.35948665e+00, 2.01622762e-01, 2.48038688e-01,-2.57257879e+00,
  2.08071253e+01,-4.07644812e+00]

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,
  1.45562094e-02,-1.46505586e-03, 5.97427388e-03,-2.15029149e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005827725383053539
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.76267734e-14,  1.19066933e-13,  1.00000000e+00,  5.67077386e-27,
        1.00000000e+00, -1.19066933e-13, -1.00000000e+00,  0.00000000e+00,
       -4.76267734e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02720517, -0.08182862,  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:
[ 1.55510744e-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,
 -9.55727558e-05,-2.73089711e-05,-5.36870442e-05,-1.49359807e-05,
 -2.63923425e-07, 6.99173368e-06,-4.90501368e+00, 2.54463190e-04,
  1.18374821e-02,-6.41471891e-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,
  1.22769181, 0.0074909 , 1.12327592, 0.04534076, 0.05803203,-0.07890756,
  0.17138876, 0.9995688 , 0.0274609 ,-0.00315155,-0.00990873]

qacc:
[  4.53883457,  1.62537341, -9.17031915, 22.96911063, -2.04594862,
  -2.04554623,  8.86646264,-16.8425521 ,  1.11377972, -1.00041027,
   4.69665466, -9.14499338, -0.76552589,  0.9885314 ,  0.44819953,
  -1.6362473 , -2.45193554,  1.04010913,  0.10407004, -8.84106245,
 -22.42214147,  7.1284158 ]

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,
  1.45340415e-02,-1.44314617e-03, 5.99233433e-03,-2.15276420e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.28971246,  6.17016033, -1.22049348,  6.17016033,  7.67565695,
        7.00659188, -1.22049348,  7.00659188, 41.71128258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005828980831021346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.76165155e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.76165155e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09536076, -0.09381057,  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:
[ 2.72436010e-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,
 -8.14766692e-05,-6.99406814e-06,-1.31223443e-05,-1.12786894e-05,
 -1.04321944e-06,-5.72985838e-06,-4.90501111e+00, 2.51019392e-04,
  1.18396377e-02,-6.47233563e-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,
  1.22805662, 0.00749132, 1.12358678, 0.04533779, 0.05801371,-0.07895511,
  0.17139104, 0.99956283, 0.02766714,-0.0032298 ,-0.00991234]

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 , -0.75005441,  0.9609796 ,  1.45075621,
  -4.72452021, -2.40835406,  1.01008087, -0.08669609, -8.86173799,
 -21.91060156,  6.60166232]

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,
  1.45022959e-02,-1.43023403e-03, 6.00796590e-03,-2.17087064e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.30132591, -4.55583083,  4.35328768, -4.55583083, 31.87195895,
       26.76034459,  4.35328768, 26.76034459, 34.30673514,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005842892384478188
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.85018862e-13, -4.75031436e-14,  1.00000000e+00, -1.35392919e-26,
        1.00000000e+00,  4.75031436e-14, -1.00000000e+00,  0.00000000e+00,
       -2.85018862e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09535905, -0.0938141 ,  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:
[ 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,
 -7.79716207e-05,-7.74598385e-06, 1.43401510e-06,-2.19741204e-05,
  3.18742263e-07, 7.43361801e-06,-4.90501241e+00, 2.51240493e-04,
  1.18338269e-02,-6.52504157e-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,
  1.22842081, 0.00749167, 1.12389698, 0.04533833, 0.05800487,-0.07900185,
  0.17139464, 0.99955697, 0.02786936,-0.00326559,-0.00992428]

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 , -0.14789765, -0.04758296,-11.59465644,
  39.13532991,  2.37196838,  0.2025372 ,  0.32818965, -2.236863  ,
  21.08057487, -4.7473013 ]

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,
  1.44648264e-02,-1.44055957e-03, 5.99549737e-03,-1.98501875e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.31781691,  6.29963814, -0.47892571,  6.29963814,  6.62019158,
        3.97734131, -0.47892571,  3.97734131, 58.63451386,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005862644537946021
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.10146473e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.10146473e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02720345, -0.08183326,  0.06198947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.07994948e-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,
 -8.17827910e-05,-3.04407256e-05,-2.19296350e-05, 1.83081760e-04,
  6.62897220e-06, 1.79279553e-05,-4.90501448e+00, 2.49764003e-04,
  1.18293839e-02,-6.57440311e-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,
  1.22878454, 0.00749164, 1.1242067 , 0.04534207, 0.05800534,-0.07904783,
  0.17139882, 0.99955125, 0.02806744,-0.00325965,-0.00994412]

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,  0.17097627, -0.65047181,-10.42261198,
  35.36681215,  2.32659068,  0.19131366,  0.14258747, -2.29018776,
  20.72927035, -4.51666782]

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,
  1.44399182e-02,-1.46461277e-03, 5.98221101e-03,-1.82256915e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005861453105787118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42058164e-13,  4.73527214e-14,  1.00000000e+00,  6.72684068e-27,
        1.00000000e+00, -4.73527214e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42058164e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0272027 , -0.08183504,  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:
[-2.14662331e-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,
 -7.64353778e-05,-5.09987614e-05,-8.27500865e-06, 1.68638565e-04,
  6.96806298e-07, 7.25995514e-06,-4.90501064e+00, 2.48415319e-04,
  1.18320077e-02,-6.62259380e-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,
  1.22914766, 0.00749158, 1.12451583, 0.04534681, 0.05800573,-0.07909114,
  0.17140566, 0.99954578, 0.02825585,-0.0032548 ,-0.00996227]

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,
 -3.50094736e-01, 2.53190707e-01,-3.87938378e+00, 1.23636613e+01,
 -1.89682149e-02, 6.64574325e-01, 6.69638943e-01,-4.82678223e+00,
 -5.67701687e-01, 8.71561376e-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,
  1.44119042e-02,-1.46104318e-03, 5.93116026e-03,-1.78177483e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.29313573,  6.07358713, -1.64775502,  6.07358713,  9.81197354,
       12.97035533, -1.64775502, 12.97035533, 54.10156744,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005833081650572557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15118409e-06,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.15118409e-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([ 0.06078347, -0.08774348,  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:
[-1.33074019e-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,
 -8.13591224e-05,-2.74495300e-05,-4.19318491e-05, 4.77836183e-05,
 -7.17896261e-07,-3.06349998e-06,-4.90500819e+00, 2.45989045e-04,
  1.18341047e-02,-6.66960247e-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,
  1.22951023, 0.00749151, 1.1248239 , 0.0453521 , 0.05799657,-0.07913052,
  0.17141174, 0.99954076, 0.0284263 ,-0.00329322,-0.00996881]

qacc:
[  1.64187324, -0.24317591,  2.62924653, -7.69069172, -0.76224436,
  -3.00261406, 13.89535572,-29.41165758, -2.32738597,  1.32264065,
  -6.77775352, 16.61756089, -0.33268518,  0.26112266, -3.20033466,
   8.97855649, -2.38727086,  0.98452944, -0.19392983, -8.74690336,
 -21.5535763 ,  6.44724379]

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,
  1.43873819e-02,-1.45886112e-03, 5.86280395e-03,-1.75979664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005828214731012082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.85736647e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.85736647e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09535563, -0.0938281 ,  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:
[ 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,
 -7.57816002e-05,-2.35635448e-05,-8.72498452e-05, 1.81237951e-05,
 -6.52372274e-07,-2.57586292e-06,-4.90500756e+00, 2.44826401e-04,
  1.18328903e-02,-6.71395680e-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,
  1.22987228, 0.00749144, 1.12513084, 0.04535598, 0.05797801,-0.07916605,
  0.17141644, 0.99953618, 0.0285788 ,-0.00337416,-0.00996447]

qacc:
[ -1.94189863,  1.98619872, -5.54118237,  3.56121053, -0.4358296 ,
   0.98501396, -4.56301758,  8.15257797, -4.4061627 ,  0.12190448,
  -3.60522432, 15.19464873, -0.41854632,  0.39355514,  2.61939838,
 -11.50798662, -2.35279192,  0.961917  , -0.34216319, -8.75329646,
 -21.18138996,  6.07847698]

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,
  1.43649722e-02,-1.45752467e-03, 5.78945355e-03,-1.83781819e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005787847075931218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.87729533e-13, -1.43864767e-13,  1.00000000e+00, -4.13941421e-26,
        1.00000000e+00,  1.43864767e-13, -1.00000000e+00,  0.00000000e+00,
       -2.87729533e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09535628, -0.09383131,  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:
[-1.14833486e-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,
 -7.04818803e-05,-2.17151898e-05,-1.14074436e-04,-8.88258542e-05,
  1.25921042e-06, 6.86671306e-06,-4.90500842e+00, 2.44513495e-04,
  1.18289825e-02,-6.75425952e-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,
  1.23023377, 0.00749141, 1.1254364 , 0.04535858, 0.05796876,-0.07920083,
  0.17142182, 0.99953174, 0.02872766,-0.00341314,-0.00996888]

qacc:
[ -4.18983376,  1.87201384, -5.90448858,  5.4102707 , -3.26939793,
   2.32402626,-10.47840669, 19.53164439,  0.2579647 ,  0.37747897,
  -2.94912599,  9.63698091, -0.48291549,  0.49390171,  1.89809534,
  -9.51612758,  2.32885479,  0.18690179,  0.16915475, -2.04102484,
  20.82409903, -4.97177848]

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,
  1.43331938e-02,-1.45668975e-03, 5.71847693e-03,-1.90309334e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22682634,  6.19442297, -0.63442132,  6.19442297,  6.72652206,
        4.87897645, -0.63442132,  4.87897645, 53.86463906,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005753618504049651
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64804170e-14, -9.64804170e-14,  1.00000000e+00, -9.30847086e-27,
        1.00000000e+00,  9.64804170e-14, -1.00000000e+00,  0.00000000e+00,
       -9.64804170e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02719742, -0.08184187,  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:
[-2.50101459e-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,
 -7.72413665e-05,-2.01417396e-05,-1.34977069e-04,-8.52636390e-05,
  7.74170595e-06, 1.39209957e-05,-4.90501013e+00, 2.42732058e-04,
  1.18262029e-02,-6.79118681e-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,
  1.2305946 , 0.00749146, 1.12574068, 0.04536193, 0.05795868,-0.07922613,
  0.17142826, 0.99952851, 0.02883495,-0.00345544,-0.00996824]

qacc:
[ -8.44154917,  0.74835317, -0.42612724, -6.3380096 ,  1.09431545,
   0.36197084, -2.8154448 ,  7.61192935,  0.23186808,  0.50070653,
  -1.01753423, -0.58861814, -0.44206944,  0.42613496, -4.15170488,
  11.85656   , -0.20508258,  2.37066871,  0.26272874,-20.76694177,
  -1.78850791,  2.65140349]

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,
  1.42958182e-02,-1.45620527e-03, 5.68626859e-03,-1.85375846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22292232,  4.10184248, -4.67970623,  4.10184248, 34.72462455,
       24.98222906, -4.67970623, 24.98222906, 28.12027299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005748937660105397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06309853, -0.11247258,  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:
[-5.05587835e-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,
 -8.64178757e-05,-2.15527591e-05,-1.04380944e-04, 2.71073450e-05,
  1.45756031e-06, 6.21575977e-06,-4.90500675e+00, 2.42404329e-04,
  1.18283668e-02,-6.82665313e-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,
  1.23095463, 0.00749206, 1.12604465, 0.04536335, 0.0579478 ,-0.07924214,
  0.17143502, 0.99952649, 0.02890117,-0.00350092,-0.00996275]

qacc:
[ -8.00351281,  1.80537837, -6.82231017,  9.64726282,  3.8077697 ,
   1.27701956, -6.67248694, 15.44465658, -5.75299337,  1.57848337,
  -3.40097752, -2.57540017, -1.1363798 ,  1.63549954,  5.47331026,
 -19.57560521, -0.203413  ,  2.32210228,  0.08291768,-20.51822274,
  -1.72654191,  2.54152366]

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,
  1.42657646e-02,-1.42047439e-03, 5.68268745e-03,-1.95022180e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005751629485599846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.82568908e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.82568908e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06309793, -0.11247441,  0.06198967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.79457978e-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,
 -8.36113381e-05, 1.07647324e-05,-5.03234761e-05,-1.08757315e-04,
  2.03577207e-06, 5.04113052e-06,-4.90500428e+00, 2.41359893e-04,
  1.18269915e-02,-6.85235922e-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,
  1.23131402, 0.00749304, 1.12634805, 0.04536195, 0.0579361 ,-0.07924902,
  0.1714415 , 0.99952568, 0.02892676,-0.0035495 ,-0.00995261]

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, -0.9317347 ,  1.30671837,  7.79805484,
 -28.27659805, -0.20202551,  2.28118796, -0.0715347 ,-20.2990433 ,
  -1.67665757,  2.4542556 ]

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,
  1.42401404e-02,-1.39960240e-03, 5.64298426e-03,-2.09627445e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005723166715568134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.69937693e-14, -9.69937693e-14,  1.00000000e+00,  9.40779129e-27,
        1.00000000e+00,  9.69937693e-14, -1.00000000e+00,  0.00000000e+00,
        9.69937693e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06309754, -0.11247684,  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:
[ 2.54888013e-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,
 -6.95598226e-05, 4.64897776e-06,-8.04499590e-05,-1.59816562e-04,
  2.55359210e-06, 3.39689777e-06,-4.90500245e+00, 2.40530808e-04,
  1.18264912e-02,-6.86847964e-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,
  1.23167299, 0.00749377, 1.12664906, 0.04536333, 0.05792361,-0.07924692,
  0.17144716, 0.99952607, 0.0289121 ,-0.00360108,-0.00993792]

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,  0.17440457, -0.5458515 ,-11.9840821 ,
  36.71327618, -0.20092033,  2.24697175, -0.20360544,-20.10906724,
  -1.63668511,  2.38545088]

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,
  1.42065357e-02,-1.42320601e-03, 5.52305748e-03,-1.95086767e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005670066104202925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95804247e-13, -9.79021236e-14,  1.00000000e+00, -1.91696516e-26,
        1.00000000e+00,  9.79021236e-14, -1.00000000e+00,  0.00000000e+00,
       -1.95804247e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06309731, -0.11247973,  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:
[ 5.28345631e-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,
 -7.19813786e-05,-3.77702530e-05,-1.78604786e-04, 1.25294154e-04,
  3.01543537e-06, 1.31195126e-06,-4.90500127e+00, 2.39917538e-04,
  1.18268083e-02,-6.87511166e-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,
  1.23203135, 0.00749433, 1.12694874, 0.04536627, 0.05791573,-0.07924006,
  0.17145339, 0.9995271 , 0.02887669,-0.00363259,-0.0099253 ]

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, -0.15224504, -0.11608352, -6.65394337,
  20.43411917,  1.15451427,  1.18976874,  0.13998491,-10.48727843,
   9.90148008, -1.27821405]

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,
  1.41681480e-02,-1.43751758e-03, 5.48832650e-03,-1.86584531e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005602651165482649
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42427714e-13,  1.07664483e-06,  1.00000000e+00,  1.53344062e-19,
        1.00000000e+00, -1.07664483e-06, -1.00000000e+00,  2.40741243e-35,
       -1.42427714e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04396301, -0.09616066,  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:
[-2.96978615e-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,
 -8.87981466e-05,-3.96208157e-05,-9.98535432e-05, 6.97637715e-05,
  3.42528195e-06,-1.19248004e-06,-4.90500074e+00, 2.39519663e-04,
  1.18278991e-02,-6.87234022e-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,
  1.23238917, 0.00749446, 1.12724822, 0.04536736, 0.05791687,-0.07923252,
  0.17145902, 0.99952831, 0.02883746,-0.00362387,-0.00992053]

qacc:
[ -0.39390857,  0.04183585, -0.93176785,  3.47182066, -0.10503855,
  -1.14647176,  4.59273001, -7.57264165,  0.85116505, -3.61703547,
  14.52962704,-26.17844854, -0.22523769, -0.15545175,  5.25377463,
 -18.80933266,  2.25583295,  0.16984391, -0.14857981, -2.12035631,
  19.97368889, -4.49790933]

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,
  1.41375727e-02,-1.46397259e-03, 5.48872572e-03,-1.95895760e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005562184793974495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.99004917e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.99004917e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02718699, -0.0818537 ,  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:
[-2.38693509e-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,
 -8.94904948e-05,-5.67472959e-05,-3.93430306e-05,-1.02410091e-04,
  1.28087393e-06,-1.54776790e-06,-4.90500025e+00, 2.40314725e-04,
  1.18285597e-02,-6.86421006e-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,
  1.2327465 , 0.00749422, 1.12754681, 0.0453674 , 0.05792693,-0.07922432,
  0.17146361, 0.99952971, 0.02879428,-0.00357528,-0.00992325]

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,
 -0.13953902,-0.22322913, 1.91717411,-8.57597205, 2.22848319, 0.16524377,
 -0.2591272 ,-2.19130085,19.79673876,-4.30812148]

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,
  1.41170264e-02,-1.47964254e-03, 5.43558933e-03,-2.01416162e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000549828548023365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.04804192e-14,  1.00960838e-13,  1.00000000e+00,  5.09654545e-27,
        1.00000000e+00, -1.00960838e-13, -1.00000000e+00,  0.00000000e+00,
       -5.04804192e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02718429, -0.08185518,  0.06199013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.44751229e-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,
 -8.34802969e-05,-5.07385590e-05,-8.81524656e-05,-6.72237302e-05,
  4.69863602e-08, 3.62417181e-07,-4.90500029e+00, 2.41314406e-04,
  1.18281549e-02,-6.85467288e-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,
  1.2331031 , 0.00749429, 1.12784474, 0.04536735, 0.05794581,-0.07921547,
  0.17146679, 0.99953128, 0.02874703,-0.00348713,-0.00993316]

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,
 -0.76057458, 0.98988198,-0.65202179, 0.9923078 , 2.20599631, 0.16165492,
 -0.35306108,-2.24742451,19.64943232,-4.15584547]

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,
  1.40918617e-02,-1.45322010e-03, 5.42495974e-03,-2.01115785e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005419770125770357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.02423442e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.02423442e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02718125, -0.08185641,  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:
[ 3.71181268e-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,
 -8.40466488e-05,-5.35754039e-06,-6.13570310e-05,-1.26782867e-05,
  2.82739920e-06, 2.41754871e-06,-4.90500145e+00, 2.41348272e-04,
  1.18274140e-02,-6.84400353e-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,
  1.23345893, 0.00749492, 1.12814286, 0.04536712, 0.05797344,-0.07920599,
  0.17146824, 0.99953303, 0.0286956 ,-0.00335966,-0.00995003]

qacc:
[  3.25603037, -0.43848073,  1.98251976, -4.65418347,  1.10262927,
  -2.60059779, 11.55060769,-22.75018563, -6.47351308,  1.03632998,
  -2.81241187,  1.44343553, -1.02085343,  1.49153967,  0.90025401,
  -2.50072978,  2.18776534,  0.158892  , -0.43255261, -2.29246165,
  19.52938323, -4.03384264]

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,
  1.40639647e-02,-1.41982841e-03, 5.47180257e-03,-2.00927862e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005330553651566872
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.20688421e-14, -1.04137684e-13,  1.00000000e+00, -5.42232863e-27,
        1.00000000e+00,  1.04137684e-13, -1.00000000e+00,  0.00000000e+00,
       -5.20688421e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02717797, -0.08185746,  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:
[ 1.95325008e-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,
 -7.57438895e-05, 1.28734376e-05, 1.30225579e-05,-7.64675578e-06,
  9.51181940e-06, 4.64920599e-06,-4.90500370e+00, 2.40487053e-04,
  1.18263368e-02,-6.83216087e-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,
  1.23381416, 0.0074957 , 1.12844111, 0.04536689, 0.05800032,-0.07918753,
  0.17146869, 0.99953594, 0.02860427,-0.00323566,-0.00996153]

qacc:
[ -0.97766482,  0.69810442, -2.27185246,  1.09879642, -2.38626668,
  -2.39120154,  8.58310689,-10.76374713, -6.77395823,  0.31823404,
  -2.84758153,  8.75330303, -0.60163729,  0.71358648,  0.24759672,
  -0.47486527, -0.18849495,  2.24325526, -0.24903254,-19.93508121,
  -1.85619619,  2.8055233 ]

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,
  1.40291317e-02,-1.41812728e-03, 5.48383950e-03,-2.00795925e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.82532983,  4.13559773, -4.10259663,  4.13559773, 28.69527727,
       23.05391227, -4.10259663, 23.05391227, 29.06468675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005269113525778191
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.05351974e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.05351974e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06309409, -0.11249882,  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:
[-5.81854620e-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,
 -7.27290670e-05,-1.27133630e-05, 9.05315559e-06, 7.31203033e-07,
  2.00171418e-05, 7.08034987e-06,-4.90500705e+00, 2.38782743e-04,
  1.18249229e-02,-6.81911250e-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,
  1.23416873, 0.00749635, 1.12873856, 0.04536716, 0.0580175 ,-0.07916514,
  0.17146901, 0.99953934, 0.02849395,-0.00315572,-0.00996235]

qacc:
[ -0.66303659, -0.5863493 ,  4.2347834 ,-12.3423429 , -1.5236428 ,
   2.61175407,-10.59638195, 21.30004906,  1.88850856,  0.36698659,
  -0.92712977, -0.84320544, -0.33371712,  0.14860155, -2.66499789,
   7.65946156, -2.42571465,  0.98268533, -0.03472354, -9.26210729,
 -21.95681836,  5.99627312]

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,
  1.39794994e-02,-1.43526716e-03, 5.42173433e-03,-1.98932153e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005312679247010954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.08976107e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.08976107e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09536316, -0.09385478,  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:
[-3.94958547e-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,
 -9.20068157e-05,-3.74109874e-05,-6.54898330e-05, 1.81101090e-05,
  1.86797698e-05, 1.28762570e-05,-4.90500866e+00, 2.40685104e-04,
  1.18241087e-02,-6.79599534e-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,
  1.23452254, 0.0074969 , 1.12903525, 0.04536731, 0.05802513,-0.07913889,
  0.17146856, 0.99954322, 0.02836477,-0.00311897,-0.00995309]

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, -0.48729177,  0.32654098, -0.71982332,
   0.97152281, -2.3872016 ,  0.96622334, -0.19230003, -9.20327388,
 -21.53959286,  5.6918261 ]

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,
  1.39316646e-02,-1.44573675e-03, 5.38445771e-03,-1.99629831e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005338020239122193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.07984042e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.07984042e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09536183, -0.09385597,  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:
[ 1.54431205e-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,
 -1.07550381e-04,-4.11663641e-05,-6.90555322e-05,-1.52053750e-05,
  7.45026433e-06, 1.01552829e-05,-4.90500587e+00, 2.43580612e-04,
  1.18254550e-02,-6.76866098e-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,
  1.23487556, 0.00749755, 1.1293311 , 0.04536736, 0.05802334,-0.07910883,
  0.17146679, 0.99954758, 0.02821683,-0.00312471,-0.0099342 ]

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, -0.64580637,  0.68116648, -0.8905294 ,
   1.4429601 , -2.35415157,  0.95256909, -0.3291077 , -9.15015338,
 -21.18805263,  5.44256945]

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,
  1.39009202e-02,-1.43441744e-03, 5.34612601e-03,-2.00047103e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005332797152804714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04093874e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.04093874e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09536164, -0.09385726,  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:
[-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,
 -9.98878318e-05,-2.39755111e-05,-7.56210358e-05,-1.47450826e-05,
  1.18500625e-06, 5.17384710e-06,-4.90500429e+00, 2.44993296e-04,
  1.18276408e-02,-6.73772699e-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 ,
  1.23522795, 0.00749803, 1.12962622, 0.04536568, 0.05801224,-0.079075  ,
  0.17146323, 0.99955239, 0.02805025,-0.00317234,-0.00990608]

qacc:
[  2.08691579, -3.47840533, 13.35546396,-20.72339781, -2.25860208,
   0.07882866,  2.41858496,-11.69252013,  2.61619168,  0.4256072 ,
  -0.42618345,  0.16187202, -0.4388518 ,  0.26809734,  4.18556559,
 -16.15283113, -2.3260601 ,  0.94138662, -0.44736642, -9.10431916,
 -20.89408058,  5.23805308]

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,
  1.38698071e-02,-1.44570365e-03, 5.30186985e-03,-2.09170000e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000530305738312295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.04677636e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.04677636e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09536237, -0.09385865,  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:
[ 1.23390381e-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,
 -9.21243337e-05,-4.02847688e-05,-8.41705588e-05,-1.02539682e-04,
 -4.12639377e-07,-1.97935737e-06,-4.90500386e+00, 2.45077099e-04,
  1.18306311e-02,-6.70317476e-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,
  1.23557983, 0.00749807, 1.12992151, 0.04535875, 0.05799194,-0.07903744,
  0.17145747, 0.99955765, 0.0278651 ,-0.00326135,-0.00986904]

qacc:
[  7.1867904 , -1.35513818,  7.3786001 ,-17.24117928, -1.39799967,
   1.46106436, -9.05953506, 22.39569528,  1.53158427, -2.71498493,
  12.24163068,-23.63348145, -0.46385753,  0.17680502, 16.14301865,
 -56.02118326, -2.30243232,  0.9323729 , -0.54921161, -9.06667132,
 -20.65051197,  5.06986274]

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,
  1.38438127e-02,-1.47031343e-03, 5.31266399e-03,-2.35775527e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005253982521763734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.05655379e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.05655379e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09536382, -0.09386012,  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:
[ 4.31399940e-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,
 -8.70577455e-05,-5.57830568e-05,-4.25573389e-05,-2.83299829e-04,
  2.42774843e-06,-1.12364620e-05,-4.90500453e+00, 2.43948274e-04,
  1.18343991e-02,-6.66499184e-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,
  1.23593116, 0.00749803, 1.1302161 , 0.04535134, 0.05798121,-0.07899896,
  0.17145337, 0.99956297, 0.02767755,-0.00330763,-0.0098431 ]

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, -0.36812975,  0.24882261,  0.48002737,
  -3.10435355,  2.39383413,  0.23071914,  0.41307638, -1.42649719,
  21.18767175, -6.14303486]

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,
  1.38262272e-02,-1.46708913e-03, 5.30317506e-03,-2.36945290e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.79427263,  5.74509719, -0.7532952 ,  5.74509719,  6.37704284,
        4.44456766, -0.7532952 ,  4.44456766, 39.6913068 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005231244556665043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06114617e-13, -2.65286542e-14,  1.00000000e+00, -2.81507798e-27,
        1.00000000e+00,  2.65286542e-14, -1.00000000e+00,  0.00000000e+00,
       -1.06114617e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02717058, -0.08187657,  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:
[-2.72919480e-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,
 -7.94782104e-05,-3.07967143e-05,-6.67264950e-05,-3.43250978e-05,
  9.53094296e-06,-2.25472608e-05,-4.90500626e+00, 2.41694312e-04,
  1.18389250e-02,-6.62316924e-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,
  1.23628165, 0.00749856, 1.13050988, 0.04534513, 0.05797988,-0.0789596 ,
  0.17145019, 0.99956837, 0.02748707,-0.00331187,-0.00982715]

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, -0.92611868,  1.34835476, -4.74511183,
  15.05658557,  2.34872719,  0.2198057 ,  0.23169903, -1.6941195 ,
  20.8593105 , -5.56302817]

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,
  1.37924072e-02,-1.42957865e-03, 5.28158792e-03,-2.30220267e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005289422888080236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02717161, -0.08188062,  0.0619905 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.33527188e-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,
 -8.53326503e-05, 1.15748448e-05,-5.97558261e-05, 5.59648919e-05,
  2.10747850e-06,-1.23712898e-05,-4.90500671e+00, 2.46535074e-04,
  1.18363766e-02,-6.57842170e-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 ,
  1.23663139, 0.00749932, 1.13080339, 0.04534031, 0.05798779,-0.07891939,
  0.1714473 , 0.99957387, 0.02729321,-0.00327466,-0.00982026]

qacc:
[ -2.43818159,  2.45314638,-11.03025131, 21.73958573, -4.0624206 ,
  -0.88379838,  2.84496849, -1.84624853, -9.38427636, -0.35263528,
   3.00937521, -8.38253496, -0.6427892 ,  0.7697184 , -4.57336289,
  15.52601793,  2.3101552 ,  0.21149866,  0.07353441, -1.90576893,
  20.57485382, -5.09519171]

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,
  1.37488905e-02,-1.42537846e-03, 5.29538384e-03,-2.22458193e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000531180490562333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04505252e-13, -7.83789393e-14,  1.00000000e+00, -8.19101083e-27,
        1.00000000e+00,  7.83789393e-14, -1.00000000e+00,  0.00000000e+00,
       -1.04505252e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02717165, -0.08188388,  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:
[-1.45547157e-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,
 -8.77565123e-05,-1.23818213e-05,-1.14313897e-05, 7.22030903e-05,
 -6.25491269e-07,-2.46327867e-06,-4.90500827e+00, 2.49861588e-04,
  1.18338001e-02,-6.53291060e-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,
  1.23698083, 0.00749932, 1.13109661, 0.04533481, 0.0580048 ,-0.07887837,
  0.17144417, 0.99957948, 0.02709563,-0.00319651,-0.0098217 ]

qacc:
[ -1.31545762,  1.65350353, -5.76990309,  6.62226361,  0.59444286,
  -0.65573511,  3.55294291, -8.25251937, -5.7830358 , -0.39836719,
   4.8491819 ,-14.45768377,  0.28613298, -0.99521853,  1.58658456,
  -6.2547157 ,  2.27746615,  0.20530205, -0.06367945, -2.07424425,
  20.33139777, -4.71684987]

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,
  1.37262076e-02,-1.47656173e-03, 5.26648145e-03,-2.26568047e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005305068754149211
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.23189744e-14, -1.30797436e-13,  1.00000000e+00, -6.84318770e-27,
        1.00000000e+00,  1.30797436e-13, -1.00000000e+00,  0.00000000e+00,
       -5.23189744e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02717088, -0.08188652,  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:
[-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,
 -7.31426580e-05,-7.49102229e-05,-3.24202999e-05,-3.99443424e-05,
  1.06081139e-06, 7.32679363e-06,-4.90501091e+00, 2.51917346e-04,
  1.18311269e-02,-6.48647874e-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 ,
  1.23732979, 0.00749874, 1.13138933, 0.04532757, 0.05803082,-0.07883654,
  0.1714403 , 0.99958521, 0.02689406,-0.00307784,-0.00983089]

qacc:
[ -0.73055007,  2.32530864, -7.82455311,  8.47158122,  3.49810907,
   1.3194771 , -5.4052201 ,  9.10849169,  2.50836138,  1.37748293,
  -3.26012777,  3.16249019, -0.06024834, -0.45623527,  4.54562781,
 -16.98610923,  2.25003601,  0.2008172 , -0.18218939, -2.20952993,
  20.12578761, -4.40996303]

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,
  1.36947087e-02,-1.50680760e-03, 5.22794766e-03,-2.35874609e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005274979189650725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.57852238e-13,  7.89261188e-14,  1.00000000e+00,  1.24586645e-26,
        1.00000000e+00, -7.89261188e-14, -1.00000000e+00,  0.00000000e+00,
       -1.57852238e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02716947, -0.08188867,  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:
[-4.22428245e-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,
 -8.95548858e-05,-6.63224826e-05,-6.29412763e-05,-1.00597628e-04,
  6.95592850e-06, 1.71107873e-05,-4.90501462e+00, 2.52883806e-04,
  1.18283061e-02,-6.43900392e-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,
  1.23767787, 0.00749815, 1.13168112, 0.04532485, 0.05806575,-0.07879391,
  0.1714353 , 0.99959104, 0.02668827,-0.00291901,-0.00984733]

qacc:
[ -0.35064448, -0.97127959,  5.45186909,-12.88813155,  2.15877615,
   0.7516352 , -3.12920598,  5.14468687, -1.25708742,  2.30054042,
  -8.53393081, 15.58311431, -0.29528321,  0.0961105 ,-15.06292717,
  50.71201945,  2.2272839 ,  0.19772361, -0.28414424, -2.31941016,
  19.95483222, -4.16017841]

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,
  1.36472960e-02,-1.50662990e-03, 5.23692237e-03,-2.10884442e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005226482471342997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.31056514e-14, -5.31056514e-14,  1.00000000e+00, -2.82021021e-27,
        1.00000000e+00,  5.31056514e-14, -1.00000000e+00,  0.00000000e+00,
       -5.31056514e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02716754, -0.08189044,  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:
[-2.10331268e-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,
 -1.12908216e-04,-3.72753580e-05,-3.52038635e-05, 2.35318527e-04,
  1.68983001e-05, 2.69728596e-05,-4.90501940e+00, 2.52896050e-04,
  1.18252992e-02,-6.39039032e-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,
  1.23802512, 0.00749777, 1.13197243, 0.0453238 , 0.05809078,-0.07874711,
  0.171431  , 0.9995973 , 0.02646326,-0.00280503,-0.00985262]

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,
 -6.56836408e-01, 7.41469220e-01,-5.70110282e+00, 1.90399564e+01,
 -2.47490905e+00, 1.04489601e+00, 1.77051632e-01,-9.37281787e+00,
 -2.23595282e+01, 6.20122351e+00]

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,
  1.36170157e-02,-1.48852580e-03, 5.20522453e-03,-2.03154214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005324015237063023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04265575e-13,  1.04265575e-13,  1.00000000e+00,  1.08713102e-26,
        1.00000000e+00, -1.04265575e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04265575e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09535888, -0.09387122,  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:
[ 1.69143999e-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,
 -1.00089862e-04,-1.80706829e-05,-2.60602027e-05, 8.49366157e-05,
  3.07660125e-05, 3.69771041e-05,-4.90502524e+00, 2.52054518e-04,
  1.18220764e-02,-6.34056193e-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,
  1.23837174, 0.00749728, 1.13226307, 0.04532177, 0.05810609,-0.07869622,
  0.17142666, 0.99960397, 0.02621908,-0.00273491,-0.00984758]

qacc:
[ 1.81665679e+00,-3.12912899e+00, 1.14518181e+01,-1.73967708e+01,
 -2.30791147e+00,-1.89050750e-01, 1.41536720e+00,-5.99349578e+00,
  2.55622146e+00,-3.26766578e+00, 1.41194510e+01,-2.58339676e+01,
 -4.47635114e-01, 3.22549674e-01, 2.00766477e+00,-8.36774974e+00,
 -2.42755985e+00, 1.02455461e+00,-1.20574300e-02,-9.35695645e+00,
 -2.18852277e+01, 5.77316852e+00]

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,
  1.35863914e-02,-1.49538632e-03, 5.14378992e-03,-2.09225710e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005386118345675761
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03063371e-13, -1.03063371e-13,  1.00000000e+00,  1.06220584e-26,
        1.00000000e+00,  1.03063371e-13, -1.00000000e+00,  0.00000000e+00,
        1.03063371e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09535641, -0.09387281,  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:
[ 1.07176497e-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,
 -8.92439403e-05,-3.48892721e-05,-6.95376846e-05,-6.05714620e-05,
  1.52327244e-05, 2.88035726e-05,-4.90502148e+00, 2.56524430e-04,
  1.18254963e-02,-6.28566631e-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,
  1.23871763, 0.00749698, 1.1325528 , 0.04532199, 0.05811186,-0.07864128,
  0.17142161, 0.99961106, 0.02595578,-0.00270785,-0.00983287]

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, -0.49731613,  0.54697576, -8.11120265,
  26.48907052, -2.3866425 ,  1.00780055, -0.17701539, -9.33651133,
 -21.48147224,  5.42164048]

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,
  1.35555728e-02,-1.48149133e-03, 5.12845647e-03,-1.96751557e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005409555841863894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.05233675e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.05233675e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09535533, -0.09387444,  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:
[ 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,
 -8.86466009e-05,-1.53822500e-05,-5.77624367e-05, 1.11608334e-04,
  4.98339496e-06, 1.84307638e-05,-4.90501913e+00, 2.59375738e-04,
  1.18295947e-02,-6.22712305e-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 ,
  1.23906268, 0.00749757, 1.13284206, 0.04532264, 0.05810823,-0.07858238,
  0.17141527, 0.99961855, 0.02567341,-0.00272313,-0.00980906]

qacc:
[  6.54125061,  2.02134412, -5.56148157,  3.64595035,  4.05433607,
  -1.66375978,  7.44328705,-13.7564235 ,  5.71242869, -0.8955619 ,
   1.01871417,  1.70472456, -1.23843046,  1.97458541, -1.87087493,
   5.84582408, -2.35158495,  0.9941975 , -0.32020091, -9.31582029,
 -21.14024066,  5.13176377]

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,
  1.35353209e-02,-1.41988886e-03, 5.10887606e-03,-1.94736185e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005401561102843927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.05537437e-13, -1.02768718e-13,  1.00000000e+00, -2.11228190e-26,
        1.00000000e+00,  1.02768718e-13, -1.00000000e+00,  0.00000000e+00,
       -2.05537437e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09535539, -0.09387611,  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:
[ 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,
 -7.24486210e-05, 3.71836749e-05,-3.73136282e-05, 1.81542603e-05,
 -3.54334986e-07, 5.93480143e-06,-4.90501810e+00, 2.60826240e-04,
  1.18343544e-02,-6.16488380e-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,
  1.23940718, 0.00749836, 1.13313074, 0.04532125, 0.05811251,-0.07853098,
  0.17141219, 0.99962503, 0.0254266 ,-0.00270111,-0.00979758]

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, -0.68681009,  0.87694439,  5.36581056,
 -19.89360834,  1.98093603, -1.8774415 ,  0.81164166, 17.58806863,
  18.66002049, -6.69747892]

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,
  1.35001416e-02,-1.41920278e-03, 5.05478422e-03,-2.06005927e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.97186301,  5.08464286, -3.13202088,  5.08464286, 19.12710333,
       21.35672187, -3.13202088, 21.35672187, 40.6431847 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005446883603507507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03381545, -0.05307161,  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:
[ 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,
 -6.61120666e-05,-6.31777250e-06,-7.45433544e-05,-1.17667919e-04,
 -1.07153978e-06,-8.62678714e-06,-4.90501831e+00, 2.61041079e-04,
  1.18397626e-02,-6.09891323e-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,
  1.23975106, 0.00749927, 1.13341862, 0.04531915, 0.05812453,-0.07848693,
  0.17141131, 0.99963057, 0.02521396,-0.00264261,-0.00979732]

qacc:
[ -2.4444529 ,  0.26897639, -5.11192021, 18.60549548, -5.3613302 ,
  -0.072449  ,  0.53710583, -1.01235829, -5.79366194,  3.3233186 ,
 -11.86079025, 14.41957047, -0.56293828,  0.62801646,  1.01359073,
  -5.13459328,  1.93086584, -1.83559407,  0.55140883, 16.89274544,
  18.2529085 , -6.12389462]

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,
  1.34613360e-02,-1.41923306e-03, 5.02794615e-03,-2.09039060e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.09246971, -6.08263257,  0.34607534, -6.08263257,  6.24359102,
        2.65611363,  0.34607534,  2.65611363, 52.7764184 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000559229187455379
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92636874e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.92636874e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03381736, -0.0530781 ,  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:
[-1.47898179e-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,
 -7.75980860e-05,-1.63270201e-05,-7.77997319e-05,-4.72685312e-05,
 -3.57408795e-07, 4.18945911e-06,-4.90501657e+00, 2.64003795e-04,
  1.18331506e-02,-6.03966022e-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,
  1.24009436, 0.00750021, 1.13370578, 0.04531698, 0.05814409,-0.07845006,
  0.17141172, 0.99963524, 0.0250343 ,-0.00254837,-0.00980739]

qacc:
[ -1.5716455 ,  1.81139686, -8.39694007, 16.55932627, -0.20358274,
   2.6455779 ,-10.69974594, 18.05318962, -3.57360262,  0.11685526,
  -0.28310608,  0.52624938, -0.44511201,  0.42147841, -0.7948581 ,
   1.30565295,  1.88768317, -1.79825733,  0.32285191, 16.30900459,
  17.89678166, -5.65686634]

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,
  1.34310316e-02,-1.41968347e-03, 5.00684811e-03,-2.08957374e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.16540056e+00, -6.16516482e+00,  5.39142820e-02, -6.16516482e+00,
        6.16988218e+00,  5.12478718e-01,  5.39142820e-02,  5.12478718e-01,
        6.47679757e+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: -0.0005679928780478322
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95464251e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.95464251e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03381816, -0.05308254,  0.0619898 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.38239312e-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,
 -7.75057093e-05,-2.21489199e-05,-6.52637091e-05,-1.25038802e-05,
  3.68969296e-06, 1.32369150e-05,-4.90501552e+00, 2.65283870e-04,
  1.18280948e-02,-5.98853001e-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  ,
  1.24043717, 0.00750088, 1.13399131, 0.04531464, 0.05817105,-0.07842026,
  0.17141262, 0.99963905, 0.02488664,-0.00241901,-0.00982703]

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, -0.09896937, -0.20446252, -1.917744  ,
   3.22742189,  1.85081062, -1.76533919,  0.12355191, 15.82007873,
  17.58909576, -5.27565095]

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,
  1.34005222e-02,-1.43810041e-03, 4.89867818e-03,-2.10591696e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000571997437192287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94095804e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.94095804e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03381803, -0.05308533,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.58004390e-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,
 -7.87495979e-05,-4.17443277e-05,-1.43126777e-04,-2.62146087e-05,
  1.08463198e-05, 1.88658548e-05,-4.90501521e+00, 2.65097852e-04,
  1.18242906e-02,-5.94518011e-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,
  1.24077924, 0.00750167, 1.13427572, 0.04530972, 0.0582053 ,-0.07839741,
  0.17141333, 0.99964205, 0.02477016,-0.00225506,-0.00985567]

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, -0.77173603,  0.86746882,  6.20299457,
 -23.96347185,  1.81963758, -1.7366128 , -0.04922378, 15.41159901,
  17.32651956, -4.96356727]

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,
  1.33592500e-02,-1.43150753e-03, 4.83956170e-03,-2.23896204e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005721255521685814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70261703e-14, -9.70261703e-14,  1.00000000e+00, -9.41407771e-27,
        1.00000000e+00,  9.70261703e-14, -1.00000000e+00,  0.00000000e+00,
       -9.70261703e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03381715, -0.05308677,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.27638610e-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,
 -9.60413801e-05,-2.15117692e-05,-1.27196592e-04,-1.52724405e-04,
  2.09380700e-05, 2.13516086e-05,-4.90501567e+00, 2.63608176e-04,
  1.18215098e-02,-5.90932989e-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,
  1.24112059, 0.00750232, 1.13455993, 0.04530168, 0.05824671,-0.0783814 ,
  0.17141325, 0.99964423, 0.02468416,-0.00205698,-0.0098928 ]

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, -0.66980674,  0.57133249,  9.20102828,
 -32.49816218,  1.79356214, -1.71177988, -0.19827441, 15.07134419,
  17.10539314, -4.7072131 ]

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,
  1.33168862e-02,-1.44568827e-03, 4.86314924e-03,-2.38628533e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005691376940987897
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75355381e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.75355381e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03381566, -0.05308716,  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:
[-1.96473399e-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,
 -1.01755083e-04,-4.11098390e-05,-5.31085613e-05,-1.72408292e-04,
  3.38309386e-05, 2.09089228e-05,-4.90501691e+00, 2.60936317e-04,
  1.18195807e-02,-5.88074926e-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,
  1.24146135, 0.00750253, 1.13484321, 0.04529361, 0.05829522,-0.07837216,
  0.17141186, 0.99964562, 0.02462809,-0.00182514,-0.00993802]

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, -0.09758447, -0.35651006, -1.27311696,
   2.4534966 ,  1.772015  , -1.69051154, -0.32631735, 14.78897523,
  16.92201357, -4.49582677]

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,
  1.32845437e-02,-1.47212663e-03, 4.82980093e-03,-2.38082594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005636852112225338
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03381368, -0.05308671,  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:
[-1.18967427e-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,
 -9.83986682e-05,-6.03283933e-05,-8.20928162e-05,-1.20954521e-05,
  4.94241637e-05, 1.77036979e-05,-4.90501896e+00, 2.57172792e-04,
  1.18183740e-02,-5.85924956e-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  ,
  1.24180135, 0.00750269, 1.13512564, 0.04528888, 0.05833363,-0.07835837,
  0.17141276, 0.99964748, 0.02455254,-0.00164148,-0.00996928]

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, -0.26419916,  0.0640919 ,-11.36884425,
  37.97489652, -2.52315724,  1.13533528,  0.57189406, -9.48853568,
 -24.00309218,  7.59604113]

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,
  1.32529033e-02,-1.47005879e-03, 4.83159861e-03,-2.19677480e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.23345963,  5.06604081, -3.63197598,  5.06604081, 19.74980144,
       18.85319164, -3.63197598, 18.85319164, 32.53072559,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005761570970233415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63472489e-14, -9.63472489e-14,  1.00000000e+00, -9.28279237e-27,
        1.00000000e+00,  9.63472489e-14, -1.00000000e+00,  0.00000000e+00,
       -9.63472489e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09532828, -0.09389707,  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:
[-6.74329430e-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,
 -1.00424607e-04,-3.60081761e-05,-3.98715760e-05, 1.72286708e-04,
  6.76443567e-05, 1.18624730e-05,-4.90502182e+00, 2.52384723e-04,
  1.18177919e-02,-5.84467610e-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,
  1.24214059, 0.00750307, 1.13540822, 0.04528493, 0.05836218,-0.07834018,
  0.17141493, 0.99964984, 0.02445753,-0.00150432,-0.00998808]

qacc:
[  5.31407445, -0.0998945 , -0.90215194,  3.509809  , -5.47814386,
  -0.41353099,  3.74085351,-12.09042687,  3.23456527, -0.40118945,
   1.13722265,  0.31476476, -0.71347751,  0.84912877, -2.02840195,
   7.57888076, -2.4656401 ,  1.10246158,  0.31976236, -9.48977802,
 -23.19298877,  6.81369659]

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,
  1.32270454e-02,-1.45109353e-03, 4.85451038e-03,-2.15747250e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.32169273, -3.89721524,  4.97750061, -3.89721524, 27.84081605,
       16.84874837,  4.97750061, 16.84874837, 19.5136949 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005867286518477788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.46112842e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.46112842e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09532206, -0.09389993,  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:
[ 3.18566635e-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,
 -8.87848884e-05,-1.38534320e-05, 1.96685585e-05, 4.28893938e-05,
  4.21326803e-05, 1.45017708e-05,-4.90501565e+00, 2.60453192e-04,
  1.18171715e-02,-5.82311817e-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,
  1.24247929, 0.00750311, 1.13569071, 0.04528085, 0.05838107,-0.07831768,
  0.17141751, 0.99965269, 0.02434311,-0.00141229,-0.00999564]

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 , -0.18738215, -0.14351234,  0.19437381,
  -0.89091883, -2.41535305,  1.07481669,  0.09994905, -9.4738553 ,
 -22.51150012,  6.18454316]

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,
  1.31940335e-02,-1.47550313e-03, 4.83677265e-03,-2.16827377e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.36501989, -3.69608944,  5.18193024, -3.69608944, 35.99542109,
       21.13432793,  5.18193024, 21.13432793, 21.43939618,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005919173909503667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.37819231e-14, -1.87563846e-13,  1.00000000e+00, -1.75900982e-26,
        1.00000000e+00,  1.87563846e-13, -1.00000000e+00,  0.00000000e+00,
       -9.37819231e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0953182 , -0.09390266,  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:
[ 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,
 -8.38773901e-05,-4.89794786e-05,-1.18143481e-05,-7.65251867e-06,
  2.32303556e-05, 1.44638453e-05,-4.90501104e+00, 2.66095940e-04,
  1.18174951e-02,-5.79808328e-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 ,
  1.24281746, 0.00750286, 1.13597268, 0.04527641, 0.05839048,-0.07829098,
  0.17141972, 0.99965603, 0.02420934,-0.00136421,-0.00999295]

qacc:
[  1.94341388, -0.03635829, -1.92129388,  7.8189318 , -3.08283896,
   0.87532702, -0.31193112, -7.0994438 , -2.41857299,  0.96744413,
  -2.31523674,  0.78623359, -0.19931202, -0.10882829,  0.37872807,
  -2.39285645, -2.37182616,  1.05175126, -0.09051224, -9.44883856,
 -21.94057064,  5.67783053]

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,
  1.31673879e-02,-1.48997136e-03, 4.79998895e-03,-2.19081033e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.37169428, -3.41253743,  5.38080628, -3.41253743, 46.9662074 ,
       25.74526725,  5.38080628, 25.74526725, 22.69948675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000592716668673568
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.36554583e-14, -9.36554583e-14,  1.00000000e+00, -8.77134486e-27,
        1.00000000e+00,  9.36554583e-14, -1.00000000e+00,  0.00000000e+00,
       -9.36554583e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09531625, -0.0939053 ,  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:
[ 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,
 -8.38272426e-05,-4.66802486e-05,-4.92100193e-05,-2.58605784e-05,
  1.01915244e-05, 1.19364778e-05,-4.90500786e+00, 2.69780480e-04,
  1.18186795e-02,-5.76945415e-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,
  1.24315494, 0.00750291, 1.13625374, 0.04526983, 0.05839054,-0.07826014,
  0.17142092, 0.99965986, 0.0240563 ,-0.00135911,-0.00998078]

qacc:
[  4.09281146, -1.08057881,  0.32596693,  9.0819935 , -1.83548767,
   0.13911915,  1.00389803, -5.25541324,  4.46840344,  0.88150816,
  -0.71634721, -5.75823117, -0.84250859,  1.10054452,  5.19590613,
 -19.97460303, -2.33450194,  1.03267325, -0.2547065 , -9.42040425,
 -21.4644801 ,  5.26902908]

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,
  1.31445814e-02,-1.46286587e-03, 4.72518858e-03,-2.30884947e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005899819687697205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.40895725e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.40895725e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09531582, -0.09390789,  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:
[ 2.43912074e-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,
 -8.00249087e-05,-4.19532828e-06,-1.04573363e-04,-1.26750588e-04,
  2.44763485e-06, 7.06727021e-06,-4.90500603e+00, 2.71851114e-04,
  1.18206610e-02,-5.73714911e-04]


--- Step 1067 ---
qpos:
[ 0.0187113 , 0.03011774,-0.00951161,-0.02553846, 0.00787639, 0.00468089,
 -0.007861  , 0.02708818, 0.0123242 , 0.02797931,-0.00833264, 0.02643363,
  1.24349175, 0.00750327, 1.13653359, 0.04526351, 0.05838139,-0.07822524,
  0.17142053, 0.99966415, 0.02388404,-0.00139619,-0.00995979]

qacc:
[ -0.5544908 , -0.06286984,  2.1464935 , -8.82082036,  2.047742  ,
  -1.74469104,  6.27021996, -8.95306401,  2.81684911, -0.10059652,
  -0.09779753,  1.82036691, -0.65729852,  0.86203   , -2.51565633,
   6.35105425, -2.30279611,  1.01705387, -0.39564827, -9.39249212,
 -21.06967929,  4.93857881]

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,
  1.31134592e-02,-1.44680074e-03, 4.68621758e-03,-2.28699012e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005844457487373389
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.49808453e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.49808453e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0953166 , -0.09391043,  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:
[-3.27201701e-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,
 -7.73191069e-05,-2.76055999e-06,-1.03267948e-04, 9.25360909e-07,
 -4.33777368e-07,-2.96532771e-08,-4.90500547e+00, 2.72561423e-04,
  1.18233919e-02,-5.70111130e-04]


--- Step 1068 ---
qpos:
[ 0.01871175, 0.03011776,-0.0095113 ,-0.02553739, 0.00787576, 0.00468177,
 -0.00786146, 0.0270886 , 0.01232443, 0.0279796 ,-0.00833343, 0.02643353,
  1.24382811, 0.00750353, 1.13681262, 0.04525869, 0.05836314,-0.07818632,
  0.17141808, 0.99966888, 0.02369262,-0.00147478,-0.00993047]

qacc:
[ -3.42692812,  0.81445323, -2.93313345,  4.59863705,  1.35815614,
  -2.1594402 ,  7.40960634, -9.59388393, -1.30126491, -0.13014603,
   0.08502177,  1.1109093 , -0.13399201, -0.03368688, -5.76493618,
  18.42775942, -2.27613403,  1.00442732, -0.51617593, -9.36778373,
 -20.74457172,  4.67088459]

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,
  1.30933484e-02,-1.45524430e-03, 4.67945438e-03,-2.20049219e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000576731667397995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62512627e-14,  9.62512627e-14,  1.00000000e+00,  9.26430557e-27,
        1.00000000e+00, -9.62512627e-14, -1.00000000e+00,  0.00000000e+00,
       -9.62512627e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09531831, -0.09391293,  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:
[-2.05231074e-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,
 -6.41186584e-05,-2.64445670e-05,-5.56197438e-05, 7.29898657e-05,
  1.21993882e-06,-9.26789626e-06,-4.90500610e+00, 2.72098052e-04,
  1.18268365e-02,-5.66130091e-04]


--- Step 1069 ---
qpos:
[ 0.01871195, 0.03011731,-0.00951077,-0.02553551, 0.00787558, 0.00468254,
 -0.00786168, 0.02708894, 0.01232421, 0.02797946,-0.00833371, 0.02643349,
  1.2441639 , 0.00750398, 1.13709084, 0.04525789, 0.05835283,-0.07815468,
  0.17141837, 0.99967269, 0.02353609,-0.00151675,-0.00991331]

qacc:
[ -2.11239108,  0.43655792, -5.8879841 , 19.94769521,  3.87375532,
  -0.97072046,  3.54433042, -5.06551774, -3.78276799, -1.85234822,
   5.53676049, -4.96708372, -0.24699739,  0.25997697,-13.32861728,
  44.90990502,  1.98605743, -1.81760234,  0.68392496, 17.25195728,
  18.33425655, -6.54194167]

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,
  1.30691977e-02,-1.44260833e-03, 4.67072096e-03,-1.98779973e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.2619112 ,  5.35624931, -3.24378254,  5.35624931, 19.41592058,
       21.72036897, -3.24378254, 21.72036897, 42.12735835,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005795671603894409
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.57803599e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.57803599e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03380547, -0.05310979,  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:
[-1.27916815e-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,
 -6.57532372e-05,-8.82746903e-06,-2.94233316e-05, 2.08898381e-04,
  7.16317386e-06,-2.05839681e-05,-4.90500789e+00, 2.70598153e-04,
  1.18309689e-02,-5.61768943e-04]


--- Step 1070 ---
qpos:
[ 0.01871235, 0.03011677,-0.00951061,-0.02553388, 0.00787498, 0.00468338,
 -0.00786151, 0.02708921, 0.01232372, 0.02797879,-0.0083331 , 0.02643347,
  1.24449904, 0.00750463, 1.13736932, 0.04525622, 0.05835026,-0.07813015,
  0.17142038, 0.99967563, 0.02341305,-0.00152281,-0.00990711]

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, -0.72711346,  0.89402348,  3.09710887,
 -10.1132152 ,  1.93445549, -1.78044255,  0.43268986, 16.56809648,
  17.98257862, -5.93261534]

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,
  1.30319981e-02,-1.43531659e-03, 4.67681234e-03,-2.03979732e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.34240186, -6.23086326,  1.18423158, -6.23086326,  7.83629428,
        7.86015128,  1.18423158,  7.86015128, 47.69877909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005892087934072088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.42130393e-14, -1.88426079e-13,  1.00000000e+00, -1.77521936e-26,
        1.00000000e+00,  1.88426079e-13, -1.00000000e+00,  0.00000000e+00,
       -9.42130393e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03380563, -0.05311546,  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:
[ 1.01095097e-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,
 -7.47073982e-05,-1.03677167e-05, 1.17177674e-05,-4.50551109e-05,
  1.82569242e-06,-9.23472020e-06,-4.90500564e+00, 2.74434783e-04,
  1.18264477e-02,-5.58024549e-04]


--- Step 1071 ---
qpos:
[ 0.01871287, 0.03011657,-0.00951059,-0.02553319, 0.00787446, 0.0046841 ,
 -0.00786122, 0.02708984, 0.01232342, 0.02797817,-0.00833186, 0.0264334 ,
  1.24483362, 0.00750538, 1.1376479 , 0.04525164, 0.05835526,-0.07811261,
  0.17142325, 0.99967775, 0.02332236,-0.0014936 ,-0.00991092]

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, -0.72518069,  0.84481548,  8.98288837,
 -31.06465953,  1.8903479 , -1.74761546,  0.21399721, 15.99943203,
  17.67347009, -5.44245754]

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,
  1.30029736e-02,-1.43132365e-03, 4.65977595e-03,-2.19407052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.37937054, -6.31917403,  0.87430432, -6.31917403,  7.4065079 ,
        7.42379924,  0.87430432,  7.42379924, 60.03606443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005936359314406975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.351043e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -9.351043e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03380492, -0.05311917,  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:
[ 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,
 -7.18160546e-05,-1.61597907e-05,-2.43397318e-05,-1.57012008e-04,
 -1.34171256e-07,-1.54203537e-06,-4.90500411e+00, 2.76539296e-04,
  1.18232921e-02,-5.55076809e-04]


--- Step 1072 ---
qpos:
[ 0.01871346, 0.03011663,-0.00951053,-0.02553303, 0.00787469, 0.00468456,
 -0.0078608 , 0.02709   , 0.01232325, 0.02797765,-0.00833064, 0.02643338,
  1.24516765, 0.00750617, 1.13792554, 0.0452506 , 0.05836766,-0.07810195,
  0.17142622, 0.9996791 , 0.02326308,-0.00142966,-0.00992396]

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,
 -1.46681639e-01, 4.68922065e-02,-1.20702792e+01, 4.02313253e+01,
  1.85294917e+00,-1.71896115e+00, 2.47718361e-02, 1.55277190e+01,
  1.74053927e+01,-5.04778398e+00]

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,
  1.29788709e-02,-1.42928284e-03, 4.65017172e-03,-1.99902113e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005938188874300282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.34816194e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.34816194e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03380351, -0.0531213 ,  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:
[ 3.52995113e-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,
 -6.75754589e-05,-1.85133118e-05,-4.45152856e-05, 1.81773350e-04,
  1.06519422e-06, 2.83123023e-06,-4.90500334e+00, 2.77149825e-04,
  1.18212175e-02,-5.52891841e-04]


--- Step 1073 ---
qpos:
[ 0.01871305, 0.03011656,-0.00951027,-0.02553281, 0.00787504, 0.00468473,
 -0.00786035, 0.02708951, 0.0123228 , 0.0279769 ,-0.00832966, 0.02643342,
  1.24550131, 0.0075067 , 1.13820304, 0.04524852, 0.05838735,-0.07809807,
  0.17142864, 0.99967969, 0.02323442,-0.00133146,-0.00994562]

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, -0.180282  , -0.05889025,  2.95665797,
 -10.629599  ,  1.8215013 , -1.69422214, -0.13813804, 15.13757999,
  17.17596332, -4.72966759]

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,
  1.29577385e-02,-1.44615537e-03, 4.62913863e-03,-2.06122292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005905926799743694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.39922778e-14, -9.39922778e-14,  1.00000000e+00, -8.83454828e-27,
        1.00000000e+00,  9.39922778e-14, -1.00000000e+00,  0.00000000e+00,
       -9.39922778e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03380152, -0.05312218,  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:
[-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,
 -6.22129049e-05,-3.73476189e-05,-2.46462102e-05,-5.85460184e-05,
  5.25162932e-06, 4.14745644e-06,-4.90500337e+00, 2.76443935e-04,
  1.18200150e-02,-5.51442207e-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,
  1.24583443e+00, 7.50729961e-03, 1.13847991e+00, 4.52454341e-02,
  5.84142192e-02,-7.81008777e-02, 1.71429946e-01, 9.99679525e-01,
  2.32357336e-02,-1.19939142e-03,-9.97539263e-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  , -0.49204505,  0.52905578,  2.1134702 ,
  -8.66167026,  1.79529901, -1.67309346, -0.27778606, 14.81611772,
  16.98239013, -4.47298844]

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,
  1.29330685e-02,-1.43858110e-03, 4.58523332e-03,-2.11483592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005846717505818
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.49441309e-14,  9.49441309e-14,  1.00000000e+00,  9.01438800e-27,
        1.00000000e+00, -9.49441309e-14, -1.00000000e+00,  0.00000000e+00,
       -9.49441309e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03379909, -0.05312206,  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:
[-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,
 -6.77268039e-05,-1.63401797e-05,-6.71676902e-05,-6.12704865e-05,
  1.22909889e-05, 2.60919000e-06,-4.90500421e+00, 2.74553427e-04,
  1.18195311e-02,-5.50705685e-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,
  1.24616686e+00, 7.50828594e-03, 1.13875553e+00, 4.52473666e-02,
  5.84481848e-02,-7.81103075e-02, 1.71429665e-01, 9.99678620e-01,
  2.32664869e-02,-1.03378402e-03,-1.00128759e-02]

qacc:
[ -6.66769031,  1.25835689, -2.52253931, -2.66449604,  2.10082078,
   1.82875034, -9.50625354, 21.18152458, -2.61934815,  3.33072773,
 -11.19602031, 14.71844908, -0.39351448,  0.54777915,-16.97589338,
  56.78448661,  1.77370132, -1.65525425, -0.39703172, 14.55254992,
  16.82174772, -4.26566898]

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,
  1.29009766e-02,-1.41656442e-03, 4.57026054e-03,-1.84337895e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005766640016837826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0337963 , -0.05312116,  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:
[-3.98881179e-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,
 -7.37668438e-05, 2.57144400e-06,-5.60876875e-05, 2.58656632e-04,
  2.20804889e-05,-1.62885936e-06,-4.90500589e+00, 2.71575554e-04,
  1.18196531e-02,-5.50664289e-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,
  1.24649866e+00, 7.50933042e-03, 1.13903070e+00, 4.52488505e-02,
  5.84722535e-02,-7.81151851e-02, 1.71431058e-01, 9.99678231e-01,
  2.32775082e-02,-9.15294122e-04,-1.00376923e-02]

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,
 -5.42703360e-01, 5.53713688e-01, 7.43683592e-01,-3.45160196e+00,
 -2.47421579e+00, 1.13804639e+00, 4.18800981e-01,-9.62645677e+00,
 -2.35023457e+01, 6.89232446e+00]

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,
  1.28591398e-02,-1.42173426e-03, 4.52479284e-03,-1.87956487e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22853794,  5.05644599, -3.63689962,  5.05644599, 20.90461918,
       20.40441583, -3.63689962, 20.40441583, 34.59715889,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005755670577757832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.92892037e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.92892037e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09530313, -0.09393588,  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:
[-4.70174813e-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,
 -8.11747732e-05,-2.16588561e-05,-4.50738221e-05,-2.95553088e-05,
  3.45433101e-05,-8.45026000e-06,-4.90500841e+00, 2.67581484e-04,
  1.18202982e-02,-5.51303491e-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,
  1.24682973e+00, 7.51041025e-03, 1.13930619e+00, 4.52438398e-02,
  5.84866301e-02,-7.81156368e-02, 1.71433206e-01, 9.99678361e-01,
  2.32688547e-02,-8.42421037e-04,-1.00511546e-02]

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 , -1.07823247,  1.22369589, 20.2059044 ,
 -69.78118397, -2.42302191,  1.10649201,  0.18866462, -9.60609962,
 -22.7674268 ,  6.21773643]

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,
  1.28114755e-02,-1.42528886e-03, 4.50893313e-03,-2.22114818e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.29363386, -3.66870403,  5.11374989, -3.66870403, 32.57404535,
       18.85408043,  5.11374989, 18.85408043, 19.81991936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00058336783695348
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.51563451e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.51563451e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09529806, -0.09393861,  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:
[ 5.20904084e-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,
 -9.73937269e-05,-2.78061339e-05,-4.44345527e-05,-3.50049939e-04,
  1.76162333e-05,-2.65083487e-06,-4.90500452e+00, 2.72825478e-04,
  1.18181802e-02,-5.51306379e-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,
  1.24716007e+00, 7.51146541e-03, 1.13958122e+00, 4.52377144e-02,
  5.84914928e-02,-7.81117691e-02, 1.71435308e-01, 9.99679010e-01,
  2.32406046e-02,-8.13908378e-04,-1.00543112e-02]

qacc:
[ 2.52381744e+00,-4.59931999e-01, 2.09472620e+00,-1.97650623e+00,
 -2.77220642e+00, 2.93366010e-01, 8.47729119e-01,-5.19573082e+00,
  1.46939548e+00,-9.56524871e-01, 3.16331365e+00,-2.75910421e+00,
 -5.95442194e-01, 5.41958452e-01, 2.74728663e+00,-1.04742672e+01,
 -2.37847907e+00, 1.07984184e+00,-1.15027001e-02,-9.57389698e+00,
 -2.21514424e+01, 5.67819349e+00]

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,
  1.27763243e-02,-1.42787475e-03, 4.52143763e-03,-2.26042347e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.31885204, -3.42737103,  5.30857974, -3.42737103, 42.22751643,
       23.18366157,  5.30857974, 23.18366157, 21.28688755,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005863884300836703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.89332355e-13, -9.46661775e-14,  1.00000000e+00, -1.79233703e-26,
        1.00000000e+00,  9.46661775e-14, -1.00000000e+00,  0.00000000e+00,
       -1.89332355e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0952951 , -0.09394123,  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:
[ 1.51376839e-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,
 -9.59574136e-05,-3.18683343e-05,-5.32763389e-05,-6.59112452e-05,
  6.63324248e-06, 4.03605459e-07,-4.90500195e+00, 2.76070605e-04,
  1.18171441e-02,-5.50946808e-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,
  1.24748995e+00, 7.51214261e-03, 1.13985555e+00, 4.52327786e-02,
  5.84869951e-02,-7.81036715e-02, 1.71436672e-01, 9.99680170e-01,
  2.31928443e-02,-8.28708820e-04,-1.00479992e-02]

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,  0.03184722, -0.44601637, -4.65127822,
  14.72789029, -2.34012049,  1.05747609, -0.18463056, -9.53636582,
 -21.63744509,  5.24658788]

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,
  1.27593573e-02,-1.44758618e-03, 4.50841216e-03,-2.19210648e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005855313642210008
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48047442e-14, -9.48047442e-14,  1.00000000e+00, -8.98793953e-27,
        1.00000000e+00,  9.48047442e-14, -1.00000000e+00,  0.00000000e+00,
       -9.48047442e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09529384, -0.09394379,  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:
[-2.65570257e-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,
 -7.72772808e-05,-5.00378219e-05,-4.92711153e-05, 5.68358408e-05,
  9.92088123e-07, 9.07366728e-07,-4.90500062e+00, 2.77686021e-04,
  1.18170793e-02,-5.50215924e-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,
  1.24781943e+00, 7.51227996e-03, 1.14012934e+00, 4.52273530e-02,
  5.84732676e-02,-7.80914186e-02, 1.71436701e-01, 9.99681829e-01,
  2.31256594e-02,-8.85953774e-04,-1.00328873e-02]

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,  0.07179393, -0.58279535,  0.65552415,
  -3.51164859, -2.30741888,  1.03883483, -0.33367117, -9.49804735,
 -21.21080249,  4.90131897]

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,
  1.27373267e-02,-1.47720978e-03, 4.47478147e-03,-2.22086626e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005815721169959293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.54501593e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.54501593e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09529392, -0.09394631,  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:
[ 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,
 -7.62054500e-05,-6.04340664e-05,-5.35379785e-05,-3.27142480e-05,
  2.37190693e-07,-9.86238889e-07,-4.90500049e+00, 2.77941018e-04,
  1.18179010e-02,-5.49107761e-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,
  1.24814830e+00, 7.51210288e-03, 1.14040201e+00, 4.52252999e-02,
  5.84504208e-02,-7.80750719e-02, 1.71434884e-01, 9.99683969e-01,
  2.30391294e-02,-9.84927456e-04,-1.00095094e-02]

qacc:
[  8.74199003,  0.88629895, -4.95011761, 10.33967274,  1.30770008,
  -0.64506568,  2.97531494, -5.66061717,  5.13458104, -0.51267995,
   3.50459401,-10.59708026,  0.05708541, -0.48471971,-11.86866619,
  39.08009375, -2.27983382,  1.02342085, -0.46145887, -9.46205255,
 -20.85897827,  4.62517588]

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,
  1.27016172e-02,-1.49471497e-03, 4.44477623e-03,-2.04037897e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005751732166449086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65120587e-14,  9.65120587e-14,  1.00000000e+00,  9.31457747e-27,
        1.00000000e+00, -9.65120587e-14, -1.00000000e+00,  0.00000000e+00,
       -9.65120587e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09529506, -0.09394879,  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:
[ 5.24824828e-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,
 -9.20947794e-05,-5.06112233e-05,-6.19626644e-05, 1.70964009e-04,
  4.02558381e-06,-5.15792425e-06,-4.90500150e+00, 2.77031532e-04,
  1.18195452e-02,-5.47618346e-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,
  1.24847646e+00, 7.51195485e-03, 1.14067424e+00, 4.52253332e-02,
  5.84353540e-02,-7.80658054e-02, 1.71434819e-01, 9.99685246e-01,
  2.29862130e-02,-1.04790188e-03,-9.99719260e-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, -0.40104647,  0.31909231, -6.94491726,
  23.39995089,  1.94498937, -1.77002881,  0.43813634, 16.62582331,
  18.03432506, -5.96441679]

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,
  1.26737105e-02,-1.48720595e-03, 4.43832015e-03,-1.93328899e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.1881399 ,  5.31472531, -3.16966407,  5.31472531, 19.17956739,
       21.78333946, -3.16966407, 21.78333946, 42.71329299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005707219194720781
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03378499, -0.05313514,  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:
[ 1.35653768e-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,
 -9.00265113e-05,-2.70337858e-05,-1.84425540e-05, 1.08106240e-04,
  1.21013649e-05,-1.15165398e-05,-4.90500362e+00, 2.75099477e-04,
  1.18219635e-02,-5.45745046e-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,
  1.24880385e+00, 7.51235500e-03, 1.14094607e+00, 4.52273115e-02,
  5.84278887e-02,-7.80634988e-02, 1.71435649e-01, 9.99685710e-01,
  2.29657528e-02,-1.07549927e-03,-9.99494531e-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,
 -0.84545297, 1.22744705,-6.38621665,21.6807763 , 1.90037978,-1.73997941,
  0.22345711,16.05019079,17.72902784,-5.46080684]

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,
  1.26505164e-02,-1.44715350e-03, 4.42467060e-03,-1.83479485e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.23700186, -6.1739895 ,  0.88433358, -6.1739895 ,  7.27946435,
        7.27796907,  0.88433358,  7.27796907, 57.04826305,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005765817299393933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03378453, -0.05313945,  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:
[-1.05257400e-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,
 -7.81183511e-05, 1.19127558e-05,-1.53916398e-05, 1.00961937e-04,
  4.86659005e-06,-4.42939849e-06,-4.90500157e+00, 2.78069765e-04,
  1.18201357e-02,-5.44493323e-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,
  1.24913055e+00, 7.51321198e-03, 1.14121741e+00, 4.52311439e-02,
  5.84278727e-02,-7.80680469e-02, 1.71436626e-01, 9.99685394e-01,
  2.29767907e-02,-1.06826196e-03,-1.00019760e-02]

qacc:
[ -7.06840458, -0.14018571,  2.31628145,-10.43622972, -0.51337053,
  -1.89011863,  5.88480209, -6.85581549, -5.66727434,  1.64274936,
  -3.68868847,  0.25341322, -0.70716504,  1.01353484, -6.27296933,
  21.03835271,  1.86233364, -1.71365267,  0.03702119, 15.57401071,
  17.46233031, -5.0583521 ]

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,
  1.26195306e-02,-1.42361100e-03, 4.40139032e-03,-1.74215133e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005781518947043512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.6014822e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.6014822e-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([ 0.03378337, -0.05314211,  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:
[-4.23877920e-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,
 -7.02345359e-05, 8.37639977e-06,-2.47411888e-05, 9.50280936e-05,
  9.29353900e-07,-7.23089716e-07,-4.90500035e+00, 2.79444696e-04,
  1.18193018e-02,-5.44007973e-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,
  1.24945694e+00, 7.51334099e-03, 1.14148811e+00, 4.52344641e-02,
  5.84351772e-02,-7.80793584e-02, 1.71437107e-01, 9.99684320e-01,
  2.30185367e-02,-1.02665671e-03,-1.00176532e-02]

qacc:
[  1.60504354, -0.39073697,  4.12931004,-15.30486467, -0.35836314,
   0.81647225, -3.392591  ,  3.92901468, -0.58469996,  0.7530279 ,
  -1.39008097, -0.45060711,  0.28659611, -0.95969297,  0.56432123,
  -3.4429684 ,  1.8301342 , -1.69088889, -0.12403651, 15.18142537,
  17.2323949 , -4.73696101]

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,
  1.25838894e-02,-1.48111292e-03, 4.34572578e-03,-1.77797387e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005762559666034339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63307184e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.63307184e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03378164, -0.05314346,  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:
[ 9.69779107e-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,
 -7.16524210e-05,-7.16456541e-05,-6.14767396e-05,-3.48424169e-05,
  9.97850195e-08,-1.23077290e-07,-4.90499997e+00, 2.79423333e-04,
  1.18192669e-02,-5.44261049e-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,
  1.24978274e+00, 7.51292148e-03, 1.14175813e+00, 4.52386240e-02,
  5.84496942e-02,-7.80973559e-02, 1.71436539e-01, 9.99682500e-01,
  2.30903419e-02,-9.51079931e-04,-1.00414739e-02]

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,
  0.03057046,-0.59620396,-3.56852905,10.97146163, 1.80310663,-1.67146049,
 -0.26254704,14.85915559,17.03685292,-4.48059955]

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,
  1.25401194e-02,-1.51522889e-03, 4.32924517e-03,-1.72947769e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005716007261645784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71152567e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.71152567e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03377945, -0.05314377,  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:
[ 6.84145489e-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,
 -1.00477455e-04,-6.90301665e-05,-5.17435553e-05, 3.79321809e-05,
  2.22736803e-06,-2.41775659e-06,-4.90500044e+00, 2.78153490e-04,
  1.18198909e-02,-5.45230026e-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,
  1.25010790e+00, 7.51229579e-03, 1.14202849e+00, 4.52392015e-02,
  5.84545339e-02,-7.81109250e-02, 1.71436662e-01, 9.99681197e-01,
  2.31424045e-02,-9.21096029e-04,-1.00540595e-02]

qacc:
[  0.66810383,  2.22250282, -8.79087297, 14.92266276,  4.0440536 ,
   1.18610646, -4.4866955 ,  6.34985819, -1.33023008,  2.84520037,
 -11.56070146, 21.18849984, -0.6302321 ,  0.49403919, 11.38692429,
 -38.98730617, -2.41932743,  1.10705703,  0.17298722, -9.63995701,
 -22.75836348,  6.15414678]

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,
  1.25181378e-02,-1.51744892e-03, 4.34162770e-03,-1.91557925e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.17721176,  4.9786948 , -3.65657535,  4.9786948 , 21.8566829 ,
       21.34874681, -3.65657535, 21.34874681, 35.24509209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005694105665654398
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94977594e-13, -1.94977594e-13,  1.00000000e+00, -3.80162623e-26,
        1.00000000e+00,  1.94977594e-13, -1.00000000e+00,  0.00000000e+00,
       -1.94977594e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09528708, -0.09396416,  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:
[ 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,
 -9.31710866e-05,-4.34805688e-05,-1.08847217e-05,-1.91476954e-04,
  7.19426382e-06,-7.44576774e-06,-4.90500177e+00, 2.75744152e-04,
  1.18210727e-02,-5.46896776e-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,
  1.25043263e+00, 7.51125444e-03, 1.14229855e+00, 4.52369169e-02,
  5.84498659e-02,-7.81201737e-02, 1.71436697e-01, 9.99680410e-01,
  2.31748150e-02,-9.35475971e-04,-1.00564167e-02]

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,
 -2.22262247e-01,-1.16575469e-01, 8.23718452e+00,-2.94159698e+01,
 -2.37691352e+00, 1.08013210e+00,-2.18290742e-02,-9.60112852e+00,
 -2.21550512e+01, 5.63751267e+00]

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,
  1.25039294e-02,-1.53615959e-03, 4.31800298e-03,-2.06082707e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.20845913, -3.23991118,  5.29603062, -3.23991118, 44.06764301,
       23.16081648,  5.29603062, 23.16081648, 20.37737048,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005731593756899411
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09528387, -0.0939666 ,  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:
[ 2.45656734e-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,
 -7.54421396e-05,-5.15455253e-05,-5.70423720e-05,-1.58924524e-04,
  1.11287533e-06,-2.14583427e-06,-4.90500047e+00, 2.77788737e-04,
  1.18191064e-02,-5.48031401e-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,
  1.25075643e+00, 7.51083733e-03, 1.14256765e+00, 4.52349224e-02,
  5.84358366e-02,-7.81251929e-02, 1.71435970e-01, 9.99680127e-01,
  2.31876714e-02,-9.93196049e-04,-1.00493459e-02]

qacc:
[  0.21929681,  1.48168797, -3.9140599 ,  1.38906186, -4.61660502,
  -3.73195885, 17.40223757,-35.79449311, -9.33939229, -0.81126312,
   3.96045946, -7.33858278, -1.09051884,  1.55599641, -2.19681034,
   5.86085147, -2.34034647,  1.05736493, -0.19076068, -9.55740718,
 -21.65198107,  5.22641929]

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,
  1.24624342e-02,-1.49346216e-03, 4.28347000e-03,-2.03882887e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005730679777858488
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.68666081e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.68666081e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09528235, -0.093969  ,  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:
[ 1.45355416e-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,
 -9.57347057e-05, 1.22762512e-05,-8.26083641e-05, 4.87722288e-06,
  2.13896300e-07, 5.27395163e-07,-4.90500031e+00, 2.78288354e-04,
  1.18182027e-02,-5.48792057e-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,
  1.25107957e+00, 7.51084666e-03, 1.14283552e+00, 4.52355196e-02,
  5.84125705e-02,-7.81260592e-02, 1.71433897e-01, 9.99680335e-01,
  2.31810709e-02,-1.09340823e-03,-1.00334822e-02]

qacc:
[  0.1284969 ,  1.66842408, -6.63625884, 11.19855704, -2.9255852 ,
  -0.10234998,  1.73584891, -6.21290687, -8.62251912, -2.96897048,
  14.14167592,-28.90167797, -0.57078304,  0.81655898, -9.61910195,
  31.11162943, -2.30916297,  1.03822057, -0.33655008, -9.51319193,
 -21.23483172,  4.89980496]

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,
  1.24419071e-02,-1.46805140e-03, 4.24246276e-03,-1.90073771e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005698925797934656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74063415e-14, -9.74063415e-14,  1.00000000e+00, -9.48799536e-27,
        1.00000000e+00,  9.74063415e-14, -1.00000000e+00,  0.00000000e+00,
       -9.74063415e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09528218, -0.09397135,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.55071164e-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,
 -7.03968877e-05, 6.79238916e-06,-8.12036143e-05, 1.27166417e-04,
  4.07909116e-06, 7.38518643e-07,-4.90500126e+00, 2.77488414e-04,
  1.18182603e-02,-5.49173499e-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,
  1.25140237e+00, 7.51060381e-03, 1.14310275e+00, 4.52373432e-02,
  5.83969407e-02,-7.81339244e-02, 1.71432912e-01, 9.99679710e-01,
  2.32072466e-02,-1.15808549e-03,-1.00279652e-02]

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,  0.03675521, -0.32831468, -4.66778809,
  14.92583822,  1.90903914, -1.74972931,  0.27228288, 16.2086105 ,
  17.80582608, -5.60569149]

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,
  1.24233198e-02,-1.48856980e-03, 4.22425936e-03,-1.83742959e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.18261879,  5.33967122, -3.1165183 ,  5.33967122, 18.96608067,
       21.90248118, -3.1165183 , 21.90248118, 43.70912659,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005700594377007345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73778304e-14, -9.73778304e-14,  1.00000000e+00, -9.48244185e-27,
        1.00000000e+00,  9.73778304e-14, -1.00000000e+00,  0.00000000e+00,
       -9.73778304e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03377222, -0.05315383,  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:
[-1.72628717e-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,
 -5.57931727e-05,-3.47261558e-05,-4.31681884e-05, 5.95774835e-05,
  1.23961906e-05,-1.38346427e-06,-4.90500329e+00, 2.75565571e-04,
  1.18192020e-02,-5.49172377e-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,
  1.25172463e+00, 7.51021971e-03, 1.14336958e+00, 4.52375815e-02,
  5.83887881e-02,-7.81486840e-02, 1.71432249e-01, 9.99678288e-01,
  2.32652075e-02,-1.18779420e-03,-1.00319783e-02]

qacc:
[ -1.74291346,  0.14135756, -3.66341373, 14.84773083, -0.98163285,
  -0.63295889,  2.1062076 , -2.48430988, -5.0861911 , -0.0344829 ,
  -0.79769833,  3.09666878, -0.40816893,  0.27358965,  4.23055498,
 -15.59129123,  1.86931713, -1.72356802,  0.08036077, 15.71587873,
  17.52700737, -5.19165028]

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,
  1.23845880e-02,-1.50063240e-03, 4.18777428e-03,-1.92517840e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.20700447, -6.18174369,  0.55941881, -6.18174369,  6.70918941,
        5.54929253,  0.55941881,  5.54929253, 67.52833238,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005729849097248635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.68806513e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.68806513e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03377134, -0.05315697,  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:
[-1.05548512e-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,
 -7.75848204e-05,-3.38395196e-05,-5.32899296e-05,-9.07989190e-05,
  5.06623551e-06, 1.87992353e-06,-4.90500174e+00, 2.77445393e-04,
  1.18192185e-02,-5.49815512e-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,
  1.25204631e+00, 7.50949738e-03, 1.14363494e+00, 4.52392110e-02,
  5.83879776e-02,-7.81702471e-02, 1.71431243e-01, 9.99676090e-01,
  2.33541368e-02,-1.18302391e-03,-1.00448729e-02]

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,
 -1.86346234e-02,-3.86594479e-01,-6.37541612e+00, 1.91438019e+01,
  1.83553272e+00,-1.70091639e+00,-8.58603917e-02, 1.53100285e+01,
  1.72855128e+01,-4.86267314e+00]

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,
  1.23444509e-02,-1.52538420e-03, 4.11369295e-03,-1.85270348e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000572245719442574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70057955e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.70057955e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03376985, -0.05315871,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.01580536e-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,
 -9.10430912e-05,-5.12029525e-05,-1.12819973e-04, 5.96377198e-05,
  9.44913196e-07, 1.96907412e-06,-4.90500106e+00, 2.77842520e-04,
  1.18200141e-02,-5.51205399e-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,
  1.25236708e+00, 7.50908751e-03, 1.14389930e+00, 4.52399841e-02,
  5.83943952e-02,-7.81985366e-02, 1.71429320e-01, 9.99673129e-01,
  2.34733646e-02,-1.14419251e-03,-1.00661351e-02]

qacc:
[ -0.55296871, -0.47377662,  3.90937871,-12.01719509,  3.39876844,
  -0.37603652,  2.42093979, -7.68498845, 19.6301736 , -0.55242121,
   0.23897244,  3.72947783, -0.94150292,  1.1536642 ,  1.17477295,
  -6.09028307,  1.80701661, -1.68158152, -0.22915199, 14.97728222,
  17.07904641, -4.60197312]

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,
  1.22981673e-02,-1.50423814e-03, 4.05976963e-03,-1.89946816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005685715200906272
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03376787, -0.05315933,  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:
[-3.27942016e-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,
 -1.08991947e-04,-1.28158835e-05,-9.94261554e-05,-5.79815445e-05,
 -1.36698610e-07,-8.89924449e-07,-4.90500125e+00, 2.76920151e-04,
  1.18214539e-02,-5.53318645e-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,
  1.25268678e+00, 7.50947022e-03, 1.14416244e+00, 4.52408463e-02,
  5.83910995e-02,-7.82224185e-02, 1.71428167e-01, 9.99670680e-01,
  2.35728211e-02,-1.15101635e-03,-1.00761698e-02]

qacc:
[  5.61985249,  1.11039384, -2.12261976, -2.39125176, -1.07553362,
  -0.22764273,  1.31171648, -4.52766068,  6.17681252, -0.66592738,
   3.18305765, -7.09882068, -1.32114294,  1.92320799, -1.9355598 ,
   4.46479276, -2.42834433,  1.10191423,  0.19232378, -9.65225445,
 -22.78760053,  6.16165158]

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,
  1.22535733e-02,-1.45606877e-03, 4.00730205e-03,-1.89181704e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.21724956,  5.00367261, -3.69018327,  5.00367261, 22.30497077,
       21.81400873, -3.69018327, 21.81400873, 35.79576914,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005742135576701224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66733552e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.66733552e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09527234, -0.09398334,  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:
[ 3.38678042e-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,
 -1.07929294e-04, 2.00365362e-05,-1.06747181e-04,-8.79803795e-06,
  1.68765756e-06,-6.52472721e-06,-4.90500231e+00, 2.74798697e-04,
  1.18234427e-02,-5.56136472e-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,
  1.25300575e+00, 7.51033660e-03, 1.14442412e+00, 4.52431224e-02,
  5.83782628e-02,-7.82420040e-02, 1.71426986e-01, 9.99668737e-01,
  2.36526263e-02,-1.20226982e-03,-1.00759362e-02]

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,
 -7.26829961e-01, 1.04090332e+00,-6.38235936e+00, 1.93295090e+01,
 -2.38521559e+00, 1.07406686e+00,-6.77972358e-03,-9.59865910e+00,
 -2.21851825e+01, 5.66999652e+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,
  1.22313425e-02,-1.42779578e-03, 3.94511054e-03,-1.81661422e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.24847982, -3.20894869,  5.36154348, -3.20894869, 45.51098411,
       23.49908419,  5.36154348, 23.49908419, 20.31296622,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005779575172813883
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.8814134e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.8814134e-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([ 0.09526923, -0.09398568,  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:
[ 2.09921092e-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,
 -7.71521206e-05, 8.96600050e-06,-1.13943695e-04, 6.06593024e-05,
 -1.77409530e-07, 4.10906661e-07,-4.90500205e+00, 2.75736976e-04,
  1.18208194e-02,-5.58445325e-04]


--- Step 1097 ---
qpos:
[ 0.01869968, 0.03012424,-0.00950964,-0.02555592, 0.00788628, 0.00468149,
 -0.00786363, 0.0270988 , 0.0123129 , 0.02800036,-0.00831224, 0.02642617,
  1.25332451, 0.00751089, 1.14468477, 0.04524358, 0.05835603,-0.07825739,
  0.17142509, 0.99966729, 0.0237129 ,-0.00129693,-0.01006619]

qacc:
[-8.95810775e-01,-1.70005402e+00, 4.67839266e+00,-2.79328851e+00,
  1.36293708e+00, 1.13668229e+00,-4.56017577e+00, 8.63594157e+00,
  1.25261521e+00, 1.27137441e+00,-5.98638496e+00, 1.17364566e+01,
 -8.37758964e-03,-2.62131700e-01, 3.98456735e+00,-1.61534472e+01,
 -2.34811459e+00, 1.05041047e+00,-1.79392654e-01,-9.54236007e+00,
 -2.16829999e+01, 5.28032626e+00]

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,
  1.22278636e-02,-1.44697401e-03, 3.88247722e-03,-1.91527244e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005777919478550664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92149273e-13,  9.60746363e-14,  1.00000000e+00,  1.84606715e-26,
        1.00000000e+00, -9.60746363e-14, -1.00000000e+00,  0.00000000e+00,
       -1.92149273e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09526781, -0.093988  ,  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:
[-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,
 -4.44417458e-05,-3.41102178e-05,-1.08669294e-04,-1.09984724e-04,
  3.02648969e-06, 4.66130603e-06,-4.90500287e+00, 2.75181505e-04,
  1.18193279e-02,-5.60379563e-04]


--- Step 1098 ---
qpos:
[ 0.01869987, 0.03012425,-0.00950976,-0.02555615, 0.00788694, 0.00468102,
 -0.00786417, 0.02709996, 0.01231384, 0.02800109,-0.00831151, 0.02642648,
  1.25364306, 0.00751119, 1.14494502, 0.04524006, 0.05832454,-0.07826865,
  0.17142188, 0.99966632, 0.02375377,-0.00143416,-0.01004754]

qacc:
[ -0.61046386, -3.16054751,  9.93180188, -9.88118177, -2.2774086 ,
   2.25221494,-14.59023493, 40.9840731 ,  0.79026748, -0.72484402,
  -1.18942263, 10.93009688, -0.24158214,  0.08403578, 11.45625345,
 -40.89493945, -2.31655229,  1.03040663, -0.32833646, -9.4873126 ,
 -21.26684246,  4.97241429]

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,
  1.22196381e-02,-1.45851583e-03, 3.86752388e-03,-2.11557881e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005744873210398183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66272870e-14, -9.66272870e-14,  1.00000000e+00, -9.33683259e-27,
        1.00000000e+00,  9.66272870e-14, -1.00000000e+00,  0.00000000e+00,
       -9.66272870e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09526773, -0.0939903 ,  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:
[-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,
 -4.23047428e-05,-2.97736535e-05,-7.78571547e-05,-2.20560475e-04,
  1.09066065e-05, 6.40306252e-06,-4.90500473e+00, 2.73357182e-04,
  1.18188551e-02,-5.61934911e-04]


--- Step 1099 ---
qpos:
[ 0.01869932, 0.03012406,-0.00950939,-0.02555669, 0.00788744, 0.00468074,
 -0.00786471, 0.02710104, 0.01231482, 0.0280016 ,-0.00831087, 0.02642672,
  1.25396116, 0.00751164, 1.14520456, 0.04523575, 0.05830068,-0.07828696,
  0.17141986, 0.99966449, 0.02382773,-0.00153586,-0.01003966]

qacc:
[ -6.29487147, -2.27464834,  9.07087681,-15.19387706, -1.48534245,
   0.05923382,  0.53126333, -2.23184915,  0.38507981, -0.18151902,
   0.54051154, -1.46042019, -0.4727186 ,  0.58351985,  1.37291063,
  -6.2234366 ,  1.90924969, -1.76199799,  0.29922057, 16.36515725,
  17.79357909, -5.83010953]

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,
  1.21979211e-02,-1.44765390e-03, 3.85985621e-03,-2.14320442e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.18667166,  5.33197506, -3.13766605,  5.33197506, 18.6075561 ,
       21.10735975, -3.13766605, 21.10735975, 42.05534413,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005705457523562524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72948287e-14, -9.72948287e-14,  1.00000000e+00, -9.46628369e-27,
        1.00000000e+00,  9.72948287e-14, -1.00000000e+00,  0.00000000e+00,
       -9.72948287e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03376114, -0.05317085,  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:
[-3.79053141e-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,
 -5.34679506e-05,-5.79968384e-06,-7.08766093e-05,-5.05666647e-05,
  2.31719161e-05, 5.77510819e-06,-4.90500761e+00, 2.70424273e-04,
  1.18193145e-02,-5.63108831e-04]


--- Step 1100 ---
qpos:
[ 0.01869867, 0.03012361,-0.00950921,-0.02555701, 0.00788782, 0.00468079,
 -0.0078653 , 0.02710097, 0.01231514, 0.02800245,-0.00831073, 0.02642654,
  1.25427887, 0.00751199, 1.14546298, 0.04523346, 0.05828429,-0.07831221,
  0.17141826, 0.99966183, 0.02393377,-0.00160262,-0.01004169]

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,
 -1.22552068e-02,-1.83259731e-01,-7.75729260e+00, 2.47217294e+01,
  1.86803750e+00,-1.73602608e+00, 1.02933249e-01, 1.58594008e+01,
  1.75090795e+01,-5.40338345e+00]

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,
  1.21734633e-02,-1.45916525e-03, 3.82464719e-03,-2.03331683e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.21501548, -6.17845338,  0.67315029, -6.17845338,  6.90692979,
        6.35067731,  0.67315029,  6.35067731, 64.5041733 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005739456547410315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.9343696e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.9343696e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03376028, -0.05317424,  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:
[-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,
 -5.58916756e-05,-2.48366698e-05,-7.61277239e-05, 9.73708510e-05,
  1.24707164e-05, 8.55664814e-06,-4.90500572e+00, 2.72813304e-04,
  1.18202896e-02,-5.64908063e-04]


--- Step 1101 ---
qpos:
[ 0.01869867, 0.03012298,-0.00950986,-0.02555685, 0.00788815, 0.00468068,
 -0.00786549, 0.02710094, 0.01231503, 0.02800338,-0.00831103, 0.02642651,
  1.25459601, 0.00751253, 1.14572085, 0.0452311 , 0.05827524,-0.07834432,
  0.17141639, 0.99965837, 0.02407104,-0.00163493,-0.01005298]

qacc:
[  5.49524073,  3.0729201 ,-13.37163901, 23.28130657, -0.54293263,
  -1.28253888,  4.1422206 , -4.14874414, -3.56942258,  1.65765972,
  -6.35115415,  9.48086898, -0.56446997,  0.68530705, -0.57204154,
   0.91624325,  1.83289031, -1.71356677, -0.06719361, 15.44353639,
  17.2617801 , -5.06599338]

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,
  1.21420459e-02,-1.44839208e-03, 3.79960459e-03,-2.03868809e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005735685155991432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.67820752e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.67820752e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03375881, -0.05317617,  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:
[ 3.31085213e-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,
 -6.83214653e-05,-8.28538152e-06,-5.07572920e-05,-1.00642858e-05,
  5.05652102e-06, 8.10699475e-06,-4.90500469e+00, 2.73619791e-04,
  1.18220336e-02,-5.67463116e-04]


--- Step 1102 ---
qpos:
[ 0.01869906, 0.03012251,-0.00951098,-0.02555682, 0.00788878, 0.00468031,
 -0.00786568, 0.02710131, 0.01231538, 0.02800448,-0.00831202, 0.0264269 ,
  1.25491249, 0.00751326, 1.14597829, 0.0452244 , 0.0582734 ,-0.07838321,
  0.17141366, 0.99965411, 0.02423887,-0.00163323,-0.01007299]

qacc:
[  3.40322022,  1.20577363, -3.41491163,  1.63171159,  2.68776849,
   0.49051366, -3.99615979, 11.26816812,  3.760571  ,  3.02340151,
 -12.2557671 , 20.63569013, -0.93043184,  1.14673576, 12.60729074,
 -44.79761642,  1.80312499, -1.69444235, -0.21395212, 15.10328813,
  17.04951001, -4.80035232]

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,
  1.21011583e-02,-1.44226118e-03, 3.74337137e-03,-2.27171053e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005701609606622166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73604913e-14, -9.73604913e-14,  1.00000000e+00, -9.47906526e-27,
        1.00000000e+00,  9.73604913e-14, -1.00000000e+00,  0.00000000e+00,
       -9.73604913e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03375685, -0.05317694,  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:
[ 2.05357078e-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,
 -8.04342667e-05,-1.15914153e-05,-8.44261743e-05,-2.40932279e-04,
  7.44740763e-07, 4.66442893e-06,-4.90500454e+00, 2.73022712e-04,
  1.18244182e-02,-5.70749862e-04]


--- Step 1103 ---
qpos:
[ 0.01869934, 0.03012205,-0.00951193,-0.02555687, 0.0078896 , 0.00467995,
 -0.00786607, 0.02710188, 0.01231634, 0.02800569,-0.00831342, 0.02642754,
  1.25522844, 0.00751383, 1.14623489, 0.04521624, 0.05826182,-0.07841775,
  0.17141164, 0.99965035, 0.02438711,-0.00167724,-0.01008148]

qacc:
[ -0.96051693, -0.61224223,  2.50912049, -4.085571  ,  1.61172461,
   0.99803175, -4.3559397 ,  8.08907653,  5.30090272,  1.76664033,
  -7.16260635, 12.01943687, -0.34861451,  0.1807212 ,  3.1683047 ,
 -12.85085624, -2.43280008,  1.08753249,  0.17679184, -9.55721681,
 -22.80459556,  6.33128949]

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,
  1.20705935e-02,-1.45674325e-03, 3.72168910e-03,-2.33522602e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.24085118,  5.02545864, -3.70040388,  5.02545864, 21.92775661,
       21.30413247, -3.70040388, 21.30413247, 35.1736488 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005770431488192757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.61993074e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.61993074e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09525855, -0.0940024 ,  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:
[-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,
 -7.85524887e-05,-3.53925668e-05,-9.05729198e-05,-8.84869109e-05,
 -6.11901663e-07,-1.58965994e-06,-4.90500525e+00, 2.71154240e-04,
  1.18273549e-02,-5.74748991e-04]


--- Step 1104 ---
qpos:
[ 0.01869919, 0.03012157,-0.00951242,-0.02555732, 0.00789017, 0.00467961,
 -0.00786624, 0.0271022 , 0.01231768, 0.02800648,-0.00831428, 0.02642833,
  1.25554375, 0.00751428, 1.1464908 , 0.04521023, 0.05824069,-0.07844805,
  0.17140953, 0.99964707, 0.02451589,-0.00176574,-0.01007939]

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,
 -2.25177252e-01, 1.32923047e-02,-7.49809012e+00, 2.47774630e+01,
 -2.39033974e+00, 1.05922225e+00,-2.14991174e-02,-9.50205435e+00,
 -2.22072505e+01, 5.84712872e+00]

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,
  1.20355833e-02,-1.46556072e-03, 3.73676870e-03,-2.20942561e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.26831888, -3.23328358,  5.37007438, -3.23328358, 45.34419874,
       23.52730928,  5.37007438, 23.52730928, 20.43394442,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005803349695648052
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.56536382e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.56536382e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09525557, -0.09400482,  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:
[-2.18014558e-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,
 -8.72928868e-05,-3.56900546e-05,-3.83358015e-05, 1.08838329e-04,
  1.77706480e-06, 7.07072964e-06,-4.90500614e+00, 2.71040961e-04,
  1.18239394e-02,-5.78262654e-04]


--- Step 1105 ---
qpos:
[ 0.01869914, 0.03012147,-0.00951272,-0.02555871, 0.00789127, 0.00467935,
 -0.00786625, 0.02710203, 0.01231853, 0.028007  ,-0.00831512, 0.02642921,
  1.25585826, 0.00751472, 1.14674659, 0.04520501, 0.05821014,-0.0784742 ,
  0.17140665, 0.99964426, 0.02462532,-0.00189772,-0.01006748]

qacc:
[  0.7371238 , -1.95709724, 11.71174862,-28.69584085,  4.68802826,
  -1.39530796,  7.19316562,-16.03155444, -4.1035205 , -0.18862148,
  -0.25436037,  2.1246139 , -0.55008805,  0.45054994, -2.54141136,
   8.73195279, -2.35389743,  1.03509   , -0.19332559, -9.44404525,
 -21.71013511,  5.46521462]

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,
  1.19872829e-02,-1.47096447e-03, 3.74196664e-03,-2.16833356e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005797661408183108
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.57474873e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.57474873e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09525427, -0.09400719,  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:
[ 4.45198983e-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,
 -1.03963013e-04,-3.50958752e-05,-4.11469547e-06, 4.14058792e-05,
  9.13643563e-06, 1.30013342e-05,-4.90500802e+00, 2.69439285e-04,
  1.18217357e-02,-5.81406528e-04]


--- Step 1106 ---
qpos:
[ 0.01869983, 0.0301216 ,-0.00951281,-0.02556029, 0.00789305, 0.00467935,
 -0.0078662 , 0.02710121, 0.01231873, 0.02800745,-0.00831605, 0.02642977,
  1.2561718 , 0.00751563, 1.14700209, 0.04520297, 0.0581703 ,-0.07849631,
  0.17140241, 0.9996419 , 0.02471554,-0.00207235,-0.01004632]

qacc:
[  6.44296157, -0.69493732,  3.66680301, -7.3413411 ,  5.88055238,
  -1.15361565,  7.34243831,-18.90048718, -5.58955243, -0.50109911,
   3.03410151, -8.46807238, -0.86599058,  1.13843618, -9.94493103,
  34.35422721, -2.32297991,  1.0145925 , -0.34153736, -9.38710544,
 -21.29899607,  5.16534756]

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,
  1.19470234e-02,-1.43886062e-03, 3.75186080e-03,-2.00004801e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005761024645138807
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09525431, -0.09400954,  0.06198965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.86747937e-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,
 -1.04370088e-04,-1.56431382e-06, 6.41055334e-06, 1.68694766e-04,
  2.10975073e-05, 1.63876530e-05,-4.90501085e+00, 2.66561010e-04,
  1.18206174e-02,-5.84176618e-04]


--- Step 1107 ---
qpos:
[ 0.01870132, 0.0301219 ,-0.00951275,-0.02556195, 0.00789452, 0.00467944,
 -0.00786602, 0.02709967, 0.01231922, 0.02800788,-0.00831649, 0.02643009,
  1.25648453, 0.00751709, 1.14725747, 0.04520231, 0.05813807,-0.07852552,
  0.17139945, 0.99963863, 0.02483926,-0.00221155,-0.01003652]

qacc:
[  6.87639696, -0.39196021,  2.0578605 , -3.86953012, -2.63772083,
  -1.71045254,  9.29852381,-21.90421738,  2.49634941, -1.92223625,
   7.822166  ,-12.77777349, -0.92044254,  1.31256279, -4.28433979,
  14.91476383,  1.9038908 , -1.77964655,  0.32190648, 16.56297183,
  17.73510042, -6.15324354]

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,
  1.19222846e-02,-1.40249751e-03, 3.73796300e-03,-1.93566829e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.21134319,  5.34282701, -3.16780424,  5.34282701, 18.28117901,
       20.35701701, -3.16780424, 20.35701701, 40.54554191,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005735052618294073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67927497e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.67927497e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03375003, -0.05318944,  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:
[ 4.12792836e-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,
 -8.05673952e-05, 1.11401166e-05, 1.44088515e-06, 7.31924259e-05,
  3.73903324e-05, 1.73760795e-05,-4.90501464e+00, 2.62555151e-04,
  1.18204874e-02,-5.86570646e-04]


--- Step 1108 ---
qpos:
[ 0.01870294, 0.03012218,-0.0095125 ,-0.02556398, 0.00789544, 0.00467956,
 -0.00786578, 0.02709807, 0.01231955, 0.02800814,-0.00831674, 0.02643102,
  1.25679697, 0.0075181 , 1.14751296, 0.04520238, 0.05811329,-0.07856176,
  0.17139697, 0.99963449, 0.02499542,-0.00231591,-0.0100372 ]

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,  0.1279349 , -0.55760206, -2.07453674,
   7.44805779,  1.86119226, -1.75375044,  0.12097583, 16.04239391,
  17.44634784, -5.7100887 ]

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,
  1.19068783e-02,-1.43485162e-03, 3.75239239e-03,-1.89760515e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.24166146, -6.18867312,  0.81158044, -6.18867312,  7.18829166,
        7.21848955,  0.81158044,  7.21848955, 61.28595552,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005771402738218023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.61831183e-14, -9.61831183e-14,  1.00000000e+00, -9.25119225e-27,
        1.00000000e+00,  9.61831183e-14, -1.00000000e+00,  0.00000000e+00,
       -9.61831183e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03374912, -0.05319304,  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:
[ 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,
 -5.58280300e-05,-4.84159435e-05, 1.68805150e-05, 4.09057707e-05,
  2.32828740e-05, 1.96735081e-05,-4.90501236e+00, 2.65522341e-04,
  1.18225633e-02,-5.89572079e-04]


--- Step 1109 ---
qpos:
[ 0.01870427, 0.03012253,-0.00951225,-0.02556588, 0.00789636, 0.00467973,
 -0.00786529, 0.02709712, 0.01231978, 0.0280081 ,-0.00831683, 0.02643198,
  1.2571093 , 0.00751817, 1.14776875, 0.04520253, 0.05809581,-0.07860492,
  0.17139429, 0.99962951, 0.02518317,-0.00238594,-0.01004767]

qacc:
[-2.52285662, 0.36028234,-1.66833168, 3.77740791, 0.02325444, 0.71656887,
 -5.1933175 ,15.99627938,-0.88015622,-0.84560903, 2.31388113,-1.93483884,
  0.58331831,-1.42262353, 0.12617426, 0.03533297, 1.82470236,-1.73140159,
 -0.05321523,15.61515747,17.19453919,-5.36128419]

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,
  1.18970544e-02,-1.48990921e-03, 3.77314935e-03,-1.89298940e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005768986434950274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.6223404e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.6223404e-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([ 0.0337476 , -0.05319513,  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:
[-1.51354966e-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,
 -5.10161253e-05,-8.09440321e-05, 2.65587873e-05, 7.57211210e-06,
  1.25356799e-05, 1.86767455e-05,-4.90501094e+00, 2.66784511e-04,
  1.18254120e-02,-5.93341112e-04]


--- Step 1110 ---
qpos:
[ 0.01870506, 0.0301231 ,-0.00951262,-0.02556732, 0.00789763, 0.00468001,
 -0.00786461, 0.02709694, 0.01232063, 0.02800801,-0.00831667, 0.02643219,
  1.25742123, 0.00751786, 1.14802451, 0.04520246, 0.0580855 ,-0.07865493,
  0.17139078, 0.99962369, 0.02540181,-0.00242207,-0.01006738]

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, -0.06278434, -0.30085596,  0.62301263,
  -2.26540156,  1.79371749, -1.7124314 , -0.20351198, 15.26640064,
  16.97763514, -5.08831517]

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,
  1.18745955e-02,-1.50465155e-03, 3.76040147e-03,-1.90808322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005735446101003405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93572218e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.93572218e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03374559, -0.053196  ,  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:
[-2.77399740e-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,
 -6.87521900e-05,-4.80457319e-05,-6.56872637e-06,-1.28477748e-05,
  4.94790158e-06, 1.46374501e-05,-4.90501037e+00, 2.66538869e-04,
  1.18289118e-02,-5.97852747e-04]


--- Step 1111 ---
qpos:
[ 0.01870517, 0.03012346,-0.00951323,-0.0255688 , 0.00789877, 0.00468035,
 -0.00786403, 0.02709724, 0.01232118, 0.028008  ,-0.00831633, 0.02643161,
  1.25773238, 0.00751792, 1.14827991, 0.04520389, 0.05806544,-0.07870068,
  0.17138786, 0.99961833, 0.0256012 ,-0.00250401,-0.01007499]

qacc:
[ -5.82054639,  0.32319199, -1.34986077,  1.18749047, -1.23449052,
   1.3497769 , -6.76515778, 15.33085754, -2.61852493, -2.01777788,
  10.69123804,-24.74244186, -0.74695489,  0.9789052 , -4.97302404,
  16.80371372, -2.43717129,  1.06545838,  0.14315111, -9.37698812,
 -22.83513314,  6.65179622]

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,
  1.18392614e-02,-1.47763734e-03, 3.75419898e-03,-1.82821350e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.23433142,  5.02869496, -3.68498511,  5.02869496, 20.92099457,
       20.04207527, -3.68498511, 20.04207527, 33.58464081,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005762616074268673
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63297754e-14,  9.63297754e-14,  1.00000000e+00,  9.27942563e-27,
        1.00000000e+00, -9.63297754e-14, -1.00000000e+00,  0.00000000e+00,
       -9.63297754e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09524565, -0.09402229,  0.06198965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.49302408e-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,
 -8.38561760e-05,-1.58438004e-06,-1.64012126e-05, 7.70011716e-05,
  3.58407785e-07, 7.74688036e-06,-4.90501066e+00, 2.64931274e-04,
  1.18329807e-02,-6.03087046e-04]


--- Step 1112 ---
qpos:
[ 0.01870486, 0.03012347,-0.00951372,-0.02557031, 0.00789945, 0.0046806 ,
 -0.00786377, 0.02709749, 0.01232117, 0.02800797,-0.00831615, 0.02643129,
  1.25804294, 0.00751824, 1.14853456, 0.04520699, 0.0580358 ,-0.07874228,
  0.17138472, 0.99961341, 0.02578147,-0.00263055,-0.01007147]

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, -0.48322206,  0.60850537, -6.16808248,
  20.04878178, -2.39620693,  1.03693769, -0.05123636, -9.32995831,
 -22.24486426,  6.16125553]

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,
  1.18175526e-02,-1.46167915e-03, 3.70934692e-03,-1.74625357e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.25771142, -3.29692531,  5.31876261, -3.29692531, 43.90656633,
       23.33728194,  5.31876261, 23.33728194, 20.72372186,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005790638814326815
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58636051e-14, -1.91727210e-13,  1.00000000e+00, -1.83796615e-26,
        1.00000000e+00,  1.91727210e-13, -1.00000000e+00,  0.00000000e+00,
       -9.58636051e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09524275, -0.09402487,  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:
[-2.11402938e-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,
 -6.71541687e-05,-4.07712021e-06,-4.91817708e-05, 8.29428206e-05,
  7.10951690e-06, 1.82915560e-05,-4.90501288e+00, 2.63735919e-04,
  1.18285568e-02,-6.07860782e-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,
  1.25835316, 0.00751842, 1.14878839, 0.04521043, 0.05799671,-0.07877983,
  0.17138071, 0.99960891, 0.02594271,-0.00280069,-0.01005758]

qacc:
[ -2.05114471, -0.18185401,  0.50457733, -0.85848316,  0.59050176,
  -0.74601304,  3.63966829, -9.71180607,  5.95550363,  3.09819879,
 -16.01023178, 36.91639625, -0.09449252, -0.07409911, -2.21916669,
   5.99767125, -2.36111446,  1.01254675, -0.21966173, -9.27807031,
 -21.75476596,  5.77623753]

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,
  1.18040311e-02,-1.47013629e-03, 3.65733178e-03,-1.73483548e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005781081050309084
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.60220947e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.60220947e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09524152, -0.09402738,  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:
[-1.23303777e-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,
 -5.11066263e-05,-2.49427684e-05,-6.87219997e-05, 8.97056897e-06,
  1.87557788e-05, 2.60665653e-05,-4.90501595e+00, 2.61018275e-04,
  1.18254422e-02,-6.12274041e-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,
  1.25866309, 0.00751825, 1.14904193, 0.04521289, 0.0579483 ,-0.07881341,
  0.17137524, 0.99960483, 0.02608505,-0.00301362,-0.0100339 ]

qacc:
[ -1.17496894, -0.42435566,  3.27889164, -9.61777406,  0.37352334,
  -0.12283124,  1.13127915, -5.03070644,  0.76650079,  1.85564024,
  -7.25405361, 13.06531214, -0.03220624, -0.28256859,  2.56015675,
  -9.57718956, -2.33141752,  0.99173904, -0.36494098, -9.22555045,
 -21.35048543,  5.4759437 ]

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,
  1.17847684e-02,-1.49295547e-03, 3.65431001e-03,-1.78281689e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005741443533033574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93370015e-13,  9.66850077e-14,  1.00000000e+00,  1.86959814e-26,
        1.00000000e+00, -9.66850077e-14, -1.00000000e+00,  0.00000000e+00,
       -1.93370015e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09524162, -0.09402983,  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:
[-7.02485768e-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,
 -5.37334351e-05,-4.07271574e-05,-3.58765317e-05,-5.68336194e-05,
  3.49506217e-05, 3.12650825e-05,-4.90501989e+00, 2.56982224e-04,
  1.18234942e-02,-6.16322589e-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,
  1.25897249, 0.00751813, 1.14929476, 0.04521675, 0.05790886,-0.07885024,
  0.17137305, 0.99960028, 0.02624309,-0.00318604,-0.01002161]

qacc:
[  2.28534595,  2.90907652,-10.20011845, 13.72918297, -2.89160069,
   3.15257163,-13.05716507, 23.00258851, -5.55002491, -0.44251546,
   3.56650407,-11.1297914 , -0.30118616,  0.25135815, -5.30732758,
  17.07280421,  2.24327317, -0.81201482,  0.8201574 ,  7.63387091,
  20.16866686, -6.25162705]

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,
  1.17567434e-02,-1.48861587e-03, 3.63273313e-03,-1.70547889e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.24699748,  5.9228813 , -1.98606511,  5.9228813 , 11.27335046,
       14.98968586, -1.98606511, 14.98968586, 50.94952492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005777798514183437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.85227548e-14, -4.60473275e-08,  1.00000000e+00, -1.31339663e-21,
        1.00000000e+00,  4.60473275e-08, -1.00000000e+00,  0.00000000e+00,
       -2.85227548e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0303917 , -0.06770295,  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:
[ 1.39095092e-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,
 -6.73359978e-05,-1.84978141e-05,-4.86276685e-05, 6.85857895e-05,
  5.54443152e-05, 3.40400666e-05,-4.90502470e+00, 2.51769048e-04,
  1.18226026e-02,-6.20004012e-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,
  1.25928107, 0.00751864, 1.14954689, 0.04522216, 0.05787939,-0.0788861 ,
  0.17137412, 0.99959584, 0.02639702,-0.00331427,-0.0100182 ]

qacc:
[ -1.49101034,  2.15666111, -9.3429601 , 17.86057508,  4.25978903,
   1.64199963, -8.36439036, 19.64741819, -3.4279119 , -2.08836402,
   7.64074894,-12.49260404, -0.94336209,  1.39299041, -5.62104046,
  18.39232511,  2.49268059,  0.24381037,  0.81699258, -2.29417504,
  21.95770325, -5.00897591]

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,
  1.17181671e-02,-1.45048164e-03, 3.60539839e-03,-1.62596188e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  6.36410614,  -4.62965554,  -4.36670774,  -4.62965554,
        34.78145128, -30.12853788,  -4.36670774, -30.12853788,
        38.30687876,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005918079660107017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.87598527e-13, -1.40698895e-13,  1.00000000e+00, -2.63949054e-26,
        1.00000000e+00,  1.40698895e-13, -1.00000000e+00,  0.00000000e+00,
       -1.87598527e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02708626, -0.0820328 ,  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:
[-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,
 -7.97034651e-05, 1.78296310e-05,-4.53469201e-05, 7.63426340e-05,
  3.57673074e-05, 3.11696701e-05,-4.90501939e+00, 2.55342665e-04,
  1.18259642e-02,-6.23831690e-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,
  1.25958893, 0.0075194 , 1.1497982 , 0.04522852, 0.05785964,-0.07892103,
  0.17137745, 0.99959155, 0.02654665,-0.00339925,-0.01002302]

qacc:
[-6.79730443,-2.12304061, 5.86662701,-2.3125311 , 2.62225732,-0.78617888,
  2.86182132,-2.88930942,-7.88297209,-0.47943158, 0.98973137, 0.78295313,
 -0.63048932, 0.76217144,-4.02366877,12.43941155, 2.4281209 , 0.2296653 ,
  0.5615157 ,-2.37801192,21.47933639,-4.67426536]

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,
  1.16733049e-02,-1.44594011e-03, 3.55865475e-03,-1.58134720e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005997482236611701
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.8511485e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.8511485e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02708757, -0.08203506,  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:
[-4.09960073e-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,
 -8.38896648e-05,-9.18858658e-06,-6.29774381e-05, 4.21710026e-05,
  1.93583025e-05, 2.27189093e-05,-4.90501310e+00, 2.56857357e-04,
  1.18288680e-02,-6.27550895e-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,
  1.2598961 , 0.00752006, 1.15004888, 0.04523174, 0.05784937,-0.0789551 ,
  0.17138213, 0.99958741, 0.02669186,-0.00344185,-0.01003555]

qacc:
[ -1.123309  , -1.36059965,  3.69613625, -1.20991265, -4.61046254,
  -0.46708256,  1.87576047, -2.02584784, -1.79822836, -0.37064111,
   2.28891155, -6.38054474, -0.64630858,  0.5604275 ,  8.61094284,
 -31.37230039,  2.37290873,  0.2177026 ,  0.34015666, -2.43665746,
  21.06463948, -4.40835133]

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,
  1.16246921e-02,-1.46142731e-03, 3.49497668e-03,-1.75296903e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006027095025360335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.84205329e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.84205329e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02708753, -0.08203695,  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:
[-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,
 -9.66577293e-05,-3.71576674e-05,-9.09041035e-05,-1.78033396e-04,
  8.08110088e-06, 1.45721663e-05,-4.90500837e+00, 2.57077688e-04,
  1.18312125e-02,-6.31151489e-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,
  1.26020251, 0.00752082, 1.15029854, 0.04523287, 0.05784842,-0.07898834,
  0.17138741, 0.99958344, 0.02683256,-0.00344276,-0.01005538]

qacc:
[  5.41229887,  1.55573801, -5.73567018,  8.39471003,  0.09693003,
  -0.2812146 ,  1.22849157, -1.41207219,  7.89784987,  1.7870149 ,
  -3.42039016, -4.39287847, -0.75036741,  0.80844469,  4.88546528,
 -19.09645083,  2.32605113,  0.20754907,  0.14943919, -2.47663045,
  20.70851935, -4.19816991]

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,
  1.15898291e-02,-1.45316685e-03, 3.44778020e-03,-1.85534383e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006016346933109817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02708642, -0.08203853,  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:
[ 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,
 -9.74288849e-05,-2.33072276e-05,-1.11361039e-04,-1.24542484e-04,
  1.57783033e-06, 6.76139813e-06,-4.90500507e+00, 2.56176745e-04,
  1.18330438e-02,-6.34627722e-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,
  1.26050817, 0.0075219 , 1.15054714, 0.04523467, 0.0578566 ,-0.07902078,
  0.17139263, 0.99957964, 0.0269687 ,-0.00340262,-0.0100822 ]

qacc:
[ 3.41029701e+00, 2.70963349e+00,-1.11060481e+01, 1.92885820e+01,
  3.12261155e+00,-9.07749878e-01, 4.93850808e+00,-1.12020173e+01,
  4.93042712e+00, 4.46542582e-01, 4.06892376e+00,-2.15769762e+01,
 -7.01922316e-01, 8.84148944e-01,-3.54437200e+00, 1.02440598e+01,
  2.28659721e+00, 1.98893446e-01,-1.40828020e-02,-2.50288819e+00,
  2.04056501e+01,-4.03320577e+00]

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,
  1.15632471e-02,-1.43082130e-03, 3.42650593e-03,-1.80945478e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005973343531111147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.29314561e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.29314561e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02708445, -0.08203988,  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:
[ 2.05992841e-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,
 -8.64185235e-05,-5.68218761e-06,-8.76308191e-05, 2.43751971e-05,
 -4.38541451e-07,-6.99004138e-07,-4.90500312e+00, 2.54281998e-04,
  1.18343996e-02,-6.37975568e-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 ,
  1.26081332, 0.00752291, 1.15079618, 0.04523179, 0.0578738 ,-0.07905245,
  0.17139724, 0.99957602, 0.02710024,-0.00332193,-0.01011575]

qacc:
[ -0.90243728,  1.33178675, -7.1991415 , 17.41920748, -1.16750804,
  -1.16881162,  3.29009671, -1.47171987, -2.95022242,  0.06839738,
  -0.42007089,  2.01211838, -0.72311536,  0.75010859, 14.89363552,
 -50.99229273,  2.25366682,  0.19147726, -0.15367831, -2.51919958,
  20.15081022, -3.90499648]

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,
  1.15416605e-02,-1.43578487e-03, 3.45278182e-03,-2.04933222e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005905012692452583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41010242e-13,  1.17508535e-13,  1.00000000e+00,  1.65699069e-26,
        1.00000000e+00, -1.17508535e-13, -1.00000000e+00,  0.00000000e+00,
       -1.41010242e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0270818 , -0.08204104,  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:
[-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,
 -7.05556747e-05,-2.61147061e-05,-1.30475949e-05,-2.50150257e-04,
  1.80454092e-06,-7.80614584e-06,-4.90500243e+00, 2.51486200e-04,
  1.18353107e-02,-6.41192269e-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,
  1.26111816, 0.00752398, 1.15104448, 0.04522388, 0.05789991,-0.07908338,
  0.17140076, 0.99957256, 0.02722715,-0.00320112,-0.01015585]

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, -0.5813799 ,  0.70247684, 14.16370742,
 -51.01517783,  2.22646304,  0.18508654, -0.27236409, -2.52842748,
  19.93907039, -3.80673037]

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,
  1.15443801e-02,-1.42138178e-03, 3.37434523e-03,-2.31356267e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005817242786128052
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43137789e-13,  2.38562981e-14,  1.00000000e+00,  3.41473776e-27,
        1.00000000e+00, -2.38562981e-14, -1.00000000e+00,  0.00000000e+00,
       -1.43137789e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02707864, -0.08204205,  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:
[ 1.42812085e-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,
 -4.22839702e-05,-8.53713037e-06,-1.18945099e-04,-2.81349709e-04,
  8.12949973e-06,-1.45644391e-05,-4.90500295e+00, 2.47855639e-04,
  1.18358015e-02,-6.44275985e-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,
  1.26142256, 0.00752568, 1.15129071, 0.04521692, 0.05793484,-0.0791136 ,
  0.17140279, 0.99956925, 0.02734941,-0.00304054,-0.01020236]

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, -0.60805028,  1.06715598, -5.8780666 ,
  16.27487702,  2.20427474,  0.17954453, -0.3728744 , -2.53274288,
  19.76588654, -3.7329215 ]

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,
  1.15350539e-02,-1.37769004e-03, 3.29175584e-03,-2.25288793e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005715010211747723
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45698299e-13,  4.85660998e-14,  1.00000000e+00,  7.07599814e-27,
        1.00000000e+00, -4.85660998e-14, -1.00000000e+00,  0.00000000e+00,
       -1.45698299e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0270751 , -0.08204292,  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:
[ 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,
 -3.67590035e-05, 3.29453427e-05,-1.69512490e-04, 2.95352862e-05,
  1.84003893e-05,-2.09827329e-05,-4.90500463e+00, 2.43436391e-04,
  1.18358915e-02,-6.47225535e-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,
  1.26172639, 0.00752799, 1.15153568, 0.04521416, 0.05795959,-0.07913946,
  0.17140662, 0.9995664 , 0.02745367,-0.00292618,-0.01023452]

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 , -0.49563827,  0.86696419,-14.5357232 ,
  48.24572227, -2.54114859,  1.08822161,  0.44940821, -8.75150596,
 -22.99359086,  7.82818558]

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,
  1.15025469e-02,-1.35253559e-03, 3.29735867e-03,-2.01899408e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.23194192,  6.10146429, -1.26855568,  6.10146429,  7.98316561,
        8.42298768, -1.26855568,  8.42298768, 46.74459699,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005759751500429983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63776844e-14, -9.63776844e-14,  1.00000000e+00, -9.28865805e-27,
        1.00000000e+00,  9.63776844e-14, -1.00000000e+00,  0.00000000e+00,
       -9.63776844e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09522951, -0.0940669 ,  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:
[ 5.39715988e-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,
 -4.70018384e-05, 2.66016146e-05,-6.59281973e-05, 2.14516794e-04,
  3.25160057e-05,-2.70723681e-05,-4.90500745e+00, 2.38259037e-04,
  1.18355958e-02,-6.50040204e-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,
  1.2620299 , 0.00753037, 1.15177995, 0.0452145 , 0.05797442,-0.07916112,
  0.1714113 , 0.99956404, 0.02753978,-0.00285681,-0.0102537 ]

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,
 -4.80902515e-02, 1.90780230e-03,-1.03815577e+01, 3.47922397e+01,
 -2.48258253e+00, 1.05268913e+00, 2.12972234e-01,-8.82389353e+00,
 -2.23986750e+01, 7.13516414e+00]

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,
  1.14827863e-02,-1.35648651e-03, 3.27599225e-03,-1.86232539e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.29782478, -5.26703603,  3.45266976, -5.26703603, 18.95241531,
       19.30453502,  3.45266976, 19.30453502, 35.7468276 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000583869858515329
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50745280e-14, -9.50745280e-14,  1.00000000e+00, -9.03916588e-27,
        1.00000000e+00,  9.50745280e-14, -1.00000000e+00,  0.00000000e+00,
       -9.50745280e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09522597, -0.09407076,  0.06198951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09281376e-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,
 -3.91106356e-05,-7.65355679e-06,-2.93056098e-05, 1.59838809e-04,
  1.63302415e-05,-1.62012261e-05,-4.90500436e+00, 2.43918201e-04,
  1.18309729e-02,-6.52213397e-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,
  1.26233312, 0.0075325 , 1.15202402, 0.04521697, 0.05797953,-0.07917868,
  0.17141601, 0.99956216, 0.02760769,-0.00283139,-0.01026098]

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,
  1.20971090e-01,-4.16989936e-01,-6.77015272e+00, 2.32372854e+01,
 -2.43216042e+00, 1.02273090e+00, 7.81045093e-03,-8.86366262e+00,
 -2.18926264e+01, 6.58235990e+00]

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,
  1.14600215e-02,-1.37760746e-03, 3.28104620e-03,-1.75255503e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.32365992, -5.07152475,  3.77734185, -5.07152475, 25.84992114,
       26.2162973 ,  3.77734185, 26.2162973 , 41.52211582,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005869642538114395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.89146616e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.89146616e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09522424, -0.09407425,  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:
[-2.28449146e-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,
 -4.56385461e-05,-3.21859278e-05, 6.04162241e-06, 1.14153957e-04,
  5.91160124e-06,-8.00979827e-06,-4.90500227e+00, 2.47347876e-04,
  1.18276341e-02,-6.54066699e-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,
  1.26263596, 0.00753421, 1.15226846, 0.04521902, 0.05797507,-0.07919225,
  0.17142004, 0.99956077, 0.02765737,-0.00284903,-0.01025721]

qacc:
[ -2.41057432,  0.35221157, -1.24971091,  1.60051101,  1.55300808,
   0.07691005,  1.12086697, -4.84798848, -5.53810516,  0.92800997,
  -4.99121864, 12.30166908, -0.06302926, -0.31841684,  1.80382224,
  -5.54376395, -2.38912454,  0.99756619, -0.16924493, -8.88156088,
 -21.46491591,  6.1419455 ]

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,
  1.14248101e-02,-1.40873399e-03, 3.29660499e-03,-1.77772917e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005861637768208999
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47024593e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.47024593e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09522395, -0.09407747,  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:
[-1.44497217e-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,
 -6.69879916e-05,-5.04193746e-05, 2.57046858e-05,-1.92669398e-05,
  7.41834535e-07,-2.33833568e-06,-4.90500120e+00, 2.48915966e-04,
  1.18254509e-02,-6.55587975e-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,
  1.26293835, 0.00753534, 1.15251315, 0.0452214 , 0.0579612 ,-0.07920191,
  0.17142279, 0.99955988, 0.02768882,-0.002909  ,-0.01024309]

qacc:
[  4.50967594, -0.6113042 ,  4.94380742,-16.16383165, -2.15065577,
   0.09161532,  0.6858624 , -3.18515429, -0.30511281,  0.24620793,
  -1.76231628,  6.37873847,  0.0805357 , -0.63247276, -0.64785933,
   2.7595635 , -2.35271334,  0.97651005, -0.32134277, -8.8854867 ,
 -21.1059604 ,  5.79170395]

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,
  1.13928024e-02,-1.44559541e-03, 3.31842407e-03,-1.75789625e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005822468345279969
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.53395501e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.53395501e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09522482, -0.09408048,  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:
[ 2.71230936e-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,
 -7.95913583e-05,-6.60079805e-05, 2.42605076e-05, 2.04045973e-05,
  4.25185538e-07, 9.45989467e-07,-4.90500111e+00, 2.48892813e-04,
  1.18243215e-02,-6.56768669e-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,
  1.26324001, 0.00753612, 1.1527578 , 0.04522437, 0.05793805,-0.07920774,
  0.17142373, 0.99955945, 0.02770205,-0.0030107 ,-0.01021914]

qacc:
[  2.83699704, -0.90350741,  1.54481252,  2.44915167, -1.37768137,
   2.52776236,-11.23690496, 22.41956501, -5.8619898 , -0.83079677,
   4.42034325,-11.59356929, -0.29892743, -0.07134753, -1.8486835 ,
   6.39547419, -2.32219795,  0.95896833, -0.45147875, -8.88121692,
 -20.80719666,  5.51389841]

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,
  1.13414320e-02,-1.46780877e-03, 3.31204129e-03,-1.72939526e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005758787536230131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63938171e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.63938171e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09522661, -0.09408331,  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:
[ 1.69219916e-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,
 -1.09285291e-04,-5.85143456e-05, 1.51370392e-08, 3.11469474e-05,
  4.66122083e-06, 1.95171928e-06,-4.90500201e+00, 2.47476035e-04,
  1.18241665e-02,-6.57602802e-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,
  1.26354088, 0.00753663, 1.15300191, 0.04522645, 0.0579057 ,-0.07920979,
  0.17142242, 0.99955949, 0.0276971 ,-0.00315361,-0.01018581]

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, -0.4534457 ,  0.16372076,  1.96305541,
  -7.94201776, -2.2969017 ,  0.94442973, -0.56242538, -8.87294748,
 -20.56106713,  5.29436616]

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,
  1.12997904e-02,-1.48124615e-03, 3.25680073e-03,-1.78484997e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005676250106677466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95590928e-13,  9.77954639e-14,  1.00000000e+00,  1.91279055e-26,
        1.00000000e+00, -9.77954639e-14, -1.00000000e+00,  0.00000000e+00,
       -1.95590928e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09522909, -0.09408601,  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:
[ 2.75133674e-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,
 -1.13950382e-04,-5.46579076e-05,-5.79624981e-05,-5.51160002e-05,
  1.32242379e-05, 7.65922856e-07,-4.90500387e+00, 2.44808951e-04,
  1.18249241e-02,-6.58086221e-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,
  1.26384124, 0.00753658, 1.15324538, 0.04522946, 0.05786426,-0.07920812,
  0.17141849, 0.99955997, 0.02767397,-0.00333732,-0.01014342]

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,  0.10398925, -0.66805993, -3.80495434,
  11.88476694, -2.27620855,  0.93245656, -0.65670255, -8.8636962 ,
 -20.36095732,  5.12179371]

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,
  1.12853197e-02,-1.50710217e-03, 3.24685194e-03,-1.72964943e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005579634445294218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.98977735e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.98977735e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0952321 , -0.09408858,  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:
[ 1.62732254e-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,
 -8.94802484e-05,-6.66154196e-05,-4.63930111e-05, 4.38716451e-05,
  2.59475716e-05,-2.54308082e-06,-4.90500669e+00, 2.40994245e-04,
  1.18265473e-02,-6.58216046e-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,
  1.26414103, 0.00753617, 1.15348845, 0.04523273, 0.05783273,-0.07920545,
  0.1714177 , 0.9995605 , 0.02764867,-0.0034768 ,-0.01011302]

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,
 -0.14249148,-0.23771689,-1.39397739, 3.99368169, 2.48035754, 0.24710963,
  0.78632392,-1.33714816,21.93454211,-6.60056296]

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,
  1.12605258e-02,-1.52226018e-03, 3.23215188e-03,-1.71605005e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.14152623,  6.08258017, -0.84885978,  6.08258017,  6.91358627,
        5.53226476, -0.84885978,  5.53226476, 45.78346104,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005651260013327108
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.91139596e-14,  1.22784899e-13,  1.00000000e+00,  6.03045258e-27,
        1.00000000e+00, -1.22784899e-13, -1.00000000e+00,  0.00000000e+00,
       -4.91139596e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02706844, -0.08207093,  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:
[-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,
 -8.91237332e-05,-5.34714867e-05,-3.44505715e-05, 9.33408795e-06,
  4.27115649e-05,-7.92322109e-06,-4.90501045e+00, 2.36104116e-04,
  1.18290006e-02,-6.57990262e-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,
  1.26444028, 0.00753528, 1.15373075, 0.04523587, 0.05781088,-0.07920186,
  0.17141908, 0.99956113, 0.02762061,-0.003573  ,-0.01009333]

qacc:
[ -1.01966192, -1.15980966,  5.54639868,-12.00776879,  0.90201628,
  -1.86123491,  9.69800075,-22.83302011,  0.11995143,  0.32326901,
  -2.0996815 ,  6.52055179, -0.05535649, -0.41456544, -0.71313762,
   0.84750461,  2.41912879,  0.23082129,  0.54319604, -1.61304656,
  21.46493634, -5.94740801]

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,
  1.12295618e-02,-1.54872052e-03, 3.18264905e-03,-1.72710795e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.2190282 , -6.10467471, -1.18712188, -6.10467471,  7.89700874,
       -8.62887421, -1.18712188, -8.62887421, 50.59229017,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005744268371883632
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66374613e-14,  9.66374613e-14,  1.00000000e+00,  9.33879892e-27,
        1.00000000e+00, -9.66374613e-14, -1.00000000e+00,  0.00000000e+00,
       -9.66374613e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02707048, -0.08207553,  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:
[-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,
 -9.18929167e-05,-6.12521250e-05,-6.85028709e-05,-1.59164669e-05,
  2.44554550e-05,-5.80161675e-06,-4.90500590e+00, 2.41969030e-04,
  1.18296873e-02,-6.57409125e-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,
  1.2647389 , 0.00753428, 1.15397232, 0.04523621, 0.0577985 ,-0.0791974 ,
  0.17142179, 0.9995619 , 0.02758936,-0.00362677,-0.01008333]

qacc:
[ -0.68085433, -0.0973703 ,  0.86011019, -3.80283447, -2.52952996,
  -2.5925705 , 11.95132873,-25.70720808, -0.06212783,  1.98299814,
  -6.64947234,  9.3080797 , -0.56931897,  0.47552789,  7.40440851,
 -27.37726569,  2.36651455,  0.21771145,  0.33161231, -1.82650303,
  21.05717127, -5.42478841]

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,
  1.12055658e-02,-1.54620286e-03, 3.12296205e-03,-1.87693546e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  6.25583361,  -6.0625747 ,  -1.54293298,  -6.0625747 ,
         9.89348271, -14.29324513,  -1.54293298, -14.29324513,
        62.41761586,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005788388460852001
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.5900874e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.5900874e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02707114, -0.08207924,  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:
[-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,
 -8.88377287e-05,-3.46976885e-05,-9.54512303e-05,-1.60077786e-04,
  1.15468669e-05,-3.97114891e-06,-4.90500277e+00, 2.45957879e-04,
  1.18300572e-02,-6.56760585e-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,
  1.26503688, 0.00753349, 1.15421295, 0.04523374, 0.0577954 ,-0.07919211,
  0.17142509, 0.99956283, 0.02755459,-0.00363883,-0.01008222]

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 , -0.78889542,  0.96679794,  7.17835308,
 -26.96748066,  2.32166284,  0.2071852 ,  0.14857748, -1.99190307,
  20.70642414, -5.00652777]

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,
  1.11857775e-02,-1.52647629e-03, 3.07316745e-03,-2.01855078e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005792646357942327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.79151909e-14,  9.58303818e-14,  1.00000000e+00,  4.59173104e-27,
        1.00000000e+00, -9.58303818e-14, -1.00000000e+00,  0.00000000e+00,
       -4.79151909e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02707068, -0.08208226,  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:
[-2.81537942e-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,
 -7.75156004e-05,-9.33807617e-06,-1.13439737e-04,-1.63219302e-04,
  3.56517074e-06,-2.26319721e-06,-4.90500096e+00, 2.48399202e-04,
  1.18300966e-02,-6.56027613e-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,
  1.26533437, 0.00753264, 1.15445316, 0.04522941, 0.05780144,-0.07918602,
  0.17142836, 0.99956393, 0.02751602,-0.00360979,-0.01008934]

qacc:
[-3.12162925e-01,-2.45635242e+00, 8.16174206e+00,-1.02362453e+01,
  3.26895280e+00, 8.05677277e-01,-3.88376868e+00, 8.17808134e+00,
 -2.47527658e+00,-1.87189292e+00, 9.75135809e+00,-2.15886182e+01,
 -4.57474484e-01, 4.02709242e-01, 5.08532699e+00,-1.85743608e+01,
  2.28373841e+00, 1.98759951e-01,-8.95548392e-03,-2.12042368e+00,
  2.04076166e+01,-4.67176239e+00]

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,
  1.11632115e-02,-1.53220309e-03, 3.08793705e-03,-2.10084631e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005764830008117977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44439171e-13,  9.62927808e-14,  1.00000000e+00,  1.39084495e-26,
        1.00000000e+00, -9.62927808e-14, -1.00000000e+00,  0.00000000e+00,
       -1.44439171e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02706932, -0.08208472,  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:
[-2.04832426e-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,
 -6.85104809e-05,-2.52540372e-05,-5.65613930e-05,-1.06160839e-04,
  1.79593151e-07,-5.57712269e-07,-4.90500041e+00, 2.49536681e-04,
  1.18297995e-02,-6.55197313e-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,
  1.26563119, 0.00753226, 1.1546932 , 0.04522237, 0.05781648,-0.07917917,
  0.17143105, 0.9995652 , 0.02747346,-0.00354017,-0.01010417]

qacc:
[ -0.23440927, -2.52003178,  8.36611384,-10.02677787,  5.12410927,
   0.48837214, -2.22178891,  4.67608221,  7.51266291, -0.35036268,
   0.29086659,  3.97120905, -1.03078188,  1.44172288,  8.00763642,
 -28.1656807 ,  2.25195492,  0.19204472, -0.14392921, -2.22074786,
  20.15574173, -4.40386517]

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,
  1.11389892e-02,-1.49976127e-03, 3.08284716e-03,-2.23613183e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005711618784821071
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71898744e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.71898744e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02706725, -0.08208675,  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:
[-1.58617717e-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,
 -6.81073106e-05, 1.03407165e-05,-4.63556990e-05,-1.49226029e-04,
  1.13165675e-06, 1.23059868e-06,-4.90500106e+00, 2.49550465e-04,
  1.18291636e-02,-6.54259887e-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 ,
  1.26592735, 0.0075323 , 1.15493208, 0.04521485, 0.05784043,-0.07917157,
  0.17143271, 0.99956664, 0.02742672,-0.00343039,-0.01012629]

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,
 -7.77819815e-01, 1.07871357e+00,-2.02847227e-01,-1.61162410e+00,
  2.22559094e+00, 1.86722928e-01,-2.59095931e-01,-2.29961865e+00,
  1.99460510e+01,-4.18958437e+00]

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,
  1.11031544e-02,-1.48042240e-03, 3.01790372e-03,-2.25960820e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005638708492170103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.92232852e-14,  1.23058213e-13,  1.00000000e+00,  6.05732951e-27,
        1.00000000e+00, -1.23058213e-13, -1.00000000e+00,  0.00000000e+00,
       -4.92232852e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02706463, -0.08208843,  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:
[ 1.64582257e-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,
 -7.10120204e-05, 6.73105088e-06,-1.07323176e-04,-3.87184703e-05,
  6.22128361e-06, 3.16224449e-06,-4.90500287e+00, 2.48573119e-04,
  1.18281885e-02,-6.53207861e-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,
  1.26622289, 0.00753241, 1.15516979, 0.04520741, 0.05787319,-0.07916324,
  0.17143294, 0.99956824, 0.02737569,-0.00328082,-0.01015538]

qacc:
[  1.60400741,  0.85163558, -1.61321152, -1.78443431, -0.1133485 ,
  -2.30016801, 12.27418392,-30.17186153,  4.52660119,  0.50688511,
  -1.91818329,  2.4059923 , -0.46614362,  0.45209617, -1.89654504,
   4.21986054,  2.20399588,  0.18253836, -0.35697666, -2.36226936,
  19.77415005, -4.01835553]

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,
  1.10603759e-02,-1.48683834e-03, 2.97040074e-03,-2.25264964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005550928180848569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50005052e-13,  1.00003368e-13,  1.00000000e+00,  1.50010103e-26,
        1.00000000e+00, -1.00003368e-13, -1.00000000e+00,  0.00000000e+00,
       -1.50005052e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02706159, -0.08208984,  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:
[ 9.72869612e-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,
 -8.09678888e-05,-2.03776161e-05,-1.01827138e-04,-9.08632742e-06,
  1.52957761e-05, 5.28013906e-06,-4.90500581e+00, 2.46701566e-04,
  1.18268745e-02,-6.52035498e-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,
  1.26651771, 0.00753276, 1.15540687, 0.04520324, 0.05791471,-0.0791542 ,
  0.17143141, 0.99957   , 0.02732027,-0.00309173,-0.01019117]

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, -0.45844364,  0.52547538,-10.81658154,
  36.56728914,  2.18658986,  0.1792836 , -0.43984842, -2.41275798,
  19.63603782, -3.88175278]

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,
  1.10294293e-02,-1.47302014e-03, 2.99731372e-03,-2.06801185e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005452347063299307
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.09057389e-14,  2.54528695e-14,  1.00000000e+00,  1.29569713e-27,
        1.00000000e+00, -2.54528695e-14, -1.00000000e+00,  0.00000000e+00,
       -5.09057389e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02705826, -0.08209103,  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:
[ 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,
 -8.07043963e-05,-9.77867366e-06,-2.16401125e-05, 1.70935868e-04,
  2.82410576e-05, 7.61477568e-06,-4.90500985e+00, 2.44005983e-04,
  1.18252218e-02,-6.50738346e-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,
  1.26681184, 0.00753329, 1.15564404, 0.04520023, 0.05794613,-0.07914087,
  0.17143132, 0.99957222, 0.02724636,-0.0029484 ,-0.01021381]

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, -0.59790805,  0.67931526, -3.3046098 ,
  11.86831708, -2.52225064,  1.07017458,  0.36221909, -8.99008607,
 -22.77922865,  7.22863571]

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,
  1.09949604e-02,-1.46501401e-03, 3.01028653e-03,-2.01078783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.95486335,  5.81693107, -1.27424895,  5.81693107,  8.12839483,
        9.92214504, -1.27424895,  9.92214504, 51.24933582,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000542632880066854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.02299645e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.02299645e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09523137, -0.09411774,  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:
[ 2.01881278e-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,
 -7.98135110e-05,-1.35736434e-05, 1.79266422e-05, 6.30696896e-05,
  4.49746885e-05, 1.01879445e-05,-4.90501498e+00, 2.40536458e-04,
  1.18232305e-02,-6.49312905e-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,
  1.26710551, 0.0075334 , 1.1558812 , 0.04519761, 0.05796768,-0.07912337,
  0.17143183, 0.99957491, 0.02715389,-0.00284969,-0.01022445]

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, -0.03928744, -0.37388583, -1.23021755,
   4.27060822, -2.46788836,  1.04169272,  0.14628666, -9.03499415,
 -22.23621853,  6.63260211]

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,
  1.09637277e-02,-1.49604004e-03, 3.00420164e-03,-1.99369153e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.02727367, -4.72579498,  3.74097443, -4.72579498, 27.00632991,
       26.50184345,  3.74097443, 26.50184345, 39.50579139,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000551377474793141
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09522782, -0.09412051,  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:
[-2.38835149e-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,
 -7.67075569e-05,-5.35501779e-05, 2.45649604e-06, 2.14119531e-05,
  2.55937523e-05, 1.14655450e-05,-4.90501029e+00, 2.46685351e-04,
  1.18230750e-02,-6.47284743e-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,
  1.26739862, 0.00753318, 1.15611802, 0.04519953, 0.05797954,-0.07910181,
  0.17143216, 0.99957808, 0.02704284,-0.00279466,-0.01022403]

qacc:
[-8.53225737e+00, 2.16432464e+00,-1.06020776e+01, 2.36706281e+01,
  3.88172877e+00,-1.58427146e+00, 5.14142578e+00,-3.43359958e+00,
  2.22034327e+00,-7.91766503e-01, 3.55077223e+00,-7.13828445e+00,
  1.46137041e-01,-5.95384643e-01,-1.42273393e+01, 4.89743405e+01,
 -2.42082540e+00, 1.01786771e+00,-4.20715987e-02,-9.05706697e+00,
 -2.17722802e+01, 6.15125113e+00]

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,
  1.09344412e-02,-1.51444823e-03, 3.02396792e-03,-1.75184477e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005556012278674083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99118584e-14, -1.99823717e-13,  1.00000000e+00, -1.99647589e-26,
        1.00000000e+00,  1.99823717e-13, -1.00000000e+00,  0.00000000e+00,
       -9.99118584e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09522593, -0.09412308,  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:
[-5.11781275e-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,
 -8.29584348e-05,-5.06115517e-05, 1.75195337e-05, 2.42058453e-04,
  1.19045414e-05, 1.03314477e-05,-4.90500691e+00, 2.50785321e-04,
  1.18238258e-02,-6.44919338e-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,
  1.26769117, 0.00753291, 1.15635499, 0.04520103, 0.05798189,-0.07907625,
  0.17143167, 0.99958173, 0.02691319,-0.00278249,-0.0102133 ]

qacc:
[  0.65965713,  2.99581814,-10.17169278, 12.82278968,  2.45155749,
   0.30954289, -1.80593121,  4.80216929, -1.69957965,  0.6174517 ,
   0.77833111, -9.0050482 , -0.44859501,  0.38129771,  1.49926644,
  -4.85798195, -2.38043145,  0.99808826, -0.20546081, -9.06487206,
 -21.3785484 ,  5.76195095]

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,
  1.09169987e-02,-1.50744631e-03, 3.00069136e-03,-1.78774590e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000556134304443609
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.99632178e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.99632178e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09522539, -0.09412551,  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:
[ 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,
 -7.28699839e-05,-2.63248422e-05, 6.15568971e-06,-2.14230696e-05,
  3.43289425e-06, 6.89724197e-06,-4.90500478e+00, 2.53156257e-04,
  1.18254277e-02,-6.42207155e-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,
  1.26798334, 0.00753238, 1.15659189, 0.04520145, 0.05797485,-0.07904676,
  0.1714298 , 0.99958583, 0.02676496,-0.00281251,-0.01019286]

qacc:
[  3.49810688, -0.24601342,  2.43253886, -7.60427185, -1.63783393,
   3.17713788,-11.59396627, 15.19625789, -4.05962013,  1.44721912,
  -5.16271897,  7.28533125, -0.18622757, -0.0522788 ,  3.16881177,
 -11.19102798, -2.34605795,  0.98181063, -0.34653221, -9.06463358,
 -21.04685047,  5.446598  ]

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,
  1.09013572e-02,-1.52086739e-03, 2.98883868e-03,-1.84514274e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005536932660236971
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09522593, -0.09412785,  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:
[ 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,
 -6.08627555e-05,-3.74578923e-05,-1.77490334e-05,-5.92391211e-05,
 -1.89614379e-07, 1.25373013e-06,-4.90500383e+00, 2.54037149e-04,
  1.18278373e-02,-6.39141347e-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,
  1.26827513, 0.00753144, 1.15682784, 0.04520492, 0.05795854,-0.0790134 ,
  0.17142605, 0.99959038, 0.02659817,-0.00288414,-0.01016321]

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,  0.25958107, -0.73379031,-10.64217191,
  35.08396745, -2.31707371,  0.96855726, -0.46785219, -9.06083615,
 -20.76980213,  5.19071315]

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,
  1.08761490e-02,-1.54630094e-03, 2.95722438e-03,-1.68382815e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005488928990571296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01132937e-13, -1.01132937e-13,  1.00000000e+00, -1.02278710e-26,
        1.00000000e+00,  1.01132937e-13, -1.00000000e+00,  0.00000000e+00,
       -1.01132937e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09522733, -0.09413011,  0.06199014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.29534147e-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,
 -6.71541722e-05,-4.93326540e-05,-5.13694571e-05, 1.54594261e-04,
  7.52486515e-07,-6.52712123e-06,-4.90500403e+00, 2.53606235e-04,
  1.18310215e-02,-6.35716976e-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,
  1.26856633, 0.0075307 , 1.15706244, 0.04521008, 0.05793306,-0.07897621,
  0.17142002, 0.99959535, 0.02641282,-0.00299692,-0.01012474]

qacc:
[  0.5262804 , -0.92407714,  0.35456933,  7.43644472, -3.62985791,
  -0.9917587 ,  3.69050458, -4.71181759, -1.44260623,  0.06651563,
  -0.59572923,  1.97071231, -0.38913701,  0.44992874, -7.08550476,
  21.9716361 , -2.2928849 ,  0.95791236, -0.57182879, -9.05667405,
 -20.54082191,  4.98271509]

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,
  1.08558665e-02,-1.52543454e-03, 2.86590384e-03,-1.60800041e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005422576079207736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09522939, -0.0941323 ,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00783881e-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,
 -6.82889188e-05,-7.72139885e-06,-9.98711980e-05, 7.73519828e-05,
  6.04161614e-06,-1.63900703e-05,-4.90500533e+00, 2.51996087e-04,
  1.18349550e-02,-6.31930421e-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,
  1.26885703, 0.00753038, 1.15729641, 0.04521207, 0.0579075 ,-0.07893623,
  0.17141651, 0.99960054, 0.02621792,-0.00311037,-0.01008485]

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,
 -8.81127228e-01, 1.26280629e+00, 8.72837523e+00,-3.16919440e+01,
 -2.03903283e-02, 6.98697107e-01, 6.30316143e-01,-4.77072192e+00,
 -3.65775524e-01, 7.30519460e-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,
  1.08438963e-02,-1.49498431e-03, 2.81339001e-03,-1.77861611e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.88512415,  5.85781422, -0.5663028 ,  5.85781422,  6.29335947,
        4.22277029, -0.5663028 ,  4.22277029, 49.5652961 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005341824063654835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12758168e-07, -3.11753910e-13,  1.00000000e+00,  3.51527996e-20,
        1.00000000e+00,  3.11753910e-13, -1.00000000e+00,  0.00000000e+00,
        1.12758168e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06065702, -0.08804018,  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:
[ 1.97980301e-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,
 -5.16579464e-05, 1.30991698e-05,-9.01182454e-05,-1.79197378e-04,
  1.55139393e-05,-2.82945403e-05,-4.90500769e+00, 2.49304876e-04,
  1.18396192e-02,-6.27778947e-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,
  1.26914745, 0.00753033, 1.15752979, 0.04521224, 0.05789154,-0.07889522,
  0.17141474, 0.99960578, 0.02602019,-0.00318087,-0.01005551]

qacc:
[ -1.00556168,  2.02450142, -7.52808467, 12.4963074 ,  4.83355618,
  -0.75394699,  3.45978279, -6.74899019, -2.22287641, -2.87813012,
  12.83940966,-23.89079774, -0.51142077,  0.75617654,  4.69079332,
 -17.55750538,  2.40019689,  0.25602656,  0.43478375, -1.64878015,
  21.31474269, -5.82561604]

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,
  1.08422538e-02,-1.47683653e-03, 2.80544782e-03,-1.86212962e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005433779830329583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02159368e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.02159368e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02705301, -0.08212164,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.91852949e-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,
 -2.81238489e-05, 1.05555998e-05,-7.13212140e-05,-1.05524214e-04,
  1.56663173e-05,-2.99803671e-05,-4.90500819e+00, 2.50225273e-04,
  1.18417297e-02,-6.23313763e-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,
  1.26943741, 0.00753082, 1.1577629 , 0.04521161, 0.05788329,-0.07886157,
  0.17141519, 0.99961008, 0.0258571 ,-0.0032153 ,-0.01003839]

qacc:
[ -3.6978864 ,  2.50236858, -9.41313925, 14.07341976,  3.0202416 ,
   1.29752936, -5.63978228, 10.40241701,  4.64515172, -2.10274293,
   8.77082872,-14.97539847, -0.77391259,  1.21988341,  2.10895995,
  -7.77670604,  1.92843456, -1.84155291,  0.55618745, 17.12510134,
  18.04170308, -6.63934094]

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,
  1.08201773e-02,-1.44834091e-03, 2.81894168e-03,-1.89345949e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005497561122344286
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03371263, -0.05329805,  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:
[-2.20576306e-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,
 -3.61335765e-05, 2.55806869e-05,-3.32698349e-05,-4.68804113e-05,
  5.62522486e-06,-1.92394152e-05,-4.90500798e+00, 2.55721691e-04,
  1.18393958e-02,-6.18612085e-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 ,
  1.26972714, 0.00753119, 1.15799638, 0.04520716, 0.05788258,-0.07883515,
  0.17141697, 0.99961348, 0.02572742,-0.00321433,-0.01003246]

qacc:
[ -2.30160398,  0.74783512,  0.65512857,-10.77107556, -4.31674158,
   2.15972921, -7.89282621, 11.05386065,  8.81409581,  0.08966608,
  -1.38023262,  4.7563006 , -0.39814925,  0.36401628, 12.12898921,
 -41.53890079,  1.88324161, -1.80641816,  0.33018754, 16.51516504,
  17.7139647 , -6.10838362]

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,
  1.07965168e-02,-1.46727064e-03, 2.83463809e-03,-2.08904759e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.0932717 , -6.05250129,  0.70369603, -6.05250129,  6.78720497,
        5.96853165,  0.70369603,  5.96853165, 57.4287116 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005593256614444264
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92465661e-14, -9.92465661e-14,  1.00000000e+00, -9.84988088e-27,
        1.00000000e+00,  9.92465661e-14, -1.00000000e+00,  0.00000000e+00,
       -9.92465661e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03371313, -0.05330316,  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:
[-1.36651005e-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,
 -3.76531322e-05,-2.01355881e-05,-8.98294632e-06,-2.03413948e-04,
  1.07248443e-06,-8.09902044e-06,-4.90500594e+00, 2.59460140e-04,
  1.18346529e-02,-6.14705986e-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 ,
  1.27001667, 0.00753113, 1.15822944, 0.04520078, 0.05788925,-0.07881584,
  0.17141927, 0.99961605, 0.02563013,-0.00317855,-0.01003689]

qacc:
[  1.6115024 , -1.62884862,  8.96854068,-21.64531374, -5.71960486,
  -0.53041013,  4.48578717,-14.63423993,  5.32579462, -0.08297605,
   0.75490751, -3.91449214,  0.03863212, -0.39029871,  5.17802369,
 -19.0641684 ,  1.84451463, -1.77533467,  0.13281518, 16.00626044,
  17.42656655, -5.67938895]

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,
  1.07772294e-02,-1.49645452e-03, 2.80900133e-03,-2.18457978e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000564109694687745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84048878e-14, -9.84048878e-14,  1.00000000e+00, -9.68352195e-27,
        1.00000000e+00,  9.84048878e-14, -1.00000000e+00,  0.00000000e+00,
       -9.84048878e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0337128 , -0.0533065 ,  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:
[ 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,
 -4.50290580e-05,-4.28591372e-05,-5.83039966e-05,-1.09358783e-04,
 -2.05297148e-07,-5.23983125e-07,-4.90500458e+00, 2.61483014e-04,
  1.18312672e-02,-6.11594924e-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,
  1.27030577, 0.00753082, 1.15846174, 0.04519299, 0.05790316,-0.07880351,
  0.17142142, 0.99961782, 0.02556436,-0.00310846,-0.01005099]

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, -0.20943754, -0.02976436,  3.19939785,
 -12.78005855,  1.81161371, -1.74816129, -0.03850686, 15.58276931,
  17.17785835, -5.33238388]

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,
  1.07445928e-02,-1.51368537e-03, 2.76927520e-03,-2.25594657e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005649857637576583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.82523008e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.82523008e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0337118 , -0.05330842,  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:
[-1.16570753e-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,
 -6.81800802e-05,-3.84559405e-05,-8.14383985e-05,-8.55581022e-05,
  1.59348090e-06, 3.78582526e-06,-4.90500394e+00, 2.61996938e-04,
  1.18289866e-02,-6.09248717e-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,
  1.27059415, 0.00753065, 1.15869323, 0.04518534, 0.0579242 ,-0.07879809,
  0.17142283, 0.99961879, 0.02552943,-0.00300451,-0.01007424]

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,
 -0.60574711, 0.65436408,-1.58215486, 3.92296814, 1.78391261,-1.72466667,
 -0.18645784,15.23147817,16.96550535,-5.05136364]

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,
  1.07039745e-02,-1.50599283e-03, 2.74776886e-03,-2.24153754e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005627111138590407
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86494666e-14,  9.86494666e-14,  1.00000000e+00,  9.73171726e-27,
        1.00000000e+00, -9.86494666e-14, -1.00000000e+00,  0.00000000e+00,
       -9.86494666e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03371025, -0.0533092 ,  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:
[ 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,
 -8.77097522e-05,-1.77300504e-05,-7.02247561e-05,-1.18253627e-06,
  6.31200347e-06, 5.06518976e-06,-4.90500404e+00, 2.61157118e-04,
  1.18276243e-02,-6.07642795e-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,
  1.27088195, 0.00753054, 1.15892368, 0.04517859, 0.05795229,-0.07879948,
  0.17142298, 0.99961899, 0.02552473,-0.00286705,-0.01010617]

qacc:
[ 2.89069892,-0.98942547, 4.16012604,-8.79189742,-4.95966695,-1.14273076,
  4.03927176,-5.42469832,-3.70905805,-1.20721299, 4.72947962,-7.87291937,
 -0.37706348, 0.33460702,-4.25564209,12.705449  , 1.7608218 ,-1.70457395,
 -0.31366325,14.94125847,16.78684947,-4.82350687]

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,
  1.06799119e-02,-1.50139812e-03, 2.69994583e-03,-2.19441418e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000557935289582992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.9493888e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.9493888e-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([ 0.03370825, -0.05330908,  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:
[ 1.73113916e-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,
 -7.61928274e-05,-2.01713683e-05,-8.25967375e-05, 3.75545092e-05,
  1.38279584e-05, 3.49619064e-06,-4.90500489e+00, 2.59079602e-04,
  1.18270414e-02,-6.06757161e-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,
  1.27116932, 0.00752996, 1.15915328, 0.04517013, 0.05798735,-0.07880762,
  0.17142144, 0.99961842, 0.02554979,-0.00269638,-0.01014645]

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,
 -7.28273994e-02,-3.43046010e-01, 3.92253124e+00,-1.55652524e+01,
  1.74180004e+00,-1.68758955e+00,-4.22605593e-01, 1.47027661e+01,
  1.66391391e+01,-4.63854239e+00]

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,
  1.06498202e-02,-1.53413442e-03, 2.64170927e-03,-2.28825288e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005512122721613999
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03370592, -0.05330825,  0.0619901 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.56832314e-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,
 -7.67497490e-05,-5.53752462e-05,-9.33301861e-05,-1.02606450e-04,
  2.40477093e-05,-7.81571874e-07,-4.90500653e+00, 2.55850617e-04,
  1.18271348e-02,-6.06575556e-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,
  1.27145586, 0.00752939, 1.15938173, 0.04516486, 0.05802931,-0.07882246,
  0.17141783, 0.99961707, 0.02560421,-0.00249276,-0.01019478]

qacc:
[  0.24312201, -0.28437874,  0.50544334,  2.50921684,  3.18255215,
   0.51209518, -0.58157463, -3.00483429, -7.16194593,  0.91590026,
  -1.58712297, -2.41256288, -0.3531819 ,  0.19913074,-11.33212002,
  37.24598739,  1.7263587 , -1.673421  , -0.51557846, 14.50816957,
  16.51967067, -4.48823966]

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,
  1.06001395e-02,-1.53551364e-03, 2.63050275e-03,-2.10935821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005430118136803413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.02228257e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.02228257e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03370334, -0.05330688,  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:
[ 1.42581451e-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,
 -1.05564802e-04,-3.32340399e-05,-6.66898829e-05, 1.60965467e-04,
  3.69015050e-05,-7.66276921e-06,-4.90500894e+00, 2.51533670e-04,
  1.18278281e-02,-6.07084789e-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,
  1.27174142, 0.00752956, 1.15960956, 0.04516466, 0.05806108,-0.07883278,
  0.17141679, 0.9996162 , 0.02563926,-0.00233793,-0.01022841]

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,
 -8.99560803e-01, 1.33099155e+00,-1.61337675e+01, 5.52902848e+01,
 -2.54904611e+00, 1.12799686e+00, 6.40881723e-01,-9.41758265e+00,
 -2.42998209e+01, 7.99879854e+00]

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,
  1.05707113e-02,-1.48286108e-03, 2.64224488e-03,-1.84205968e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.0180018 ,  4.902305  , -3.49052307,  4.902305  , 19.35309635,
       18.72862589, -3.49052307, 18.72862589, 32.3216344 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005502592721142174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09520888, -0.09415875,  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:
[ 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,
 -9.41884006e-05, 1.92630997e-05,-2.82076711e-06, 2.67342489e-04,
  5.23395449e-05,-1.70697860e-05,-4.90501215e+00, 2.46174918e-04,
  1.18290646e-02,-6.08274197e-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,
  1.27202627, 0.00753026, 1.15983726, 0.0451673 , 0.05808288,-0.07883873,
  0.1714173 , 0.99961583, 0.02565499,-0.0022302 ,-0.01024889]

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,
 -7.22360103e-01, 1.05502287e+00,-8.75766188e+00, 3.05114074e+01,
 -2.49177394e+00, 1.09320150e+00, 3.86515370e-01,-9.41481607e+00,
 -2.34677412e+01, 7.20047747e+00]

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,
  1.05481533e-02,-1.45177999e-03, 2.63579614e-03,-1.70238244e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.13235356, -3.72648216,  4.87022494, -3.72648216, 27.49049911,
       16.34231463,  4.87022494, 16.34231463, 18.63677474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005640240473832464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84198307e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.84198307e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09520146, -0.09416135,  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:
[-1.72536059e-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,
 -6.75043804e-05, 1.37284869e-05, 1.71143572e-05, 1.53140691e-04,
  3.00719084e-05,-8.49018708e-06,-4.90500723e+00, 2.53535629e-04,
  1.18257821e-02,-6.08748230e-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,
  1.27231072, 0.0075308 , 1.160065  , 0.04517291, 0.05809491,-0.07884043,
  0.17141846, 0.99961597, 0.02565143,-0.00216812,-0.01025746]

qacc:
[ 1.16975525e+00,-2.04073197e+00, 1.12294912e+01,-2.70615428e+01,
  2.59750426e+00, 1.40564767e+00,-1.01830873e+01, 2.89615931e+01,
  1.29078087e+01,-7.36520880e-01, 8.84692333e-01, 4.44012780e+00,
  9.00909781e-03,-2.49413116e-01,-8.94345907e+00, 3.13316558e+01,
 -2.44135687e+00, 1.06358600e+00, 1.63368718e-01,-9.39255464e+00,
 -2.27660777e+01, 6.56107258e+00]

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,
  1.05244025e-02,-1.46923383e-03, 2.65036569e-03,-1.55033470e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.19961748, -3.55642841,  5.07809747, -3.55642841, 35.25420137,
       20.34827966,  5.07809747, 20.34827966, 20.4504664 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005720988722218157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70306951e-14,  9.70306951e-14,  1.00000000e+00,  9.41495579e-27,
        1.00000000e+00, -9.70306951e-14, -1.00000000e+00,  0.00000000e+00,
       -9.70306951e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09519655, -0.09416381,  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:
[ 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,
 -5.58531333e-05,-2.99300408e-05, 3.33892138e-05, 1.61405029e-04,
  1.44551459e-05,-2.85318165e-06,-4.90500364e+00, 2.58375261e-04,
  1.18237428e-02,-6.08882658e-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,
  1.27259472, 0.00753095, 1.16029326, 0.04517894, 0.05809736,-0.07883798,
  0.1714195 , 0.99961662, 0.02562868,-0.0021505 ,-0.01025512]

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, -0.08469248, -0.2833816 , -0.48637263,
   2.8252651 , -2.39747693,  1.03853577, -0.0310313 , -9.35951646,
 -22.17693537,  6.04890595]

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,
  1.04892820e-02,-1.49757456e-03, 2.67221043e-03,-1.53414297e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22793975, -3.30457607,  5.27892134, -3.30457607, 45.67911762,
       24.69622294,  5.27892134, 24.69622294, 21.68764109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005754953398706547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92916076e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.92916076e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09519368, -0.0941662 ,  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:
[ 4.51817585e-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,
 -7.11266899e-05,-4.97982757e-05, 4.87517725e-05, 2.79977597e-05,
  4.73807337e-06, 7.29041585e-08,-4.90500132e+00, 2.61169643e-04,
  1.18228115e-02,-6.08665463e-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,
  1.2728781 , 0.00753083, 1.16052147, 0.04518359, 0.05809036,-0.07883145,
  0.17141974, 0.99961776, 0.02558683,-0.00217633,-0.01024266]

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 , -0.3959114 ,  0.14562804,  4.13036526,
 -14.47708695, -2.35968197,  1.0174799 , -0.19943283, -9.32184724,
 -21.68461259,  5.63868109]

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,
  1.04473582e-02,-1.51440903e-03, 2.63446514e-03,-1.61585332e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005750892742351771
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.93052292e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.93052292e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09519244, -0.09416854,  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:
[-3.29810401e-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,
 -9.09149574e-05,-4.71420202e-05,-2.01967905e-05,-7.57247936e-05,
  3.49703640e-07, 4.73637191e-07,-4.90500019e+00, 2.62267527e-04,
  1.18228830e-02,-6.08088432e-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,
  1.27316097, 0.00753045, 1.16074906, 0.04518698, 0.05807406,-0.07882092,
  0.1714186 , 0.99961939, 0.02552596,-0.00224478,-0.01022071]

qacc:
[-3.38655969e+00,-5.07702274e-01, 2.63229168e+00,-6.12084780e+00,
 -6.09017913e-01, 9.02104229e-01,-2.04012989e+00,-1.39308129e+00,
 -3.15446217e+00, 3.48662735e+00,-1.27491252e+01, 1.95221619e+01,
 -2.62689711e-01,-4.67356039e-04, 2.90326687e+00,-1.14801797e+01,
 -2.32745936e+00, 9.99901427e-01,-3.44626188e-01,-9.28382599e+00,
 -2.12754899e+01, 5.31020336e+00]

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,
  1.04280129e-02,-1.52430569e-03, 2.58762711e-03,-1.68366655e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005716342112228046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71095679e-14, -9.71095679e-14,  1.00000000e+00, -9.43026817e-27,
        1.00000000e+00,  9.71095679e-14, -1.00000000e+00,  0.00000000e+00,
       -9.71095679e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09519251, -0.09417084,  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:
[-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,
 -7.95751593e-05,-4.35439833e-05,-6.97336477e-05,-7.58064429e-05,
  8.57257879e-07,-1.50416959e-06,-4.90500022e+00, 2.61924031e-04,
  1.18238765e-02,-6.07146028e-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,
  1.27344335, 0.00753009, 1.1609757 , 0.04518824, 0.05804855,-0.07880645,
  0.17141558, 0.99962149, 0.02544615,-0.00235515,-0.01018978]

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, -0.50137865,  0.51833874,  5.08282581,
 -19.7063206 , -2.30028219,  0.98534024, -0.46930529, -9.24837928,
 -20.93784944,  5.0473521 ]

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,
  1.04169018e-02,-1.51217254e-03, 2.52473651e-03,-1.79596162e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005657747346929365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.81152883e-14,  9.81152883e-14,  1.00000000e+00, -9.62660981e-27,
        1.00000000e+00, -9.81152883e-14, -1.00000000e+00,  0.00000000e+00,
        9.81152883e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09519361, -0.09417312,  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:
[-1.17236835e-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,
 -6.52183196e-05,-1.74847760e-05,-1.05798431e-04,-1.26022512e-04,
  5.93461479e-06,-5.74602526e-06,-4.90500134e+00, 2.60325131e-04,
  1.18257302e-02,-6.05834556e-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,
  1.2737254 , 0.00752977, 1.16120139, 0.04518351, 0.05801394,-0.07878809,
  0.17141026, 0.99962403, 0.02534746,-0.00250689,-0.01015027]

qacc:
[  7.78657076,  1.2846643 , -7.78018635, 19.55334254,  1.66025605,
  -0.93304221,  2.57050398, -1.74984037,  5.97408797, -0.07678309,
  -1.41413098,  8.35819669, -0.63877303,  0.74595934, 16.79355775,
 -60.62870156, -2.27763696,  0.97339167, -0.57599113, -9.21745604,
 -20.66166547,  4.83725667]

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,
  1.04107475e-02,-1.50477187e-03, 2.44161361e-03,-2.11110309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005580591321847767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.98943617e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.98943617e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0951955 , -0.09417536,  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:
[ 4.67256819e-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,
 -4.71403466e-05,-1.15207227e-05,-1.46514391e-04,-3.35907519e-04,
  1.53385015e-05,-1.21642854e-05,-4.90500354e+00, 2.57605632e-04,
  1.18283978e-02,-6.04151562e-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,
  1.2740073 , 0.00752898, 1.16142623, 0.04517357, 0.05798721,-0.07877709,
  0.17140767, 0.99962559, 0.02528452,-0.00262245,-0.01012444]

qacc:
[  1.86565489,  1.89586868, -7.72105912, 14.03419353, -2.10597167,
   1.52758619, -7.01632375, 14.0656572 ,  6.7012624 ,  0.99830014,
  -5.77396563, 15.80101927, -0.12608162, -0.17725688, 14.4794094 ,
 -52.47626687,  1.97192654, -1.8381071 ,  0.68380356, 17.67557117,
  18.09390888, -7.34169595]

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,
  1.03969184e-02,-1.53571869e-03, 2.41562049e-03,-2.36571010e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.05807955,  5.16312379, -3.16898732,  5.16312379, 17.53285195,
       18.69545832, -3.16898732, 18.69545832, 36.51795708,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005550898129024068
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00003909e-13, -1.00003909e-13,  1.00000000e+00, -1.00007818e-26,
        1.00000000e+00,  1.00003909e-13, -1.00000000e+00,  0.00000000e+00,
       -1.00003909e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03369088, -0.05333404,  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:
[ 1.12897300e-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,
 -4.50287889e-05,-4.33835577e-05,-1.30113098e-04,-2.91979845e-04,
  2.88904470e-05,-2.06935711e-05,-4.90500676e+00, 2.53862363e-04,
  1.18318446e-02,-6.02095395e-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,
  1.27428865, 0.00752822, 1.16164939, 0.04516559, 0.05796816,-0.0787733 ,
  0.17140684, 0.99962623, 0.02525587,-0.00270247,-0.01011092]

qacc:
[ -4.90834479,  0.85117805, -3.66549734,  7.55288382,  1.70378902,
   0.65197773, -4.78277304, 14.31008263, -1.89031185, -1.23977013,
   5.9067067 ,-11.99721086, -0.19355834,  0.08786414, -8.38567473,
  25.74230874,  1.91983654, -1.80470133,  0.43894751, 16.95904302,
  17.7748097 , -6.65689948]

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,
  1.03625041e-02,-1.53595184e-03, 2.38132506e-03,-2.24508876e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.15385776, -5.98920347,  1.41400394, -5.98920347,  8.1705644 ,
        8.54203161,  1.41400394,  8.54203161, 42.33477905,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005666070151776198
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79711683e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.79711683e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03369104, -0.05334083,  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:
[-2.94329611e-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,
 -7.16766219e-05,-2.08403390e-05,-1.26307900e-04, 8.77369764e-05,
  1.66296573e-05,-1.00405291e-05,-4.90500406e+00, 2.59318586e-04,
  1.18289322e-02,-6.00599609e-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,
  1.27456944, 0.00752771, 1.16187108, 0.04516005, 0.05795661,-0.0787766 ,
  0.17140691, 0.99962602, 0.02526034,-0.00274755,-0.01010865]

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,
 -0.35354224, 0.43339337,-9.52149284,30.23482045, 1.87504326,-1.77494138,
  0.22470457,16.36538847,17.48955943,-6.11000024]

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,
  1.03424075e-02,-1.51804548e-03, 2.32617617e-03,-2.11743627e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.20592104, -6.09773224,  1.15374065, -6.09773224,  7.88789818,
        8.88955959,  1.15374065,  8.88955959, 53.18888389,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005728549650305531
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69026274e-14, -9.69026274e-14,  1.00000000e+00, -9.39011920e-27,
        1.00000000e+00,  9.69026274e-14, -1.00000000e+00,  0.00000000e+00,
       -9.69026274e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03369043, -0.05334549,  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:
[ 5.27713958e-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,
 -6.49824707e-05,-3.58896941e-06,-1.01974519e-04, 1.16705451e-04,
  7.89838270e-06,-3.19681113e-06,-4.90500201e+00, 2.62720483e-04,
  1.18274310e-02,-5.99927514e-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,
  1.27484984, 0.00752711, 1.16209216, 0.04515463, 0.05795241,-0.07878691,
  0.17140714, 0.99962498, 0.02529691,-0.0027582 ,-0.01011676]

qacc:
[ 5.46285197,-0.32532091, 2.49751266,-7.28464301,-4.29626928,-0.02486286,
 -0.30466633, 2.93280713,-0.83927262, 2.09050473,-8.25987551,12.72242549,
 -0.19327296, 0.07491124,-1.27633687, 3.16531819, 1.83680838,-1.74883274,
  0.03845546,15.87491378,17.23846026,-5.67360627]

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,
  1.03255977e-02,-1.52499374e-03, 2.30648796e-03,-2.11110437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22202798, -6.16747628,  0.82211222, -6.16747628,  7.29305723,
        8.03484897,  0.82211222,  8.03484897, 66.49937101,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005747865319523648
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65769867e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.65769867e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03368917, -0.05334842,  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:
[ 3.28177596e-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,
 -5.35799214e-05,-2.24780306e-05,-5.32555315e-05,-1.46239577e-07,
  2.45469532e-06, 2.00451595e-07,-4.90500068e+00, 2.64359313e-04,
  1.18270498e-02,-6.00042757e-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,
  1.27512961, 0.00752678, 1.16231279, 0.04515059, 0.05795542,-0.07880412,
  0.17140687, 0.99962315, 0.0253648 ,-0.00273486,-0.01013458]

qacc:
[-5.73457296, 0.21049534,-1.70861634, 5.05527471, 0.44475768, 0.36042945,
 -3.16592944,10.87752923,-3.46204621, 1.63108318,-5.85998028, 8.00115214,
 -0.57271829, 0.71524209,-4.76180109,15.82479869, 1.80440992,-1.72624635,
 -0.12259672,15.47108056,17.02058164,-5.32584354]

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,
  1.02894604e-02,-1.51112012e-03, 2.30805287e-03,-2.03420201e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005732250984148007
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68400570e-14, -9.68400570e-14,  1.00000000e+00, -9.37799665e-27,
        1.00000000e+00,  9.68400570e-14, -1.00000000e+00,  0.00000000e+00,
       -9.68400570e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03368738, -0.05334997,  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:
[-3.44443091e-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,
 -7.09288991e-05,-4.18470477e-06,-2.54420302e-05, 6.95079463e-05,
  1.05255533e-07, 4.33174696e-07,-4.90500010e+00, 2.64453136e-04,
  1.18275789e-02,-6.00916074e-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,
  1.27540881, 0.00752662, 1.1625339 , 0.0451434 , 0.05796555,-0.07882816,
  0.17140556, 0.99962052, 0.02546332,-0.00267792,-0.01016155]

qacc:
[ -3.66501756, -1.51418059,  4.91603662, -4.43871418,  0.37578959,
  -1.32154509,  4.40384058, -5.49658567, -2.11078772, -1.4984305 ,
   8.37792712,-20.08308469, -0.81748046,  0.9952401 , 10.31419874,
 -34.86824083,  1.7771697 , -1.70697639, -0.26123202, 15.14005642,
  16.83427533, -5.04924662]

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,
  1.02630671e-02,-1.50282980e-03, 2.32237610e-03,-2.20029954e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005688778470123584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75800895e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.75800895e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03368517, -0.05335044,  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:
[-2.21135598e-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,
 -6.54129161e-05,-9.32589812e-06, 6.34233040e-06,-1.66372547e-04,
  6.96627943e-07,-2.28146361e-06,-4.90500030e+00, 2.63164255e-04,
  1.18288684e-02,-6.02523927e-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,
  1.27568746, 0.00752702, 1.16275498, 0.0451356 , 0.05798269,-0.07885896,
  0.17140272, 0.99961711, 0.02559193,-0.0025877 ,-0.01019725]

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, -0.86484054,  1.31058114,  1.87546253,
  -6.43568339,  1.75446685, -1.69077818, -0.38010046, 14.87030388,
  16.67751542, -4.82986871]

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,
  1.02531876e-02,-1.46239031e-03, 2.33363556e-03,-2.22418094e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005623486995958438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.97426086e-13, -9.87130428e-14,  1.00000000e+00, -1.94885296e-26,
        1.00000000e+00,  9.87130428e-14, -1.00000000e+00,  0.00000000e+00,
       -1.97426086e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03368263, -0.05335004,  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:
[ 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,
 -4.73874650e-05, 2.28490072e-05,-1.11076775e-05,-3.38431185e-05,
  4.10835037e-06,-7.77799613e-06,-4.90500129e+00, 2.60612536e-04,
  1.18308112e-02,-6.04847418e-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,
  1.27596541, 0.00752845, 1.16297586, 0.0451292 , 0.0579899 ,-0.07888539,
  0.1714013 , 0.99961419, 0.02570143,-0.00254473,-0.0102193 ]

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, -1.15779446,  1.94256135, -4.42065075,
  15.30434698, -2.48377461,  1.09276713,  0.35206395, -9.30058068,
 -23.53953783,  7.45438489]

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,
  1.02266064e-02,-1.40311655e-03, 2.34308589e-03,-2.14626056e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.08129436,  4.94020914, -3.54633258,  4.94020914, 19.39044553,
       18.5402775 , -3.54633258, 18.5402775 , 31.90877843,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005578846008311295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.95029279e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.95029279e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09518043, -0.09419746,  0.06198998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10034172e-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,
 -4.67601073e-05, 5.44975493e-05,-4.57288529e-06, 7.34745633e-05,
  1.02473531e-05,-1.59322870e-05,-4.90500308e+00, 2.56885541e-04,
  1.18333318e-02,-6.07871421e-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,
  1.27624292, 0.00752991, 1.16319718, 0.04512169, 0.05798736,-0.07890757,
  0.17140041, 0.99961175, 0.02579185,-0.00254756,-0.010229  ]

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, -0.47542566,  0.50047307,  4.0429177 ,
 -13.09333303, -2.43663961,  1.06169376,  0.13480983, -9.29387166,
 -22.83405168,  6.78592643]

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,
  1.01847120e-02,-1.42199333e-03, 2.36744445e-03,-2.20430432e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.14770121, -3.58344267,  4.99531468, -3.58344267, 32.77059721,
       19.09822057,  4.99531468, 19.09822057, 19.84801499,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000565867673987086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.80991737e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.80991737e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09517523, -0.09420026,  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:
[-1.60775647e-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,
 -5.38066037e-05,-1.52686182e-05, 2.52450802e-05,-5.56735684e-05,
  2.18338212e-06,-6.55788724e-06,-4.90500183e+00, 2.60020671e-04,
  1.18293778e-02,-6.10304901e-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,
  1.27652007, 0.00753098, 1.1634181 , 0.04511693, 0.05797524,-0.07892562,
  0.17139931, 0.9996098 , 0.02586325,-0.002595  ,-0.0102274 ]

qacc:
[ -4.61660739, -0.61074994,  1.56862004, -1.67940293, -1.2120465 ,
  -0.07488935,  0.99877964, -2.77771215, -3.10781961, -1.31764871,
   5.59408459,-11.23760707,  0.19982026, -0.62812235, -8.92777283,
  30.31442642, -2.39558771,  1.03524152, -0.0546974 , -9.27192514,
 -22.24378729,  6.25457645]

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,
  1.01549342e-02,-1.45167607e-03, 2.36341662e-03,-2.05793774e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.17606551, -3.35469187,  5.18554025, -3.35469187, 42.2769602 ,
       23.3548236 ,  5.18554025, 23.3548236 , 21.28504799,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005692730000345092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.95024711e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.95024711e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0951721 , -0.09420289,  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:
[-2.77739038e-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,
 -6.19160717e-05,-4.64284988e-05,-5.59881500e-06, 1.44945702e-04,
 -1.72811959e-07,-3.10789136e-08,-4.90500162e+00, 2.61148183e-04,
  1.18267360e-02,-6.12392004e-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,
  1.27679694, 0.00753143, 1.16363812, 0.04511606, 0.05795368,-0.07893961,
  0.17139733, 0.99960833, 0.02591569,-0.00268604,-0.0102153 ]

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,  0.56166491, -1.22985113,-13.16372733,
  43.92324585, -2.36024384,  1.01282127, -0.21907504, -9.24171663,
 -21.75233865,  5.83301006]

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,
  1.01377617e-02,-1.48743917e-03, 2.31578720e-03,-1.86334845e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005689548322521387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09517064, -0.09420542,  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:
[-1.66864784e-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,
 -6.09018132e-05,-6.28049633e-05,-3.82901841e-05, 2.01006484e-04,
  2.63932902e-06, 3.85650587e-06,-4.90500244e+00, 2.60608073e-04,
  1.18252616e-02,-6.14123848e-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,
  1.27707334, 0.00753169, 1.16385776, 0.04511813, 0.05792279,-0.07894962,
  0.1713939 , 0.99960731, 0.02594926,-0.00281985,-0.01019337]

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,
 -1.85986182e-02,-2.48756351e-01,-9.48315511e+00, 3.23592015e+01,
 -2.33016121e+00, 9.93902441e-01,-3.60991730e-01,-9.20819858e+00,
 -2.13455676e+01, 5.49944032e+00]

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,
  1.01175056e-02,-1.49094406e-03, 2.31129312e-03,-1.71306872e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005656485720739735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81371720e-14,  9.81371720e-14,  1.00000000e+00,  9.63090454e-27,
        1.00000000e+00, -9.81371720e-14, -1.00000000e+00,  0.00000000e+00,
       -9.81371720e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09517051, -0.09420786,  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:
[-2.72553001e-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,
 -6.76747139e-05,-3.45056210e-05,-1.79364216e-06, 1.56096088e-04,
  1.02180057e-05, 5.27078447e-06,-4.90500427e+00, 2.58645010e-04,
  1.18248426e-02,-6.15494510e-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 ,
  1.27734905, 0.00753219, 1.16407777, 0.04511961, 0.05788269,-0.07895573,
  0.17138855, 0.99960674, 0.02596402,-0.00299575,-0.01016211]

qacc:
[ -2.69682891,  2.49696739, -7.88473976,  8.05624417, -2.22065972,
   1.26480809, -8.22705645, 21.8788591 ,  7.16613268,  0.09077127,
  -3.59651055, 14.15299547, -0.75933791,  0.91490676,  2.41696705,
  -7.52192792, -2.30486827,  0.97801471, -0.48303228, -9.17484344,
 -21.01137257,  5.23649375]

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,
  1.00847762e-02,-1.47529296e-03, 2.32201258e-03,-1.74977045e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005599836352519344
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91299526e-14, -9.91299526e-14,  1.00000000e+00, -9.82674751e-27,
        1.00000000e+00,  9.91299526e-14, -1.00000000e+00,  0.00000000e+00,
       -9.91299526e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09517143, -0.09421023,  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:
[-1.60003152e-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,
 -7.65834731e-05,-9.60817231e-06, 2.27186589e-05,-2.92663835e-05,
  2.22664505e-05, 4.34231647e-06,-4.90500708e+00, 2.55433723e-04,
  1.18253928e-02,-6.16500122e-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,
  1.27762424, 0.00753258, 1.16429771, 0.04511905, 0.05785031,-0.07896914,
  0.17138529, 0.9996052 , 0.02601377,-0.00313594,-0.01014389]

qacc:
[  4.42713859,  2.54266672, -8.13529596,  8.5779953 , -1.42745659,
  -0.06988294,  2.94345451,-12.71868426,  1.48805868, -2.12514898,
   4.34697192,  2.30632753, -0.49006097,  0.40791753,  6.102032  ,
 -21.37151392,  1.93056426, -1.82722387,  0.52556756, 17.29547178,
  17.85691475, -7.03944648]

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,
  1.00552495e-02,-1.48398726e-03, 2.29387578e-03,-1.86078420e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.1784477 ,  5.28251908, -3.20440448,  5.28251908, 17.83343748,
       19.2134627 , -3.20440448, 19.2134627 , 37.85219049,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005695588920908157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74634090e-14, -9.74634090e-14,  1.00000000e+00, -9.49911609e-27,
        1.00000000e+00,  9.74634090e-14, -1.00000000e+00,  0.00000000e+00,
       -9.74634090e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03367254, -0.05337004,  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:
[ 2.67683574e-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,
 -7.23502248e-05,-2.93493474e-05,-2.80650266e-05,-1.11333538e-04,
  3.85686541e-05, 1.17231673e-06,-4.90501086e+00, 2.51097500e-04,
  1.18268464e-02,-6.17138224e-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,
  1.27789893, 0.00753287, 1.16451689, 0.04512019, 0.05782546,-0.07898974,
  0.17138323, 0.99960275, 0.02609723,-0.00324105,-0.01013757]

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, -0.13832609, -0.05478251, -6.2627419 ,
  20.27558928,  1.88218241, -1.79698593,  0.29782991, 16.66228898,
  17.54882351, -6.45940166]

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,
  1.00329810e-02,-1.48930713e-03, 2.27440444e-03,-1.76617741e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.24212875, -6.11731313,  1.24203517, -6.11731313,  7.98651318,
        8.59150048,  1.24203517,  8.59150048, 48.55727402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005771962855365825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.80868923e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.80868923e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03367211, -0.05337536,  0.06198963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72595546e-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,
 -6.85545502e-05,-2.97514215e-05,-4.93915601e-05, 8.37586231e-05,
  2.41708916e-05, 7.41934850e-06,-4.90500818e+00, 2.55618802e-04,
  1.18270648e-02,-6.18356816e-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,
  1.27817321, 0.00753281, 1.16473559, 0.04512306, 0.05781036,-0.07900939,
  0.17138346, 0.99960045, 0.02617652,-0.00330325,-0.01013957]

qacc:
[ -1.18771825, -3.28831472, 14.62525386,-27.81906776,  4.3814225 ,
   1.96747132, -8.71870539, 16.38104776, -1.35696871, -0.82615971,
   3.67970274, -6.54419046,  0.06047639, -0.43215599, -5.97102817,
  19.80357461,  2.43912045,  0.23771258,  0.57248062, -2.31509319,
  21.31332102, -4.71279009]

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,
  1.00097574e-02,-1.51029606e-03, 2.26552391e-03,-1.67538345e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  6.29737546,  -3.42519191,  -5.28441086,  -3.42519191,
        39.13201089, -21.28239659,  -5.28441086, -21.28239659,
        20.09196763,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005838160365037315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50832930e-14, -4.75416465e-14,  1.00000000e+00, -4.52041630e-27,
        1.00000000e+00,  4.75416465e-14, -1.00000000e+00,  0.00000000e+00,
       -9.50832930e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02701074, -0.08219721,  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:
[-7.24610284e-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,
 -6.73479255e-05,-4.47364332e-05,-2.47094222e-05, 8.85712950e-05,
  1.32528228e-05, 1.00691160e-05,-4.90500625e+00, 2.58170052e-04,
  1.18283706e-02,-6.20381133e-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 ,
  1.27844708, 0.00753248, 1.16495416, 0.04512335, 0.0578048 ,-0.07902813,
  0.1713851 , 0.99959832, 0.02625146,-0.00332329,-0.01014933]

qacc:
[ -0.73398473, -1.00178144,  5.32444708,-12.51229288, -0.41945027,
   1.26129644, -6.81796652, 16.72434495, -3.73411935,  0.29525963,
   1.67494899, -8.98766375, -0.29217903,  0.06554507,  7.65406479,
 -26.9956436 ,  2.383276  ,  0.22614575,  0.35328811, -2.40261871,
  20.94948952, -4.41948178]

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,
  9.99129776e-03,-1.52266655e-03, 2.23104557e-03,-1.81837336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005879952444146352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.44074833e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.44074833e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02701064, -0.08219932,  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:
[-4.41422814e-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,
 -6.51057361e-05,-4.00272239e-05,-3.95645923e-05,-1.42046289e-04,
  4.45471873e-06, 5.72919180e-06,-4.90500296e+00, 2.58844487e-04,
  1.18297721e-02,-6.22295101e-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,
  1.2787203 , 0.0075325 , 1.16517224, 0.04512063, 0.05780858,-0.07904601,
  0.17138739, 0.99959637, 0.02632192,-0.00330181,-0.01016639]

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,
 -9.55026151e-01, 1.26827482e+00, 8.45477449e+00,-3.04336262e+01,
  2.33588279e+00, 2.16489741e-01, 1.63899071e-01,-2.46658154e+00,
  2.06334935e+01,-4.18571207e+00]

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,
  9.96505838e-03,-1.49427564e-03, 2.19184514e-03,-1.97374213e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005881063330246267
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.83168952e-13, -4.71948253e-14,  1.00000000e+00, -1.33641092e-26,
        1.00000000e+00,  4.71948253e-14, -1.00000000e+00,  0.00000000e+00,
       -2.83168952e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02700954, -0.08220107,  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:
[ 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,
 -7.14764658e-05, 2.96223596e-06,-7.71606895e-05,-1.69263820e-04,
  3.09440427e-07, 1.63064557e-06,-4.90500103e+00, 2.58403899e-04,
  1.18307134e-02,-6.24086630e-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,
  1.27899301, 0.00753259, 1.16538938, 0.04511836, 0.05782155,-0.07906306,
  0.17138969, 0.99959459, 0.02638779,-0.00323936,-0.01019039]

qacc:
[ 5.26342011e+00,-1.27328124e+00, 7.76790766e+00,-1.94583077e+01,
 -2.12154018e+00, 3.79620966e-01,-2.94511617e+00, 9.06425297e+00,
  4.15055602e+00,-6.77182260e-01, 7.28106512e-01, 3.45986822e+00,
 -3.51895169e-01, 3.31465875e-01,-2.71282233e+00, 7.54692509e+00,
  2.29597632e+00, 2.08413822e-01, 1.06488128e-03,-2.51301668e+00,
  2.03623266e+01,-4.00010287e+00]

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,
  9.93951406e-03,-1.49522436e-03, 2.17115278e-03,-1.93980115e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005849478080778431
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.89798647e-13, -4.74496617e-14,  1.00000000e+00, -9.00588159e-27,
        1.00000000e+00,  4.74496617e-14, -1.00000000e+00,  0.00000000e+00,
       -1.89798647e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02700764, -0.08220256,  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:
[ 3.16209179e-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,
 -6.46003150e-05,-1.60773996e-05,-7.75305506e-05, 1.40558581e-05,
  5.65351221e-07,-2.19033760e-06,-4.90500039e+00, 2.56980080e-04,
  1.18312198e-02,-6.25750313e-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,
  1.27926546, 0.00753214, 1.16560521, 0.04511754, 0.05784356,-0.0790793 ,
  0.17139144, 0.99959299, 0.026449  ,-0.00313641,-0.01022104]

qacc:
[-2.85784459,-0.11421867, 2.15794183,-8.15155865, 4.81000821,-0.56114091,
  2.4811461 ,-4.89777857,-0.52981901, 0.6478376 ,-4.74320122,13.28603823,
  0.35008999,-0.88984265,-6.37214541,19.37677367, 2.26266473, 0.20164437,
 -0.13833074,-2.54654002,20.13259139,-3.8535136 ]

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,
  9.91972306e-03,-1.53136984e-03, 2.10836458e-03,-1.86553899e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005792040844913166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58404002e-14, -4.79202001e-14,  1.00000000e+00, -4.59269115e-27,
        1.00000000e+00,  4.79202001e-14, -1.00000000e+00,  0.00000000e+00,
       -9.58404002e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0270051 , -0.08220382,  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:
[-1.71088515e-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,
 -5.91913879e-05,-5.49894263e-05,-9.81743049e-05, 6.48144306e-05,
  5.02137514e-06,-5.71262548e-06,-4.90500099e+00, 2.54669840e-04,
  1.18313120e-02,-6.27282227e-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,
  1.2795372 , 0.00753188, 1.16581998, 0.04511824, 0.05787452,-0.07909475,
  0.17139216, 0.99959155, 0.02650551,-0.00299334,-0.01025813]

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 ,
 -0.51073713, 0.55770099,-6.11578886,19.21477264, 2.23514081, 0.1959556 ,
 -0.25718729,-2.57067902,19.94079105,-3.73860033]

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,
  9.88207767e-03,-1.51704981e-03, 2.06831799e-03,-1.78602030e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005714584477657658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45709154e-13,  9.71394359e-14,  1.00000000e+00,  1.41541050e-26,
        1.00000000e+00, -9.71394359e-14, -1.00000000e+00,  0.00000000e+00,
       -1.45709154e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02700207, -0.08220491,  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:
[ 6.52459774e-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,
 -8.35885240e-05,-1.35637969e-05,-7.75239630e-05, 7.06291986e-05,
  1.35195908e-05,-8.92523013e-06,-4.90500277e+00, 2.51543316e-04,
  1.18310069e-02,-6.28679537e-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,
  1.27980808, 0.0075321 , 1.16603422, 0.04511881, 0.05789545,-0.07910588,
  0.17139416, 0.99959058, 0.02654355,-0.00289602,-0.010282  ]

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, -0.9919333 ,  1.31934081, -0.32683602,
   0.20878329, -2.50727651,  1.08184552,  0.32291472, -8.98322525,
 -22.78367907,  7.24609063]

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,
  9.83909412e-03,-1.49071424e-03, 2.04726709e-03,-1.79275621e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.1437867 ,  6.01428593, -1.25478277,  6.01428593,  7.99894517,
        8.89194029, -1.25478277,  8.89194029, 48.76365089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005653975188495419
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09515823, -0.09423827,  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:
[ 4.17271771e-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,
 -9.16715647e-05, 3.57215441e-06,-5.01238906e-05,-1.30244059e-05,
  2.59387233e-05,-1.18238551e-05,-4.90500569e+00, 2.47650289e-04,
  1.18303175e-02,-6.29940199e-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,
  1.28007847, 0.00753229, 1.16624764, 0.04511508, 0.05790656,-0.0791128 ,
  0.1713966 , 0.99959009, 0.02656304,-0.0028433 ,-0.01029383]

qacc:
[ -2.55154311, -1.47229336,  2.79649703,  2.30644187,  0.21307055,
   0.79393217, -0.13505054, -8.32508857, -1.99427295,  1.14199328,
  -3.87604416,  4.52882934, -0.61786674,  0.62738203, 11.87882558,
 -43.16403744, -2.45428962,  1.05083437,  0.10659818, -9.02699637,
 -22.22668192,  6.6378093 ]

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,
  9.81957642e-03,-1.49304130e-03, 1.95771772e-03,-2.02773733e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.19781772, -4.85025799,  3.85848959, -4.85025799, 25.55799605,
       24.33642946,  3.85848959, 24.33642946, 36.78957097,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005718829777866807
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.70673256e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.70673256e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09515515, -0.09424154,  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:
[-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,
 -6.82331738e-05,-2.25227391e-05,-1.17449511e-04,-2.42885935e-04,
  1.19403849e-05,-5.37414232e-06,-4.90500269e+00, 2.52331839e-04,
  1.18277719e-02,-6.30610266e-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,
  1.28034856, 0.00753236, 1.16646023, 0.04510586, 0.05790803,-0.07911563,
  0.17139871, 0.99959009, 0.02656397,-0.00283422,-0.01029457]

qacc:
[ -7.5244158 , -0.48718299,  0.87995105, -2.03352024,  0.18791326,
  -0.14053487,  0.24816417,  0.12323011, -1.16076324,  0.66943256,
  -2.37370262,  2.74777251, -0.49584829,  0.47091259, 15.41843771,
 -55.63341429, -2.40867827,  1.02476158, -0.0811752 , -9.04691031,
 -21.75429705,  6.15120543]

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,
  9.81413527e-03,-1.49449493e-03, 1.90700011e-03,-2.30667188e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005740116247115734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.67073642e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.67073642e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09515372, -0.09424456,  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:
[-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,
 -4.96446886e-05,-2.22408705e-05,-1.32178195e-04,-3.07624117e-04,
  3.48079500e-06,-1.48317022e-06,-4.90500081e+00, 2.55030645e-04,
  1.18263329e-02,-6.30943445e-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,
  1.28061823, 0.00753265, 1.16667248, 0.04509247, 0.05790003,-0.07911444,
  0.17139985, 0.99959056, 0.02654632,-0.00286794,-0.01028498]

qacc:
[ -4.57181607,  1.49336296, -6.70288343, 11.09052901,  0.09122624,
  -0.80468085,  0.65688705,  5.35408922,  2.2951536 , -0.26790547,
  -1.0773901 ,  6.99327701, -0.75994185,  0.99586392, 12.17323426,
 -43.11764088, -2.36976337,  1.00295016, -0.24333157, -9.05162576,
 -21.35626135,  5.76215003]

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,
  9.80116382e-03,-1.47757136e-03, 1.92754550e-03,-2.50255295e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005726122653353788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69436992e-14,  2.90831098e-13,  1.00000000e+00,  2.81942425e-26,
        1.00000000e+00, -2.90831098e-13, -1.00000000e+00,  0.00000000e+00,
       -9.69436992e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09515364, -0.09424739,  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:
[-2.73968857e-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,
 -4.76743333e-05, 8.34295516e-07,-7.41254255e-05,-2.29887272e-04,
  1.00368438e-07,-1.27262041e-08,-4.90500003e+00, 2.56058867e-04,
  1.18259051e-02,-6.30930123e-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,
  1.2808874 , 0.00753319, 1.16688393, 0.04507943, 0.05788268,-0.07910931,
  0.17139946, 0.9995915 , 0.02651013,-0.0029438 ,-0.01026565]

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,
 -4.93207660e-01, 6.40649629e-01,-2.18872515e+00, 6.01584494e+00,
 -2.33686429e+00, 9.84804853e-01,-3.82754991e-01,-9.04745424e+00,
 -2.10233435e+01, 5.45137823e+00]

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,
  9.77304372e-03,-1.46766617e-03, 1.92159772e-03,-2.47021029e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005683970454697651
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.95325263e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.95325263e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09515461, -0.09425007,  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:
[ 2.12420376e-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,
 -5.51707766e-05,-7.99054417e-08,-6.80694676e-05, 9.50655438e-06,
  1.44783411e-06,-8.49983249e-07,-4.90500030e+00, 2.55646112e-04,
  1.18264141e-02,-6.30563547e-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,
  1.28115598, 0.00753395, 1.16709415, 0.04506986, 0.05785609,-0.07910031,
  0.17139705, 0.99959289, 0.02645541,-0.00306123,-0.01023708]

qacc:
[ -2.58269427,  0.43813655, -1.38176639,  2.16592324, -3.08457814,
   0.81339768, -2.7496496 ,  2.11750715,  0.82526029,  0.20090597,
   1.89429805, -9.7530891 , -0.29330313,  0.32686616,-12.30090263,
  40.47030849, -2.30932963,  0.9698078 , -0.50217856, -9.03896347,
 -20.74735948,  5.20350831]

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,
  9.73585683e-03,-1.46209046e-03, 1.88383201e-03,-2.28601820e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005619743399846444
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.87788005e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.87788005e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09515641, -0.09425263,  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:
[-1.54717297e-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,
 -6.76269573e-05,-6.82204982e-06,-6.96542299e-05, 1.75663711e-04,
  7.25673365e-06,-3.90461168e-06,-4.90500162e+00, 2.53960437e-04,
  1.18278021e-02,-6.29838988e-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,
  1.28142403, 0.0075348 , 1.16730339, 0.04506291, 0.05783916,-0.07909031,
  0.17139664, 0.99959437, 0.02639767,-0.00313541,-0.01021883]

qacc:
[-4.46399261, 1.39789325,-5.82092369,12.04055824, 1.11180664, 1.56541413,
 -6.701329  ,11.97204205,-5.38940842, 0.16106058,-1.05527587, 2.94933491,
 -0.23281525, 0.18804481,-9.33887727,30.57382702, 2.41520468, 0.24886932,
  0.49797916,-1.74402104,21.46500487,-5.72781647]

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,
  9.70923368e-03,-1.45917794e-03, 1.83769264e-03,-2.15601214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.10887836,  6.05848091, -0.78307335,  6.05848091,  6.78823972,
        5.25608213, -0.78307335,  5.25608213, 46.774128  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005612025495880246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48371968e-13,  4.94573227e-14,  1.00000000e+00,  7.33808032e-27,
        1.00000000e+00, -4.94573227e-14, -1.00000000e+00,  0.00000000e+00,
       -1.48371968e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02699492, -0.08222376,  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:
[-2.67375682e-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,
 -6.47941924e-05,-1.44807396e-05,-5.94629779e-05, 1.30711639e-04,
  1.73274932e-05,-9.10593433e-06,-4.90500394e+00, 2.51123917e-04,
  1.18300252e-02,-6.28753134e-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,
  1.28169172, 0.00753518, 1.16751171, 0.04506085, 0.0578317 ,-0.07907936,
  0.17139742, 0.99959598, 0.02633649,-0.00316714,-0.01020989]

qacc:
[  0.39198628, -0.64368632,  2.793198  , -4.66227646,  6.78436726,
   0.89327725, -3.80410974,  6.86087485,  2.548522  ,  1.51686455,
  -6.64952108, 13.51112198,  0.45302931, -1.00651109,-16.23422799,
  54.67874205,  2.36498425,  0.23606488,  0.29531619, -1.95958346,
  21.07513317, -5.20947618]

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,
  9.68363872e-03,-1.49332977e-03, 1.82383323e-03,-1.89926370e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  6.14744951,  -5.93592459,  -1.5987291 ,  -5.93592459,
        10.28846964, -15.37520223,  -1.5987291 , -15.37520223,
        63.23406977,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005658374455718013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.81044144e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.81044144e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02699567, -0.08222744,  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:
[ 2.32854213e-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,
 -6.40557623e-05,-5.29421384e-05,-2.81561029e-05, 2.56094692e-04,
  6.84228220e-06,-5.80700240e-06,-4.90500181e+00, 2.54783977e-04,
  1.18298229e-02,-6.27391148e-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,
  1.28195876, 0.0075355 , 1.16772009, 0.04506275, 0.05783352,-0.07906751,
  0.17139867, 0.99959772, 0.0262715 ,-0.00315711,-0.01020946]

qacc:
[ 4.45986724e-01,-5.61866329e-01, 3.44979760e+00,-9.77568587e+00,
  1.08290601e+00,-1.86722392e+00, 5.82309186e+00,-5.22233232e+00,
  7.54780902e+00, 2.03406595e+00,-8.97870271e+00, 1.88671110e+01,
 -1.85024363e-01,-1.18029467e-02,-1.18863317e+01, 4.17207023e+01,
  2.32215056e+00, 2.25846012e-01, 1.19669751e-01,-2.12721111e+00,
  2.07397650e+01,-4.79418821e+00]

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,
  9.64801263e-03,-1.49594084e-03, 1.85599986e-03,-1.69407209e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00056661976959059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95937926e-13, -9.79689630e-14,  1.00000000e+00, -1.91958354e-26,
        1.00000000e+00,  9.79689630e-14, -1.00000000e+00,  0.00000000e+00,
       -1.95937926e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02699534, -0.08223043,  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:
[ 2.68767323e-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,
 -8.19783139e-05,-3.19461574e-05, 4.55111037e-05, 2.15356516e-04,
  1.19989226e-06,-2.60371502e-06,-4.90500097e+00, 2.56991644e-04,
  1.18293324e-02,-6.25936386e-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,
  1.28222516, 0.00753577, 1.16792907, 0.04506607, 0.05784448,-0.0790548 ,
  0.17139979, 0.99959962, 0.02620244,-0.00310591,-0.01021689]

qacc:
[ 0.38478168, 0.37870221, 0.0597659 ,-4.46788302,-5.58535804,-2.55627731,
  8.15244685,-8.18282709,-4.24263136, 0.51470949,-1.09609631, 0.81549555,
 -0.41294173, 0.29915892,-3.35575439,13.11709847, 2.28592543, 0.21773372,
 -0.0317914 ,-2.25807466,20.45419044,-4.46125963]

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,
  9.61705832e-03,-1.49759588e-03, 1.88377251e-03,-1.62735142e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000564295316586888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83725181e-14, -4.91862590e-14,  1.00000000e+00, -4.83857616e-27,
        1.00000000e+00,  4.91862590e-14, -1.00000000e+00,  0.00000000e+00,
       -9.83725181e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02699413, -0.08223288,  0.06198986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37859554e-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,
 -8.07835044e-05,-3.01170922e-05, 6.59061687e-05, 8.30403270e-05,
  9.19499248e-08, 6.23037174e-07,-4.90500136e+00, 2.57979143e-04,
  1.18285393e-02,-6.24376011e-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,
  1.28249136, 0.00753515, 1.16813842, 0.0450712 , 0.05786447,-0.07904123,
  0.17140026, 0.99960167, 0.02612911,-0.00301402,-0.01023166]

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,  0.57206102, -1.38834248, -5.00585901,
  18.13629562,  2.25557276,  0.21133958, -0.16181608, -2.3608525 ,
  20.21373256, -4.19421274]

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,
  9.60490736e-03,-1.55192986e-03, 1.90353138e-03,-1.53623824e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005595046028323697
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02699223, -0.0822349 ,  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:
[ 1.99287278e-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,
 -6.09825981e-05,-8.19904752e-05, 5.07808324e-05, 1.02269587e-04,
  3.27810170e-06, 3.95862120e-06,-4.90500294e+00, 2.57917955e-04,
  1.18274350e-02,-6.22700233e-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,
  1.28275711, 0.00753412, 1.1683484 , 0.04507245, 0.05789338,-0.07902684,
  0.17139965, 0.99960387, 0.02605132,-0.00288187,-0.01025336]

qacc:
[  5.08700323,  1.93233921, -8.31916387, 16.63561985, -0.89953784,
  -0.89698691,  3.44745567, -6.82227692, 13.72282729, -0.95473094,
   1.75819179,  1.46579336, -0.38172621,  0.09654368, 12.65719507,
 -42.8846089 ,  2.23041444,  0.20634882, -0.27298686, -2.44228355,
  20.01393026, -3.97992524]

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,
  9.58271911e-03,-1.56598842e-03, 1.88652678e-03,-1.75099889e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005527945328490796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00419139e-13,  1.00419139e-13,  1.00000000e+00,  1.00840035e-26,
        1.00000000e+00, -1.00419139e-13, -1.00000000e+00,  0.00000000e+00,
       -1.00419139e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02698978, -0.08223659,  0.06199007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06168617e-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,
 -7.30386485e-05,-5.08280258e-05, 1.07875528e-05,-2.04146594e-04,
  1.05729722e-05, 7.46433080e-06,-4.90500566e+00, 2.56934177e-04,
  1.18260137e-02,-6.20901547e-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,
  1.2830222 , 0.0075334 , 1.16855861, 0.04507047, 0.05791245,-0.07900822,
  0.17139953, 0.99960653, 0.02595462,-0.00279433,-0.01026357]

qacc:
[  3.14889679,  0.76168183, -3.8080026 ,  8.91686758, -0.44491631,
   0.6217665 , -1.01549144, -1.8809713 , -0.53166909, -1.30482239,
   3.58934702, -2.54951004, -0.98885941,  1.2620437 , 10.25877118,
 -35.14922636, -2.45992925,  1.05741773,  0.12465335, -9.21483899,
 -22.24482772,  6.3493139 ]

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,
  9.55986257e-03,-1.53826783e-03, 1.89536062e-03,-1.91353943e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.03868278,  5.88103722, -1.37079941,  5.88103722,  8.7584064 ,
       11.66822492, -1.37079941, 11.66822492, 56.09798732,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005527528677800875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.00853417e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.00853417e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09515587, -0.09427076,  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:
[ 1.89180569e-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,
 -7.41952112e-05,-2.81901448e-06,-1.57316947e-05,-1.74080852e-04,
  2.18358377e-05, 1.11843624e-05,-4.90500951e+00, 2.55119995e-04,
  1.18242713e-02,-6.18974149e-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 ,
  1.28328662, 0.00753343, 1.16876815, 0.04507089, 0.05792186,-0.07898547,
  0.17139916, 0.99960965, 0.02583899,-0.00275046,-0.01026319]

qacc:
[  1.91315598, -1.37619583,  3.40590624, -0.61901831, -3.2733203 ,
   0.48995492, -0.68817632, -1.15776679, -9.52999635, -1.1470657 ,
   5.28548962,-11.05423547, -0.83732859,  1.35720815, -8.19038352,
  27.3961001 , -2.413801  ,  1.03393342, -0.06159108, -9.22352236,
 -21.78029653,  5.88940855]

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,
  9.54729337e-03,-1.48602408e-03, 1.89308026e-03,-1.77753951e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005565778454730969
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97365448e-14, -9.97365448e-14,  1.00000000e+00, -9.94737837e-27,
        1.00000000e+00,  9.97365448e-14, -1.00000000e+00,  0.00000000e+00,
       -9.97365448e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09515407, -0.09427319,  0.06199   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13511132e-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,
 -5.34347396e-05, 3.44709306e-05,-3.45231680e-05, 1.23022885e-04,
  9.40405464e-06, 9.54807564e-06,-4.90500653e+00, 2.58858715e-04,
  1.18251176e-02,-6.16529149e-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,
  1.28355052, 0.00753407, 1.16897646, 0.04507404, 0.05792178,-0.07895865,
  0.17139791, 0.99961322, 0.02570447,-0.00274943,-0.01025294]

qacc:
[  4.10791341, -2.30177602,  8.84776168,-14.17819594, -1.95355211,
  -0.41741209,  1.58327476, -2.16914441, -5.93950556, -1.02462979,
   4.09074722, -7.35011348, -0.55692565,  0.94033882,-10.01622169,
  32.53898587, -2.37422965,  1.01443381, -0.22309834, -9.2209618 ,
 -21.38684507,  5.51740947]

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,
  9.52494275e-03,-1.45514568e-03, 1.82029558e-03,-1.64429216e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005567748239157511
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.99402519e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.99402519e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0951536 , -0.09427553,  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:
[ 2.45368333e-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,
 -4.27959364e-05, 2.77729270e-05,-7.80751810e-05, 1.34983695e-04,
  2.13641186e-06, 5.59473759e-06,-4.90500480e+00, 2.60963703e-04,
  1.18267997e-02,-6.13727114e-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,
  1.28381409, 0.00753463, 1.16918393, 0.04507284, 0.05792917,-0.07893899,
  0.17139769, 0.99961592, 0.02560331,-0.00271265,-0.01025347]

qacc:
[  2.49114295, -2.11471408,  9.44988098,-18.76641544,  1.97552964,
  -2.4229342 ,  7.39437939, -7.5742273 , -6.4603077 ,  0.11148889,
  -1.71518942,  5.87477409, -0.46881792,  0.45426399, 11.92298114,
 -43.42453952,  1.86864157, -1.78875312,  0.25924011, 16.4907647 ,
  17.90136971, -5.90033964]

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,
  9.49140836e-03,-1.47273939e-03, 1.72125932e-03,-1.88678973e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.10842514,  5.19553947, -3.21235543,  5.19553947, 19.13481107,
       21.06837294, -3.21235543, 21.06837294, 40.18359694,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005611480583290612
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89242508e-14, -9.89242508e-14,  1.00000000e+00, -9.78600739e-27,
        1.00000000e+00,  9.89242508e-14, -1.00000000e+00,  0.00000000e+00,
       -9.89242508e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03365898, -0.05342309,  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:
[ 1.48825368e-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,
 -5.05790938e-05,-1.96682149e-05,-1.20435755e-04,-2.45115275e-04,
 -3.25181315e-07,-5.83321659e-07,-4.90500428e+00, 2.61660384e-04,
  1.18292742e-02,-6.10561999e-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,
  1.28407721, 0.00753532, 1.16939059, 0.04506638, 0.0579439 ,-0.07892638,
  0.17139775, 0.99961776, 0.02553449,-0.00264077,-0.01026401]

qacc:
[  1.41863568,  0.13275749,  1.13207968, -6.32109586,  4.33074665,
  -2.28525899,  8.51261847,-14.5565235 ,  1.99943131,  1.41613429,
  -5.44589885,  8.36458642, -0.76826646,  0.92800224, 14.83414154,
 -53.46939956,  1.83381107, -1.7605382 ,  0.07106278, 15.981055  ,
  17.58278105, -5.50029392]

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,
  9.46714296e-03,-1.46572483e-03, 1.67571745e-03,-2.15347595e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005646942481393746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83030222e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.83030222e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03365894, -0.05342632,  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:
[ 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,
 -5.84565575e-05,-8.81100327e-06,-1.28127523e-04,-2.95788039e-04,
  1.52352404e-06, 4.07686228e-06,-4.90500375e+00, 2.62407086e-04,
  1.18266268e-02,-6.08115295e-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,
  1.28434   , 0.00753603, 1.16959622, 0.04505798, 0.05796584,-0.07892071,
  0.17139745, 0.99961878, 0.02549716,-0.00253432,-0.01028393]

qacc:
[  0.77423129,  2.23780085, -7.97454595, 11.28509723, -0.42649079,
   1.7829692 , -5.04641822,  1.92030341,  1.38397966, -1.60562937,
   6.27173558,-10.89249811, -0.35058044,  0.36999849,  4.35158194,
 -17.35882181,  1.80422015, -1.73585537, -0.09222548, 15.55878488,
  17.31185597, -5.17660867]

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,
  9.45911338e-03,-1.46186241e-03, 1.65697407e-03,-2.23672298e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005645634103124131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.8325804e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.8325804e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03365815, -0.05342813,  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:
[ 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,
 -4.40692852e-05,-1.07947226e-05,-1.10521066e-04,-1.16138303e-04,
  6.43453101e-06, 5.52745411e-06,-4.90500400e+00, 2.61725274e-04,
  1.18249855e-02,-6.06429001e-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,
  1.28460259, 0.0075363 , 1.16980131, 0.04504782, 0.05797805,-0.07891079,
  0.17139755, 0.99962029, 0.02544064,-0.00247314,-0.01029217]

qacc:
[  0.41772277,  1.33181711, -6.84050901, 15.33823261, -3.37310333,
   1.85127888, -3.65662836, -4.05566248,  0.80957137, -0.76120115,
   4.44487141,-12.54055938,  0.06173051, -0.43839495,  4.50952351,
 -16.96816051, -2.43433101,  1.06022285,  0.10075512, -9.34898925,
 -22.57080049,  6.44369753]

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,
  9.43952679e-03,-1.49535538e-03, 1.65435839e-03,-2.31765786e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.13617482,  4.88836228, -3.7089831 ,  4.88836228, 21.1286708 ,
       19.75979664, -3.7089831 , 19.75979664, 32.17917419,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000564483145632455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.96679570e-13, -1.96679570e-13,  1.00000000e+00, -3.86828533e-26,
        1.00000000e+00,  1.96679570e-13, -1.00000000e+00,  0.00000000e+00,
       -1.96679570e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09514651, -0.09428523,  0.06198986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52562323e-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,
 -4.76876005e-05,-4.56461250e-05,-6.60590863e-05,-1.01498536e-04,
  1.42491848e-05, 3.99742773e-06,-4.90500503e+00, 2.59755570e-04,
  1.18241829e-02,-6.05479125e-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,
  1.28486486, 0.00753598, 1.17000588, 0.04503996, 0.05798069,-0.07889673,
  0.17139731, 0.99962228, 0.02536498,-0.00245611,-0.01028969]

qacc:
[  6.11193274, -0.6673112 ,  2.72064178, -4.6013608 , -5.06105442,
   0.58529588,  0.11623803, -5.66907649,  0.46525959, -0.0587368 ,
   1.48620716, -6.62368929,  0.35026502, -0.92903912, -7.77423723,
  25.98739232, -2.39200482,  1.03690578, -0.08394857, -9.33265932,
 -22.02623222,  5.94784659]

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,
  9.41300712e-03,-1.53303647e-03, 1.67738971e-03,-2.18357326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.15950966, -3.41315536,  5.12737065, -3.41315536, 47.21001079,
       27.32623551,  5.12737065, 27.32623551, 24.34986365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000567285648769747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.78539671e-14,  9.78539671e-14,  1.00000000e+00, -9.57539888e-27,
        1.00000000e+00, -9.78539671e-14, -1.00000000e+00,  0.00000000e+00,
        9.78539671e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09514408, -0.09428766,  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:
[ 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,
 -6.40763837e-05,-6.04138368e-05,-2.03761769e-05, 1.19579900e-04,
  4.62960921e-06, 3.87444671e-06,-4.90500275e+00, 2.62696805e-04,
  1.18244078e-02,-6.04020720e-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,
  1.28512651, 0.00753576, 1.17020984, 0.04503545, 0.0579739 ,-0.0788786 ,
  0.1713961 , 0.99962475, 0.02527023,-0.00248229,-0.01027725]

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,
 -2.70099429e-01, 2.08853304e-01,-1.09880757e+01, 3.71563509e+01,
 -2.35560093e+00, 1.01744053e+00,-2.43959185e-01,-9.30994059e+00,
 -2.15707872e+01, 5.54933450e+00]

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,
  9.38767084e-03,-1.51966656e-03, 1.65724229e-03,-2.01260059e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005665128677176667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95974900e-13, -1.95974900e-13,  1.00000000e+00, -3.84061613e-26,
        1.00000000e+00,  1.95974900e-13, -1.00000000e+00,  0.00000000e+00,
       -1.95974900e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09514316, -0.09429003,  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:
[-1.35032980e-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,
 -7.37062115e-05,-1.78759745e-05,-1.93666354e-05, 1.74329932e-04,
  2.51850176e-07, 1.33620979e-06,-4.90500171e+00, 2.63992813e-04,
  1.18255396e-02,-6.02201442e-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,
  1.2853873 , 0.00753622, 1.17041375, 0.04503393, 0.05797465,-0.0788676 ,
  0.17139595, 0.99962633, 0.02520878,-0.00247311,-0.0102759 ]

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 , -0.94223019,  1.38786505, -9.08275816,
  31.86524296,  1.88212075, -1.78270217,  0.2659254 , 16.4548587 ,
  17.70449716, -6.03320417]

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,
  9.35243114e-03,-1.47610413e-03, 1.67512498e-03,-1.85695445e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.19691591,  5.3274448 , -3.16545395,  5.3274448 , 18.3239287 ,
       20.40970811, -3.16545395, 20.40970811, 40.5463631 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005717747970394038
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.70856909e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.70856909e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03365505, -0.05343902,  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:
[-4.49724571e-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,
 -7.84176203e-05, 2.13805752e-05, 2.49647313e-05, 1.62132998e-04,
  7.13707099e-07,-3.49701283e-06,-4.90500185e+00, 2.63885224e-04,
  1.18275172e-02,-6.00015562e-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,
  1.28564743, 0.00753696, 1.17061807, 0.04503327, 0.05798277,-0.07886362,
  0.1713961 , 0.99962709, 0.02517959,-0.00242914,-0.01028477]

qacc:
[ -4.5778373 , -3.194527  , 10.98047922,-16.08695755,  5.09079968,
   0.96738074, -5.68976102, 16.24716367, -4.6389974 ,  0.26125002,
  -3.82877557, 14.61668257, -0.67908851,  0.83779111, -1.8840645 ,
   7.61743667,  1.84442798, -1.75464687,  0.07412223, 15.94441498,
  17.42580304, -5.59526356]

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,
  9.31661927e-03,-1.46832319e-03, 1.69449419e-03,-1.81802300e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22033859, -6.20769832,  0.39635049, -6.20769832,  6.46739104,
        3.869371  ,  0.39635049,  3.869371  , 66.82298364,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000574583965092898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93222069e-13,  9.66110344e-14,  1.00000000e+00,  1.86673839e-26,
        1.00000000e+00, -9.66110344e-14, -1.00000000e+00,  0.00000000e+00,
       -1.93222069e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03365426, -0.05344216,  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:
[-2.76984615e-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,
 -7.15028957e-05,-5.28915179e-06, 4.26852561e-05, 4.97983699e-05,
  5.77171407e-08, 5.32796038e-07,-4.90500115e+00, 2.64940642e-04,
  1.18256305e-02,-5.98528149e-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,
  1.28590724, 0.00753704, 1.17082225, 0.04503187, 0.05799814,-0.07886656,
  0.17139587, 0.99962703, 0.02518181,-0.00235086,-0.01030319]

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,  0.1642945 , -0.74359815,  1.97257052,
  -7.2650326 ,  1.81250078, -1.73022646, -0.09194972, 15.52255347,
  17.18598678, -5.24336039]

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,
  9.28580342e-03,-1.51737075e-03, 1.65613170e-03,-1.86591378e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005737283723762504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67551090e-14, -9.67551090e-14,  1.00000000e+00, -9.36155113e-27,
        1.00000000e+00,  9.67551090e-14, -1.00000000e+00,  0.00000000e+00,
       -9.67551090e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03365284, -0.05344389,  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:
[-1.62576094e-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,
 -6.92388052e-05,-6.76313770e-05,-2.06049316e-05,-4.12991439e-05,
  2.46741214e-06, 1.38164945e-06,-4.90500120e+00, 2.64523160e-04,
  1.18247316e-02,-5.97800575e-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,
  1.28616672, 0.00753629, 1.17102585, 0.04503226, 0.05800493,-0.07886598,
  0.17139666, 0.99962737, 0.02516859,-0.00231305,-0.01031079]

qacc:
[ -1.56886493,  2.07948394, -9.50484435, 17.1535273 , -1.22858355,
  -0.61820836,  5.52208443,-15.81051583, -4.49636676, -0.39220159,
   0.6363479 ,  0.92840166,  0.48472928, -1.26391192, -6.33861624,
  20.76413408, -2.14594358,  0.87875377,  0.25197702, -7.50068667,
 -20.17255582,  5.93560185]

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,
  9.26330412e-03,-1.56418422e-03, 1.64174845e-03,-1.76938362e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.18462505,  4.94391627, -3.71581471,  4.94391627, 21.3156222 ,
       20.1318927 , -3.71581471, 20.1318927 , 32.97024266,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005703001799499212
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.29982156e-07, -4.29982156e-07,  1.00000000e+00,  1.84884654e-13,
        1.00000000e+00,  4.29982156e-07, -1.00000000e+00, -2.52435490e-29,
        4.29982156e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09072496, -0.09136924,  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:
[-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,
 -7.57751697e-05,-8.10254285e-05,-3.24592649e-05, 9.06766303e-05,
  7.79000865e-06,-7.27751149e-07,-4.90500203e+00, 2.62785518e-04,
  1.18246506e-02,-5.97808511e-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 ,
  1.28642562, 0.00753545, 1.17122912, 0.04503475, 0.05800221,-0.07886126,
  0.17139696, 0.9996282 , 0.02513619,-0.00231933,-0.01030778]

qacc:
[ -3.82780257, -0.82941461,  4.9095564 ,-13.52167135,  5.27240967,
  -0.34994125,  1.16273038, -0.72413579,  0.30099467,  0.03986749,
   1.01733702, -5.67482251, -0.2285818 ,  0.05017812, -6.823448  ,
  23.1962344 , -2.37736302,  1.03609776, -0.12254059, -9.35545745,
 -21.99724053,  5.88333775]

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,
  9.24580658e-03,-1.55597135e-03, 1.64179802e-03,-1.65943673e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.19868936, -4.00437059,  4.73167687, -4.00437059, 27.53070901,
       18.05307387,  4.73167687, 18.05307387, 21.47682436,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005719875386899914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70495815e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.70495815e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09513329, -0.09430251,  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:
[-2.29709181e-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,
 -7.72008230e-05,-3.12428545e-05,-7.48392004e-06, 1.10218592e-04,
  1.80857421e-06, 4.95272803e-07,-4.90500064e+00, 2.64734819e-04,
  1.18242366e-02,-5.97411148e-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,
  1.28668397, 0.00753463, 1.17143236, 0.04503785, 0.05799114,-0.07885317,
  0.17139701, 0.99962943, 0.02508829,-0.00236431,-0.01029542]

qacc:
[  0.7068911 , -2.92991425, 14.58917677,-32.54757376,  3.22647797,
   0.84609248, -4.35484828, 10.53609816,  3.28706086,  1.41537227,
  -3.92012142,  1.38535017, -0.39230166,  0.34038454, -1.85171743,
   6.49058253, -2.08677553,  0.84420723, -0.06154761, -7.53842231,
 -19.30312462,  5.17752402]

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,
  9.22601932e-03,-1.55065613e-03, 1.63985346e-03,-1.63123013e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005701877222724488
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.04201765e-07, -7.04201862e-07,  1.00000000e+00,  4.95900194e-13,
        1.00000000e+00,  7.04201862e-07, -1.00000000e+00, -1.00974196e-28,
        7.04201765e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09072181, -0.09137404,  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:
[ 4.18990082e-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,
 -6.79732247e-05,-2.12912014e-05, 2.54718997e-06, 3.24104367e-05,
  3.36550585e-08,-2.96446748e-07,-4.90500025e+00, 2.65347611e-04,
  1.18246719e-02,-5.96644768e-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,
  1.28694181, 0.00753384, 1.17163554, 0.04504323, 0.05798753,-0.07885212,
  0.17139767, 0.9996298 , 0.02507317,-0.00237436,-0.01029387]

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,
 -0.26254107, 0.19645787,-6.96059134,24.26394975, 1.86393809,-1.76173607,
  0.15314853,16.1984779 ,17.4878533 ,-5.88432082]

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,
  9.20487556e-03,-1.54714538e-03, 1.65800045e-03,-1.50939539e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.21723048,  5.35942104, -3.15127926,  5.35942104, 17.98032783,
       20.00565047, -3.15127926, 20.00565047, 40.24109674,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005742112697180862
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03364735, -0.05345293,  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:
[-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,
 -6.21616180e-05,-1.81895246e-05, 1.77263543e-05, 1.22787873e-04,
  2.50413559e-06,-2.90438406e-06,-4.90500079e+00, 2.64724357e-04,
  1.18258394e-02,-5.95587314e-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,
  1.28719907, 0.00753357, 1.17183828, 0.0450498 , 0.05799123,-0.07885801,
  0.17139824, 0.99962935, 0.02508988,-0.00234999,-0.01030233]

qacc:
[-6.17375650e+00, 3.04744163e+00,-1.39627477e+01, 2.94731340e+01,
  3.52541893e-01,-1.29017200e+00, 4.32235893e+00,-5.69835806e+00,
  3.08526732e+00, 5.17002594e-01,-1.07951453e-01,-2.80546769e+00,
 -7.06852426e-01, 1.05653177e+00,-4.21572093e+00, 1.39352144e+01,
  1.82852197e+00,-1.73673032e+00,-2.35545922e-02, 1.57305391e+01,
  1.72405185e+01,-5.47546013e+00]

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,
  9.18826052e-03,-1.50924005e-03, 1.61364517e-03,-1.45756482e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005748116496459427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.65727665e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.65727665e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03364598, -0.05345541,  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:
[-3.69689625e-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,
 -5.33242690e-05, 1.81807212e-05,-2.80252949e-05, 5.96943794e-05,
  1.22416751e-07,-1.98673174e-07,-4.90500009e+00, 2.65760289e-04,
  1.18249583e-02,-5.95214939e-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 ,
  1.287456  , 0.00753343, 1.17203968, 0.04505811, 0.05800212,-0.07887077,
  0.17139811, 0.9996281 , 0.02513764,-0.00229163,-0.01032016]

qacc:
[  5.31306143,  3.31765885,-16.46159151, 37.9489528 ,  3.31139473,
  -2.85778558,  9.59466072,-11.62663236,  4.77851884,  0.10768752,
  -0.52398555,  4.32784789, -0.13752613,  0.15690702, -7.19840647,
  22.35924428,  1.79862421, -1.71513251, -0.17609539, 15.34555224,
  17.02793082, -5.14872795]

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,
  9.17438766e-03,-1.50445073e-03, 1.52650023e-03,-1.37655431e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005721803277787402
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70168818e-14, -9.70168818e-14,  1.00000000e+00, -9.41227536e-27,
        1.00000000e+00,  9.70168818e-14, -1.00000000e+00,  0.00000000e+00,
       -9.70168818e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03364411, -0.05345661,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.19594792e-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,
 -3.81690877e-05,-2.61241887e-06,-9.69255074e-05, 7.99281660e-05,
  7.69932218e-07,-5.80119273e-07,-4.90500014e+00, 2.65346208e-04,
  1.18249601e-02,-5.95591271e-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,
  1.28771268, 0.00753291, 1.17224031, 0.04506593, 0.05800335,-0.07887929,
  0.17139823, 0.99962735, 0.0251661 ,-0.00227853,-0.01032646]

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,  0.07842298, -0.42733887,  0.28812198,
  -2.71920389, -2.41761488,  1.06049137,  0.0645768 , -9.40518347,
 -22.57274469,  6.35476999]

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,
  9.14618023e-03,-1.53710442e-03, 1.48833731e-03,-1.40332270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.19235044,  4.97352752, -3.68906872,  4.97352752, 21.3768486 ,
       20.47143204, -3.68906872, 20.47143204, 33.79151937,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005712270920474605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71787788e-14,  9.71787788e-14,  1.00000000e+00,  9.44371505e-27,
        1.00000000e+00, -9.71787788e-14, -1.00000000e+00,  0.00000000e+00,
       -9.71787788e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09512564, -0.09431478,  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:
[ 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,
 -5.04443881e-05,-4.15675583e-05,-7.32214097e-05,-3.46451194e-05,
  4.30612730e-06,-3.84855140e-06,-4.90500097e+00, 2.63625775e-04,
  1.18257005e-02,-5.96694101e-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 ,
  1.28796895, 0.0075323 , 1.17244079, 0.04506964, 0.05799506,-0.07888366,
  0.17139789, 0.99962709, 0.02517535,-0.00230956,-0.01032216]

qacc:
[  5.77984132, -0.47311067,  1.13023851, -0.54861023, -3.81474987,
   1.32562015, -6.36106151, 12.72526374, -7.81485026,  0.92883458,
  -4.74788198, 10.87782176, -0.55308897,  0.5293481 , 12.29644256,
 -43.21704749, -2.37785935,  1.03651037, -0.11635618, -9.37156724,
 -22.01926009,  5.878312  ]

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,
  9.12535487e-03,-1.53850802e-03, 1.46891060e-03,-1.61750432e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.20678778, -3.13584068,  5.3563717 , -3.13584068, 49.13173095,
       25.13003023,  5.3563717 , 25.13003023, 20.91894283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000572958921287961
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68850456e-14,  1.93770091e-13,  1.00000000e+00,  1.87734241e-26,
        1.00000000e+00, -1.93770091e-13, -1.00000000e+00,  0.00000000e+00,
       -9.68850456e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09512331, -0.09431723,  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:
[ 3.46507306e-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,
 -5.87594656e-05,-2.37498854e-05,-5.80352569e-05,-2.25790085e-04,
  2.08790123e-07,-5.16786140e-07,-4.90500012e+00, 2.65050434e-04,
  1.18244870e-02,-5.97310068e-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,
  1.28822455, 0.00753223, 1.17264097, 0.04507101, 0.0579774 ,-0.07888396,
  0.17139646, 0.99962731, 0.02516546,-0.00238376,-0.010308  ]

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 , -1.04323206,  1.47058236,  6.72783977,
 -23.93214152, -2.34375713,  1.01632157, -0.27288057, -9.33424574,
 -21.5588486 ,  5.49860939]

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,
  9.09833048e-03,-1.50355367e-03, 1.47134851e-03,-1.72727000e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005712488368793123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.71750797e-14, -1.94350159e-13,  1.00000000e+00,  1.88859922e-26,
        1.00000000e+00,  1.94350159e-13, -1.00000000e+00,  0.00000000e+00,
        9.71750797e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09512249, -0.09431963,  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:
[ 2.04016705e-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,
 -6.54379527e-05, 1.55858782e-05,-5.24784290e-05,-1.30513498e-04,
  1.18614471e-06, 2.94976688e-07,-4.90500039e+00, 2.64922286e-04,
  1.18243007e-02,-5.97562109e-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 ,
  1.28847961, 0.00753254, 1.17284096, 0.04507161, 0.05796723,-0.07889134,
  0.17139579, 0.99962667, 0.02518859,-0.00242299,-0.01030493]

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,
 -0.73496719, 1.02915189, 2.1146804 ,-7.64459373, 1.8719572 ,-1.76778298,
  0.19072063,16.32064405,17.51288567,-6.02740326]

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,
  9.07827620e-03,-1.48286644e-03, 1.48692382e-03,-1.75677076e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.19718621,  5.34364129, -3.13856889,  5.34364129, 17.79834324,
       19.75181168, -3.13856889, 19.75181168, 39.82607888,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005718072219331183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70801856e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.70801856e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03363805, -0.05346569,  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:
[ 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,
 -5.22819838e-05, 1.01516767e-05,-2.63835795e-05,-4.42467003e-05,
  6.86294686e-06,-1.27098812e-06,-4.90500173e+00, 2.63461675e-04,
  1.18250566e-02,-5.97445459e-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,
  1.28873445, 0.00753257, 1.17304039, 0.04507253, 0.0579644 ,-0.07890568,
  0.17139515, 0.99962519, 0.02524377,-0.00242776,-0.0103121 ]

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,
  7.81045574e-02,-3.56875719e-01,-1.80911458e+00, 5.09378002e+00,
  1.83488970e+00,-1.74290667e+00, 9.16564883e-03, 1.58376314e+01,
  1.72623630e+01,-5.60086742e+00]

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,
  9.06241573e-03,-1.50632007e-03, 1.46245080e-03,-1.73874394e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.20922662, -6.17345901,  0.66550658, -6.17345901,  6.91825038,
        6.57713881,  0.66550658,  6.57713881, 67.22094056,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005732514226346047
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68356101e-14, -9.68356101e-14,  1.00000000e+00, -9.37713538e-27,
        1.00000000e+00,  9.68356101e-14, -1.00000000e+00,  0.00000000e+00,
       -9.68356101e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03363677, -0.05346853,  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:
[-1.10432560e-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,
 -4.17735998e-05,-3.26502408e-05,-4.55221376e-05, 1.12760392e-05,
  1.85953928e-06, 1.02911985e-06,-4.90500074e+00, 2.64858565e-04,
  1.18249635e-02,-5.97999527e-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,
  1.28898878, 0.00753247, 1.17323952, 0.04507392, 0.05796878,-0.07892692,
  0.17139393, 0.9996229 , 0.0253302 ,-0.00239849,-0.01032886]

qacc:
[ -7.1128872 , -2.08733312, 11.58092575,-28.61938125, -4.76899104,
  -1.79905778,  8.7449883 ,-18.01855217,  8.73734143, -1.38788724,
   5.07489827, -9.50630912, -0.25450975,  0.07707853, -1.8681584 ,
   5.92581521,  1.80349213, -1.72141186, -0.14780467, 15.4406998 ,
  17.04579983, -5.26148155]

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,
  9.02243426e-03,-1.52023325e-03, 1.46192075e-03,-1.71073522e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005713175340938265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71633950e-14, -9.71633950e-14,  1.00000000e+00, -9.44072533e-27,
        1.00000000e+00,  9.71633950e-14, -1.00000000e+00,  0.00000000e+00,
       -9.71633950e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03363496, -0.05347001,  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:
[-4.27013735e-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,
 -7.06441146e-05,-3.20862621e-05,-2.24038368e-05, 2.22846207e-05,
 -4.96593160e-08, 1.93906408e-07,-4.90500052e+00, 2.64734862e-04,
  1.18257382e-02,-5.99308784e-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  ,
  1.28924262, 0.0075322 , 1.17343911, 0.0450745 , 0.05796347,-0.07894391,
  0.171393  , 0.9996211 , 0.02539736,-0.00241458,-0.01033396]

qacc:
[ -4.33196594, -1.22979537,  6.85074499,-17.22724423, -2.87746525,
   0.68384989, -2.28858631,  3.45441744, -0.52931895,  1.0431732 ,
  -4.14037294,  6.53894537, -0.361525  ,  0.20598309,  3.15717429,
 -10.01349869, -2.42126699,  1.05862131,  0.07386005, -9.38425942,
 -22.61550281,  6.42928557]

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,
  8.99996856e-03,-1.52845758e-03, 1.50238235e-03,-1.74803145e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.20915866,  4.98883984, -3.69663744,  4.98883984, 21.2372345 ,
       20.28131364, -3.69663744, 20.28131364, 33.58004017,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005732432724757236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.93673974e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.93673974e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09511508, -0.09432955,  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:
[-2.60055112e-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,
 -6.78352591e-05,-3.32997263e-05, 2.88398094e-05,-3.97877888e-05,
  9.83170275e-07,-3.56580282e-06,-4.90500109e+00, 2.63247910e-04,
  1.18272395e-02,-6.01350206e-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,
  1.28949595, 0.00753205, 1.17363852, 0.04507537, 0.05794864,-0.07895678,
  0.17139163, 0.9996198 , 0.02544536,-0.00247487,-0.01032832]

qacc:
[  0.46727172, -1.71463527,  9.65234166,-23.01255192,  1.38628694,
   1.04374858, -3.8131483 ,  5.34470417, -0.5363858 ,  1.72884438,
  -3.80659891, -0.86115922, -0.45316685,  0.4907185 , -1.06837965,
   3.47104414, -2.38155141,  1.03379602, -0.10910956, -9.34765069,
 -22.05806475,  5.95399305]

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,
  8.98270306e-03,-1.51543683e-03, 1.48749533e-03,-1.73464747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22385065, -3.16490442,  5.35907613, -3.16490442, 48.30822401,
       24.85372774,  5.35907613, 24.85372774, 20.90169264,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005750050743889845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65402806e-14, -9.65402806e-14,  1.00000000e+00, -9.32002578e-27,
        1.00000000e+00,  9.65402806e-14, -1.00000000e+00,  0.00000000e+00,
       -9.65402806e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0951127 , -0.09433204,  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:
[ 2.80907326e-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,
 -6.08252599e-05,-1.20117543e-05,-1.28289391e-05, 1.33355588e-05,
  1.93734892e-07, 1.13986809e-06,-4.90500112e+00, 2.63835106e-04,
  1.18254161e-02,-6.02922007e-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,
  1.28974869, 0.00753229, 1.17383733, 0.04507548, 0.05792442,-0.07896559,
  0.17138919, 0.99961896, 0.02547427,-0.00257842,-0.01031268]

qacc:
[  0.44994669, -3.3147958 , 13.58670075,-22.47186549, -2.09151057,
   0.59785484, -2.23152039,  2.95228006,  2.56415162,  2.16589349,
  -3.59746579, -5.36912002, -0.75100605,  1.03321539,  1.44276494,
  -6.18225643, -2.3475197 ,  1.01281217, -0.26742153, -9.30724279,
 -21.59481288,  5.57668746]

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,
  8.95792601e-03,-1.48987746e-03, 1.43411264e-03,-1.78039188e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005732879434672128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68294412e-14, -9.68294412e-14,  1.00000000e+00, -9.37594069e-27,
        1.00000000e+00,  9.68294412e-14, -1.00000000e+00,  0.00000000e+00,
       -9.68294412e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09511186, -0.09433446,  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:
[ 2.54800341e-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,
 -6.00709623e-05, 8.17578169e-06,-6.21598237e-05,-4.76314803e-05,
  4.41148508e-06, 3.27931453e-06,-4.90500219e+00, 2.62887875e-04,
  1.18246816e-02,-6.04131023e-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,
  1.29000107, 0.00753254, 1.17403551, 0.04507274, 0.0579077 ,-0.0789815 ,
  0.17138762, 0.99961724, 0.02553641,-0.00264699,-0.01030839]

qacc:
[  6.25517459, -1.88216873,  4.30703774,  2.53242239, -4.28678751,
   0.67333709, -4.3478255 , 10.94194242, -4.32262819,  2.49935394,
  -9.36525866, 16.20683512, -0.46436001,  0.48948411,  7.76981741,
 -28.42890097,  1.87404507, -1.77599296,  0.2154242 , 16.42671895,
  17.51507774, -6.16968589]

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,
  8.93931845e-03,-1.49262680e-03, 1.38430712e-03,-1.93170305e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.20741343,  5.34788457, -3.15152537,  5.34788457, 17.68060426,
       19.46908024, -3.15152537, 19.46908024, 39.24487362,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005730339597701112
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03362908, -0.05348002,  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:
[ 3.73561831e-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,
 -4.96504559e-05,-1.40553052e-05,-8.58865130e-05,-1.62429459e-04,
  1.32745097e-05, 3.00409430e-06,-4.90500430e+00, 2.60618587e-04,
  1.18249397e-02,-6.04972708e-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,
  1.29025296, 0.00753284, 1.17423228, 0.04507155, 0.05789831,-0.07900443,
  0.17138616, 0.99961467, 0.0256308 ,-0.00268108,-0.0103146 ]

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, -0.21255762,  0.14650824, -6.77412644,
  20.70877293,  1.83565728, -1.75116383,  0.02979977, 15.93422613,
  17.25917907, -5.73511708]

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,
  8.90843666e-03,-1.49438530e-03, 1.33667161e-03,-1.84214818e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22250851, -6.17628455,  0.75704778, -6.17628455,  7.10606414,
        7.20838379,  0.75704778,  7.20838379, 65.03125261,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005748441496197243
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65673066e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.65673066e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03362781, -0.05348304,  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:
[ 5.30241656e-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,
 -6.24080531e-05,-1.62519277e-05,-1.06375797e-04, 6.92225277e-05,
  5.63337517e-06, 4.87958424e-06,-4.90500300e+00, 2.62381118e-04,
  1.18256965e-02,-6.06471540e-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,
  1.29050427, 0.00753319, 1.17442777, 0.04506783, 0.05789615,-0.07903426,
  0.17138419, 0.99961127, 0.02575662,-0.00268116,-0.01033064]

qacc:
[ -2.5637677 ,  4.59979495,-17.06957702, 26.80850927, -3.20527662,
  -3.03640706, 13.49897751,-26.31060055, -4.53834034, -0.59193837,
   3.59152892,-10.15182951, -0.59591904,  0.61621584,  5.80538491,
 -22.94409787,  1.80306272, -1.72974084, -0.13077754, 15.53002867,
  17.03727593, -5.3907158 ]

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,
  8.87021411e-03,-1.49558659e-03, 1.23717287e-03,-1.98415218e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005731785745219514
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.93695835e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.93695835e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03362602, -0.05348466,  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:
[-1.51210661e-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,
 -7.66326913e-05,-1.94936101e-05,-1.39775713e-04,-1.51574389e-04,
  1.14626217e-06, 3.57817873e-06,-4.90500248e+00, 2.62552349e-04,
  1.18273027e-02,-6.08731635e-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,
  1.29075509, 0.00753351, 1.17462182, 0.04506175, 0.05788428,-0.0790599 ,
  0.17138247, 0.99960835, 0.02586329,-0.00272662,-0.0103348 ]

qacc:
[  4.33604473,  2.83004115,-10.18701482, 15.79859599, 10.42446444,
  -1.34151876,  3.33097372,  0.65960343,  0.22774503, -0.98039845,
   4.5584197 , -9.55614123, -0.44164884,  0.39056925,  5.02026628,
 -20.58279439, -2.4233653 ,  1.05091675,  0.0644165 , -9.32133755,
 -22.63295064,  6.54757813]

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,
  8.84891635e-03,-1.49648036e-03, 1.16517956e-03,-2.10185417e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22065711,  5.00142898, -3.69895701,  5.00142898, 20.88412708,
       19.82675211, -3.69895701, 19.82675211, 33.02877962,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005746221576472393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.66046131e-14,  9.66046131e-14,  1.00000000e+00, -9.33245128e-27,
        1.00000000e+00, -9.66046131e-14, -1.00000000e+00,  0.00000000e+00,
        9.66046131e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09510454, -0.09434461,  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:
[ 2.62059929e-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,
 -6.91401138e-05,-2.28875555e-05,-1.51713474e-04,-1.43740367e-04,
 -3.50948019e-07,-6.80127291e-07,-4.90500277e+00, 2.61301157e-04,
  1.18296235e-02,-6.11729454e-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,
  1.29100545, 0.00753379, 1.17481506, 0.04505673, 0.05786288,-0.07908143,
  0.17138027, 0.9996059 , 0.02595092,-0.00281635,-0.01032801]

qacc:
[ -0.23378531, -1.88193467, 10.8652175 ,-26.17502899,  9.57184252,
   1.93234897, -9.0008133 , 18.94643914,  9.09905918, -2.2446676 ,
   6.59449532, -4.45521151, -0.21526353,  0.10740316, -4.34594577,
  13.52259216, -2.3842545 ,  1.02557675, -0.11800836, -9.28485113,
 -22.0777031 ,  6.07425263]

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,
  8.83246046e-03,-1.49712441e-03, 1.18963723e-03,-2.02661171e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.23328621, -3.19705206,  5.3509546 , -3.19705206, 47.64169128,
       24.74041303,  5.3509546 , 24.74041303, 21.0150204 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005761363074574533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92701451e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.92701451e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09510221, -0.09434717,  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:
[-1.39049140e-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,
 -6.13093146e-05,-2.16959449e-05,-5.90303935e-05, 4.83042518e-05,
  2.20394554e-06, 5.44620857e-06,-4.90500371e+00, 2.61047108e-04,
  1.18271330e-02,-6.14275901e-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,
  1.29125547, 0.00753378, 1.17500774, 0.04504997, 0.05783208,-0.07909895,
  0.17137698, 0.9996039 , 0.02601958,-0.00294941,-0.01031099]

qacc:
[ -6.16556006, -0.48625553,  6.16586888,-20.93800119,  2.69287182,
   1.20125191, -5.42810985, 11.09833734,  5.59029146, -1.03931044,
   0.94052428,  6.89025168, -0.14640117, -0.1089609 ,  4.41877602,
 -16.66631229, -2.35079498,  1.0040856 , -0.2758261 , -9.24405831,
 -21.61694852,  5.70005381]

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,
  8.81359897e-03,-1.51535812e-03, 1.14414013e-03,-2.12210901e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005741997736441184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66756759e-14,  9.66756759e-14,  1.00000000e+00,  9.34618631e-27,
        1.00000000e+00, -9.66756759e-14, -1.00000000e+00,  0.00000000e+00,
       -9.66756759e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09510142, -0.09434965,  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:
[-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,
 -5.72956037e-05,-3.80687687e-05,-6.87930304e-05,-1.00703588e-04,
  9.69453931e-06, 8.96886863e-06,-4.90500563e+00, 2.59266065e-04,
  1.18257946e-02,-6.16462688e-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,
  1.2915051 , 0.00753356, 1.17519976, 0.04504176, 0.05780876,-0.07912362,
  0.17137462, 0.999601  , 0.02612172,-0.0030475 ,-0.01030567]

qacc:
[ -0.80476781, -0.6171578 ,  4.5055483 ,-12.93358331,  1.46550549,
   0.7361818 , -1.00852136, -2.40639681,  0.25855727, -0.11478177,
   1.86870683, -8.02727577, -0.22033879,  0.01981106,  3.43272387,
 -13.38296365,  1.87207009, -1.78717771,  0.23472995, 16.54669137,
  17.49261204, -6.35360524]

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,
  8.79329926e-03,-1.52611608e-03, 1.11526209e-03,-2.19341372e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.23050413,  5.36253133, -3.17213484,  5.36253133, 17.59784032,
       19.21661577, -3.17213484, 19.21661577, 38.7164195 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005758027808105554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03362013, -0.05349521,  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:
[-4.79711390e-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,
 -6.10909573e-05,-3.37788888e-05,-7.32803948e-05,-8.60788700e-05,
  2.17758219e-05, 1.00467494e-05,-4.90500852e+00, 2.56161611e-04,
  1.18255010e-02,-6.18285396e-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,
  1.29175401, 0.00753356, 1.1753918 , 0.0450316 , 0.0577952 ,-0.07914734,
  0.1713745 , 0.99959824, 0.02621967,-0.00310265,-0.01030863]

qacc:
[  2.61507299, -0.04905276, -0.4989636 ,  2.12070846, -2.20738577,
   1.24484297, -4.66902904,  8.43736555, -8.85930802,  2.23824343,
  -5.35727081, -2.73606614, -0.87902968,  1.04481764,  6.02380721,
 -20.83106024,  2.43885348,  0.23534843,  0.55896422, -2.3334469 ,
  21.331508  , -4.68927689]

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,
  8.75085053e-03,-1.51459768e-03, 1.13899001e-03,-2.28529992e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  6.26837566,  -3.36647338,  -5.28766398,  -3.36647338,
        40.79065433, -21.97914475,  -5.28766398, -21.97914475,
        20.26173944,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005803417731529842
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56525168e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.56525168e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02694875, -0.08231522,  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:
[ 1.56742406e-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,
 -8.42446875e-05,-1.12301815e-05,-2.08709471e-05,-1.06358249e-04,
  1.14797215e-05, 1.14881868e-05,-4.90500690e+00, 2.58317090e-04,
  1.18271748e-02,-6.20752137e-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,
  1.29200225, 0.0075337 , 1.17558337, 0.04502371, 0.05779118,-0.07917017,
  0.17137575, 0.99959563, 0.02631325,-0.00311559,-0.01031931]

qacc:
[ -1.32938098,  3.36579104,-15.45793113, 30.13435594, -4.43972396,
   2.82494193,-13.30542342, 28.46753212,-11.34723742,  1.82802289,
  -8.16881737, 14.54317367, -0.41740892,  0.41384698, -7.55118847,
  25.46761809,  2.3837444 ,  0.22372621,  0.34224738, -2.41491412,
  20.96995895, -4.40709534]

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,
  8.72178608e-03,-1.50782612e-03, 1.14631184e-03,-2.15766810e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005845652562018605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.49614276e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.49614276e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0269487 , -0.08231726,  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:
[-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,
 -7.69512745e-05,-1.57575749e-05,-1.88255241e-05, 1.18013875e-04,
  3.40271262e-06, 6.17695569e-06,-4.90500360e+00, 2.58667648e-04,
  1.18287378e-02,-6.23104229e-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,
  1.2922501 , 0.00753382, 1.17577475, 0.04502031, 0.0577965 ,-0.07919214,
  0.17137761, 0.99959318, 0.02640233,-0.00308698,-0.01033728]

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,
  3.13766737e-02,-1.85370861e-01,-1.38666602e+01, 4.80746422e+01,
  2.33696926e+00, 2.13976047e-01, 1.54912013e-01,-2.47380765e+00,
  2.06561118e+01,-4.18274310e+00]

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,
  8.71674898e-03,-1.50390086e-03, 1.17578898e-03,-1.91952371e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005847571427266413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.49302662e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.49302662e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02694764, -0.08231896,  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:
[-5.82177208e-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,
 -4.94602669e-05,-1.84268491e-05, 3.04194332e-05, 2.41550152e-04,
 -2.77546247e-08, 1.13079758e-06,-4.90500168e+00, 2.57916898e-04,
  1.18298263e-02,-6.25332770e-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,
  1.29249749, 0.00753398, 1.17596635, 0.0450201 , 0.05781102,-0.07921329,
  0.17137946, 0.9995909 , 0.02648683,-0.00301733,-0.0103622 ]

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,
 -1.69364547e-01, 1.02019857e-01,-9.32234293e+00, 3.31074845e+01,
  2.29758294e+00, 2.05774527e-01,-6.23009164e-03,-2.51593957e+00,
  2.03869472e+01,-4.00521255e+00]

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,
  8.69417455e-03,-1.50157953e-03, 1.19192161e-03,-1.76021621e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005817072277473495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.54279895e-14, -7.15709921e-14,  1.00000000e+00, -6.82987589e-27,
        1.00000000e+00,  7.15709921e-14, -1.00000000e+00,  0.00000000e+00,
       -9.54279895e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02694578, -0.0823204 ,  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:
[-1.74275455e-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,
 -5.20142119e-05,-1.47601759e-05, 5.19167827e-05, 1.75536205e-04,
  9.40556267e-07,-3.61966263e-06,-4.90500105e+00, 2.56190795e-04,
  1.18304685e-02,-6.27432743e-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,
  1.29274434, 0.00753423, 1.17615833, 0.04502215, 0.05782548,-0.07923169,
  0.17138401, 0.99958889, 0.02656112,-0.00294889,-0.01038531]

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,
 -3.51686179e-01, 3.31304127e-01,-6.24374889e+00, 2.27235544e+01,
 -1.30351769e-02, 6.89662673e-01, 6.78458269e-01,-5.09938273e+00,
 -6.26197060e-01, 9.31774530e-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,
  8.66109627e-03,-1.50027877e-03, 1.21066904e-03,-1.64871098e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.23234821,  6.04826883, -1.50353198,  6.04826883,  9.48874735,
       13.0995401 , -1.50353198, 13.0995401 , 58.92796172,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005760238578897384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.60697452e-07, -2.89108604e-13,  1.00000000e+00, -4.64590161e-20,
        1.00000000e+00,  2.89108604e-13, -1.00000000e+00,  0.00000000e+00,
       -1.60697452e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06054336, -0.08826054,  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:
[ 6.20394354e-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,
 -6.28522523e-05,-1.54670719e-05, 5.55127484e-05, 1.26451593e-04,
  6.10990847e-06,-8.05791769e-06,-4.90500166e+00, 2.53581496e-04,
  1.18306875e-02,-6.29400543e-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,
  1.29299075, 0.00753446, 1.17635056, 0.04502623, 0.05783027,-0.07924596,
  0.17138841, 0.99958736, 0.02661682,-0.00292451,-0.01039694]

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, -0.20934872,  0.12152769, -5.76482805,
  20.73257092, -2.41709806,  1.03077267, -0.03884782, -9.04699265,
 -21.9667032 ,  6.35679176]

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,
  8.64304375e-03,-1.49964869e-03, 1.22031141e-03,-1.54847796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005787959378440177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.59079835e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.59079835e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09509083, -0.09437041,  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:
[ 2.11450322e-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,
 -5.37917655e-05,-1.88666845e-05, 4.19825685e-05, 1.12763311e-04,
  5.90597789e-06,-6.96304684e-06,-4.90500151e+00, 2.53372718e-04,
  1.18294919e-02,-6.31070099e-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,
  1.2932368 , 0.00753467, 1.17654291, 0.04503121, 0.05782555,-0.0792562 ,
  0.17139199, 0.99958631, 0.02665396,-0.0029433 ,-0.01039791]

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, -0.20491604,  0.12391248, -2.51944588,
   9.10467316, -2.37698777,  1.00717395, -0.20774626, -9.04782014,
 -21.52810912,  5.93352273]

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,
  8.62869094e-03,-1.49936004e-03, 1.21383732e-03,-1.50894250e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005779033918904275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.6056109e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.6056109e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09509031, -0.09437335,  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:
[-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,
 -4.63751189e-05,-1.78534497e-05, 1.89169089e-05, 4.97332360e-05,
  7.14227217e-07,-1.88009276e-06,-4.90500049e+00, 2.55217946e-04,
  1.18275067e-02,-6.32300245e-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,
  1.29348236, 0.00753514, 1.17673551, 0.04503464, 0.05781147,-0.07926249,
  0.17139414, 0.99958572, 0.02667255,-0.0030045 ,-0.01038887]

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, -0.70164412,  0.91857468,  5.08526309,
 -17.10711975, -2.34299189,  0.98742265, -0.35296719, -9.03879443,
 -21.16154481,  5.59683646]

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,
  8.60591533e-03,-1.48149388e-03, 1.20834757e-03,-1.59426586e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005740233596420591
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67053872e-14,  9.67053872e-14,  1.00000000e+00,  9.35193191e-27,
        1.00000000e+00, -9.67053872e-14, -1.00000000e+00,  0.00000000e+00,
       -9.67053872e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09509096, -0.09437613,  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:
[-3.91781904e-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,
 -5.11928361e-05, 2.02345896e-06, 3.27688310e-06,-8.13807529e-05,
  3.91605888e-07, 7.91782464e-07,-4.90500050e+00, 2.55522010e-04,
  1.18265479e-02,-6.33180537e-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,
  1.29372725, 0.00753637, 1.17692773, 0.04503711, 0.05778812,-0.07926489,
  0.17139439, 0.9995856 , 0.02667263,-0.0031075 ,-0.01037034]

qacc:
[ -6.86501078, -2.36202386,  8.39441417, -9.29754261,  0.75430909,
  -1.29732136,  8.03964739,-21.41161129, -2.00490997, -0.09191173,
   0.51257311, -0.6791236 , -1.09467497,  1.67789284,  2.48176056,
  -9.22880234, -2.31446649,  0.97097458, -0.47732973, -9.02477412,
 -20.85758954,  5.32966864]

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,
  8.57811061e-03,-1.43562088e-03, 1.17680398e-03,-1.64591138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000567795069259247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77661735e-14, -9.77661735e-14,  1.00000000e+00, -9.55822467e-27,
        1.00000000e+00,  9.77661735e-14, -1.00000000e+00,  0.00000000e+00,
       -9.77661735e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09509254, -0.09437879,  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:
[-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,
 -5.46666274e-05, 3.45620795e-05,-4.46272230e-05,-5.70203662e-05,
  4.63389234e-06, 1.16490460e-06,-4.90500152e+00, 2.54477017e-04,
  1.18265390e-02,-6.33705770e-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  ,
  1.29397158, 0.00753839, 1.17711904, 0.04503934, 0.05777431,-0.07926638,
  0.17139613, 0.9995856 , 0.02666918,-0.00316769,-0.01036109]

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, -0.95255859,  1.54746102, -0.50695132,
   0.05667716,  2.38309581,  0.23039835,  0.37204537, -2.0064522 ,
  21.24911494, -5.2025286 ]

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,
  8.55797335e-03,-1.39128905e-03, 1.12434919e-03,-1.65955385e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.16551238,  6.12322565, -0.72086793,  6.12322565,  6.79180778,
        5.31990385, -0.72086793,  5.31990385, 51.35405596,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005680063022904247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77298157e-14, -2.44324539e-14,  1.00000000e+00, -2.38777922e-27,
        1.00000000e+00,  2.44324539e-14, -1.00000000e+00,  0.00000000e+00,
       -9.77298157e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02693799, -0.08233236,  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:
[-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,
 -4.17733199e-05, 4.13195630e-05,-8.24956350e-05,-2.32581240e-05,
  1.32130396e-05,-6.71685342e-07,-4.90500354e+00, 2.52222261e-04,
  1.18274214e-02,-6.33872378e-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,
  1.29421582, 0.00754035, 1.17730968, 0.04503609, 0.05776985,-0.07926698,
  0.17139861, 0.99958574, 0.02666188,-0.00318584,-0.01036035]

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, -0.3794633 ,  0.425628  , 15.62281073,
 -56.0059979 ,  2.33731958,  0.21955067,  0.1854548 , -2.15334876,
  20.8831411 , -4.80889035]

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,
  8.55310312e-03,-1.40147423e-03, 1.04875734e-03,-1.95252664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005699893696995417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73898009e-14, -2.43474502e-14,  1.00000000e+00, -2.37119333e-27,
        1.00000000e+00,  2.43474502e-14, -1.00000000e+00,  0.00000000e+00,
       -9.73898009e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02693803, -0.08233516,  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:
[ 3.31598405e-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,
 -1.85983816e-05,-8.07754892e-06,-1.16953294e-04,-3.05041995e-04,
  4.47227980e-06,-4.52357889e-07,-4.90500117e+00, 2.54428571e-04,
  1.18278992e-02,-6.33805579e-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 ,
  1.29446008, 0.0075415 , 1.17749889, 0.04503036, 0.05777458,-0.07926675,
  0.17140118, 0.99958605, 0.02665051,-0.00316258,-0.01036752]

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,  0.48037667, -1.12644344,  5.31943538,
 -21.81772144,  2.29846888,  0.2107648 ,  0.02438083, -2.26641155,
  20.57063925, -4.49426471]

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,
  8.53074121e-03,-1.46159351e-03, 9.85923853e-04,-2.07046278e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005685856404290257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.88151189e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.88151189e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0269371 , -0.08233746,  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:
[ 3.89204975e-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,
 -3.69764305e-05,-6.52294140e-05,-1.50234923e-04,-1.49880010e-04,
  4.01018602e-07,-1.67594574e-07,-4.90500012e+00, 2.55374691e-04,
  1.18279970e-02,-6.33632041e-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 ,
  1.29470403, 0.00754229, 1.17768665, 0.04503005, 0.05778837,-0.0792657 ,
  0.1714033 , 0.99958651, 0.02663488,-0.00309844,-0.0103821 ]

qacc:
[  3.9391986 ,  0.94992202, -2.40681675, -0.64829699,  1.41065069,
   1.66692624, -8.54481555, 20.07920767, -4.6283606 ,  0.69066329,
  -0.7976112 , -3.47816645,  0.49664191, -0.97673033,-18.60950583,
  61.83589425,  2.26578654,  0.20366431, -0.11401306, -2.35372734,
  20.30650489, -4.24298191]

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,
  8.51385581e-03,-1.47989379e-03, 1.00007318e-03,-1.76464084e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005644793830474337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.91702203e-14,  2.45851101e-14,  1.00000000e+00,  1.20885528e-27,
        1.00000000e+00, -2.45851101e-14, -1.00000000e+00,  0.00000000e+00,
       -4.91702203e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02693541, -0.08233936,  0.06198986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37390255e-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,
 -5.48026550e-05,-4.32199972e-05,-6.85352749e-05, 2.78882967e-04,
  7.32425182e-07, 2.57140895e-07,-4.90500032e+00, 2.55233898e-04,
  1.18277222e-02,-6.33342966e-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,
  1.29494767, 0.00754279, 1.17787434, 0.04503353, 0.05781112,-0.07926385,
  0.1714045 , 0.99958714, 0.02661485,-0.00299389,-0.01040371]

qacc:
[  5.31062124, -0.12216146, -1.00514129,  4.80002226,  0.96638924,
  -0.36937369, -0.56906755,  6.9581096 , -8.7094087 , -0.26489149,
   3.84013888,-12.48046071,  0.22851014, -0.57124844,-11.59512174,
  40.34052889,  2.23856862,  0.19794295, -0.23241613, -2.42155953,
  20.0858703 , -4.04254374]

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,
  8.50561070e-03,-1.49096484e-03, 1.03383660e-03,-1.56652472e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005582558276918254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.94367608e-14,  7.45775706e-14,  1.00000000e+00,  7.41575206e-27,
        1.00000000e+00, -7.45775706e-14, -1.00000000e+00,  0.00000000e+00,
       -9.94367608e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02693311, -0.08234094,  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:
[ 3.18277605e-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,
 -4.77855353e-05,-3.54757018e-05, 3.37876779e-05, 2.04977842e-04,
  5.25872074e-06, 8.73607678e-07,-4.90500170e+00, 2.54133580e-04,
  1.18270814e-02,-6.32931702e-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,
  1.29519079, 0.00754322, 1.17806203, 0.04503908, 0.0578241 ,-0.07925785,
  0.17140585, 0.99958824, 0.02657619,-0.00293359,-0.01041373]

qacc:
[ -2.72302441, -0.53861278,  0.547193  ,  2.09713506,  0.60072371,
  -1.37381366,  4.90670623, -6.95186982, -5.23777231, -0.16313702,
   0.29201262,  1.2189098 , -0.20607917,  0.04584072, -6.25988758,
  21.90782479, -2.44089123,  1.04020088,  0.04159462, -9.06891768,
 -22.06046051,  6.4096869 ]

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,
  8.47060593e-03,-1.49764274e-03, 1.02071244e-03,-1.46907371e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.07031053,  5.91342393, -1.37116275,  5.91342393,  8.59553906,
       10.89057212, -1.37116275, 10.89057212, 53.03816296,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005565625607765745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97392839e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.97392839e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09509274, -0.09439537,  0.06199   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64249389e-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,
 -6.76362428e-05,-2.79793924e-05, 1.99754447e-05, 1.12007102e-04,
  1.38203283e-05, 1.71754029e-06,-4.90500425e+00, 2.52166697e-04,
  1.18260805e-02,-6.32393197e-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,
  1.29543326, 0.00754364, 1.1782498 , 0.04504578, 0.0578275 ,-0.07924778,
  0.17140668, 0.99958982, 0.02651889,-0.00291664,-0.01041303]

qacc:
[-10.66599963,  1.72562017, -8.16379574, 16.12655766,  0.34911964,
   0.91624119, -2.52359241,  1.29887466, -0.04495036, -0.44961365,
  -0.29988806,  6.80438762, -0.43252169,  0.33750074, -3.301785  ,
  11.80845359, -2.397959  ,  1.01707772, -0.13362203, -9.0840952 ,
 -21.62319486,  5.96510087]

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,
  8.43022724e-03,-1.50177200e-03, 1.02205908e-03,-1.41406479e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005586139901474357
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.98746011e-13,  9.93730057e-14,  1.00000000e+00,  1.97499885e-26,
        1.00000000e+00, -9.93730057e-14, -1.00000000e+00,  0.00000000e+00,
       -1.98746011e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09509149, -0.09439804,  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:
[-6.39862884e-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,
 -8.21654984e-05,-2.78833330e-05, 1.76350588e-05, 6.25905654e-05,
  4.55511289e-06, 2.54851196e-06,-4.90500209e+00, 2.55086214e-04,
  1.18259000e-02,-6.31353692e-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,
  1.29567532, 0.00754367, 1.17843797, 0.04505008, 0.05782145,-0.07923371,
  0.17140636, 0.99959187, 0.02644295,-0.0029423 ,-0.0104023 ]

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, -0.2523725 , -0.04616779,  7.84566139,
 -26.53020549, -2.36129938,  0.99783513, -0.28515053, -9.08692602,
 -21.25438975,  5.60771356]

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,
  8.41328402e-03,-1.52216136e-03, 1.02142862e-03,-1.54419674e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005573634987801196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99191915e-13, -9.95959573e-14,  1.00000000e+00, -1.98387094e-26,
        1.00000000e+00,  9.95959573e-14, -1.00000000e+00,  0.00000000e+00,
       -1.99191915e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09509147, -0.09440057,  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:
[-2.09933008e-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,
 -6.65328090e-05,-4.74859489e-05, 8.72606577e-06,-1.25681559e-04,
  3.01465223e-07, 1.04551765e-06,-4.90500109e+00, 2.56404013e-04,
  1.18266315e-02,-6.29963326e-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,
  1.29591696, 0.00754365, 1.17862573, 0.04505127, 0.05780607,-0.07921572,
  0.17140438, 0.99959438, 0.02634837,-0.00300992,-0.01038209]

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, -0.49789698,  0.46299205,  8.86289331,
 -31.80287933, -2.33028188,  0.98194088, -0.41563211, -9.08299056,
 -20.94573484,  5.32035072]

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,
  8.39975116e-03,-1.51643021e-03, 9.66321747e-04,-1.71132813e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000553475366861067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00295613e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.00295613e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09509243, -0.09440299,  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:
[ 2.43042208e-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,
 -6.02394638e-05,-2.26296731e-05,-7.08919696e-05,-1.74346737e-04,
  7.33834938e-07,-2.69728978e-06,-4.90500120e+00, 2.56329556e-04,
  1.18282210e-02,-6.28216106e-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,
  1.29615823, 0.00754383, 1.17881202, 0.04505416, 0.05780015,-0.07919678,
  0.17140353, 0.99959699, 0.02625045,-0.00303506,-0.01037137]

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, -0.20241563,  0.27322427, -7.33635068,
  22.54880997,  2.36382553,  0.23763613,  0.28319276, -1.91395722,
  21.08898665, -5.29072286]

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,
  8.39893331e-03,-1.49519415e-03, 9.10543656e-04,-1.61492944e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.01355103,  5.96890978, -0.7313768 ,  5.96890978,  6.61628597,
        4.9190383 , -0.7313768 ,  4.9190383 , 46.15878933,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005497223522046707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.04901711e-14, -5.04901711e-14,  1.00000000e+00, -2.54925738e-27,
        1.00000000e+00,  5.04901711e-14, -1.00000000e+00,  0.00000000e+00,
       -5.04901711e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02692825, -0.08235381,  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:
[-1.92928508e-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,
 -3.96910855e-05, 1.78164023e-06,-1.09707710e-04, 7.71462602e-05,
  5.60377103e-06,-8.60542090e-06,-4.90500239e+00, 2.55017435e-04,
  1.18306268e-02,-6.26107769e-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,
  1.29639919, 0.00754444, 1.17899776, 0.04505508, 0.05780352,-0.07917693,
  0.17140313, 0.99959972, 0.02614879,-0.0030184 ,-0.01036926]

qacc:
[  2.75204636,  0.39514439,  0.20724586, -5.86189831,  5.03392788,
   0.95622274, -3.44731378,  3.89735982, -3.59431231, -3.05295177,
   9.31366713, -7.71263907, -0.6639363 ,  1.0260317 ,  5.23368637,
 -19.33368419,  2.32244174,  0.22773617,  0.11293119, -2.09738949,
  20.76184038, -4.85248577]

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,
  8.39510158e-03,-1.46489073e-03, 8.81101241e-04,-1.71905059e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005514625369879012
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00661691e-13,  2.51654226e-14,  1.00000000e+00,  2.53319398e-27,
        1.00000000e+00, -2.51654226e-14, -1.00000000e+00,  0.00000000e+00,
       -1.00661691e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02692825, -0.08235693,  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:
[ 1.65974103e-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,
 -2.59588227e-05, 2.22928461e-05,-6.97595910e-05,-1.13559946e-04,
  6.44731830e-07,-3.47121890e-06,-4.90500218e+00, 2.57557626e-04,
  1.18295852e-02,-6.23774637e-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,
  1.29663973, 0.00754527, 1.17918321, 0.04505138, 0.05781605,-0.0791562 ,
  0.1714026 , 0.9996026 , 0.02604309,-0.00296051,-0.01037509]

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,
 -7.94035412e-01, 1.02479420e+00, 1.36426842e+01,-4.81675251e+01,
  2.28736341e+00, 2.19981182e-01,-3.43242971e-02,-2.24144243e+00,
  2.04829271e+01,-4.50033625e+00]

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,
  8.35751675e-03,-1.46496631e-03, 8.51453226e-04,-1.95823112e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005501150272265859
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00908262e-13,  1.00908262e-13,  1.00000000e+00,  1.01824773e-26,
        1.00000000e+00, -1.00908262e-13, -1.00000000e+00,  0.00000000e+00,
       -1.00908262e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02692737, -0.08235947,  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:
[ 2.83759781e-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,
 -4.75546775e-05, 7.01794862e-07,-7.58308364e-05,-2.54800581e-04,
  2.15550079e-07, 1.64452436e-06,-4.90500317e+00, 2.58862044e-04,
  1.18282951e-02,-6.21337989e-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,
  1.2968798 , 0.0075462 , 1.17936746, 0.04504653, 0.0578358 ,-0.07914249,
  0.17140205, 0.99960462, 0.02596946,-0.0028674 ,-0.01039041]

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,
 -4.42655755e-01, 4.86019899e-01, 1.72373220e+00,-8.49190012e+00,
  1.80842389e+00,-1.75750998e+00,-3.33235216e-03, 1.58368923e+01,
  1.76429947e+01,-5.24881204e+00]

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,
  8.32632897e-03,-1.46547331e-03, 8.00375149e-04,-2.00871747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005494360981560947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01032953e-13, -1.01032953e-13,  1.00000000e+00, -1.02076575e-26,
        1.00000000e+00,  1.01032953e-13, -1.00000000e+00,  0.00000000e+00,
       -1.01032953e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03360317, -0.05353805,  0.06199013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.51012025e-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,
 -5.81503307e-05,-1.04847618e-05,-1.16302176e-04,-7.48566701e-05,
  4.07965403e-06, 6.83748505e-06,-4.90500532e+00, 2.59109124e-04,
  1.18267364e-02,-6.18787152e-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,
  1.29711922, 0.0075477 , 1.17955098, 0.04504066, 0.05784696,-0.07912536,
  0.17140218, 0.99960703, 0.02588061,-0.00281385,-0.01039536]

qacc:
[  6.47435468, -1.39455222,  5.00125164, -5.69237731, -1.37923826,
   2.26938749, -9.16058452, 16.90629002,  6.96814235,  1.32446487,
  -4.1655184 ,  6.1007063 , -0.93797295,  1.35312327,  2.11388045,
  -8.76494124, -2.14793967,  0.85822527,  0.1685447 , -7.38932327,
 -19.71673959,  5.71884706]

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,
  8.29899849e-03,-1.43070711e-03, 7.84462391e-04,-2.05414099e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.00969709,  4.6763253 , -3.77471069,  4.6763253 , 22.082736  ,
       19.91219053, -3.77471069, 19.91219053, 30.67804597,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005492573512597768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49918529e-07, -1.49918731e-07,  1.00000000e+00,  2.24755955e-14,
        1.00000000e+00,  1.49918731e-07, -1.00000000e+00,  0.00000000e+00,
        1.49918529e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09067625, -0.09148005,  0.06199013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.87805924e-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,
 -6.26178529e-05, 1.92828717e-05,-7.67133943e-05,-6.42686274e-05,
  1.08757544e-05, 7.57692341e-06,-4.90500581e+00, 2.57877225e-04,
  1.18251982e-02,-6.16978536e-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,
  1.29735805, 0.00754962, 1.17973415, 0.04503122, 0.05784967,-0.07910486,
  0.17140233, 0.99960981, 0.02577648,-0.00279904,-0.01039068]

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,
 -9.99820178e-01, 1.36910068e+00, 1.03468541e+01,-3.67282995e+01,
 -2.11461388e+00, 8.41041767e-01, 6.03072691e-03,-7.43112047e+00,
 -1.93182610e+01, 5.33744154e+00]

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,
  8.26869092e-03,-1.41078489e-03, 7.57696310e-04,-2.23820129e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005505395216066314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.13512256e-07,  4.13511852e-07,  1.00000000e+00,  1.70992219e-13,
        1.00000000e+00, -4.13511852e-07, -1.00000000e+00,  0.00000000e+00,
       -4.13512256e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09067491, -0.09148226,  0.06199011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.12563838e-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,
 -6.02251174e-05, 1.11346535e-05,-7.05033032e-05,-1.97744979e-04,
  3.47078050e-06, 5.34313485e-06,-4.90500392e+00, 2.60239576e-04,
  1.18261850e-02,-6.14785703e-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,
  1.29759646, 0.00755177, 1.17991653, 0.04502029, 0.05785971,-0.07909142,
  0.1714028 , 0.99961174, 0.0257048 ,-0.00274916,-0.01039618]

qacc:
[  3.28119344,  0.69536369, -2.5577682 ,  3.79446595, -5.51750235,
   1.99844678, -7.3674617 , 11.88173479, -5.21543811,  2.65903652,
  -9.16197703, 11.99991835, -0.53746145,  0.69390084,  3.40197581,
 -13.45703704,  1.83458332, -1.76462623,  0.07999574, 16.03802826,
  17.56473417, -5.59470782]

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,
  8.25259211e-03,-1.39986196e-03, 7.29736184e-04,-2.30722043e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.05992849,  5.19264133, -3.12397332,  5.19264133, 18.67871535,
       20.97483795, -3.12397332, 20.97483795, 40.924122  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005553124874170534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99638086e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.99638086e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0336028 , -0.05354547,  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:
[ 1.97394679e-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,
 -4.69844841e-05, 6.22954801e-07,-8.45790500e-05,-8.95385960e-05,
  8.04272494e-08, 1.44106121e-06,-4.90500299e+00, 2.61339337e-04,
  1.18278186e-02,-6.12306811e-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,
  1.29783459, 0.00755356, 1.18009844, 0.04500949, 0.05787697,-0.07908494,
  0.17140295, 0.99961284, 0.02566472,-0.00266476,-0.01041123]

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,  0.06858839, -0.3997166 , -1.08087056,
   2.71914638,  1.80470931, -1.740212  , -0.08214258, 15.61148858,
  17.29820708, -5.26052048]

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,
  8.22904684e-03,-1.42980150e-03, 7.38391166e-04,-2.29011014e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005560207914494103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98364667e-14, -9.98364667e-14,  1.00000000e+00, -9.96732008e-27,
        1.00000000e+00,  9.98364667e-14, -1.00000000e+00,  0.00000000e+00,
       -9.98364667e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03360213, -0.05354755,  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:
[-2.40544062e-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,
 -4.98608678e-05,-3.99974869e-05,-4.07937037e-05, 1.17343064e-06,
  3.04461668e-06, 4.02018853e-06,-4.90500287e+00, 2.61335009e-04,
  1.18259883e-02,-6.10560249e-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,
  1.29807253, 0.00755453, 1.18027992, 0.04500056, 0.05788569,-0.07907502,
  0.17140373, 0.99961433, 0.02560928,-0.00262019,-0.01041589]

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,  0.57711933, -1.33365275, -6.38701411,
  21.27096181, -2.1364553 ,  0.86057542,  0.1589236 , -7.46462244,
 -19.85462598,  5.72623792]

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,
  8.20636130e-03,-1.48377666e-03, 7.42387099e-04,-2.18682931e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.05268543,  4.78319075, -3.70891994,  4.78319075, 21.83323547,
       20.3513104 , -3.70891994, 20.3513104 , 32.29865492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000554440092205626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.45033487e-07, -8.45033788e-07,  1.00000000e+00,  7.14081849e-13,
        1.00000000e+00,  8.45033788e-07, -1.00000000e+00, -1.00974196e-28,
        8.45033487e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09067005, -0.09148895,  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:
[-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,
 -5.92035556e-05,-7.62046483e-05,-1.67927701e-05, 9.76543034e-05,
  8.94714697e-06, 3.57685075e-06,-4.90500353e+00, 2.59999346e-04,
  1.18250288e-02,-6.09553940e-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,
  1.29831017, 0.00755505, 1.18046116, 0.04499391, 0.05788494,-0.07906102,
  0.17140368, 0.9996163 , 0.02553476,-0.00261912,-0.01041032]

qacc:
[  0.71126265, -0.04167228,  0.08836636,  0.33692271,  3.67892014,
  -0.03856388, -0.56648056,  2.81555651, -3.05659199, -2.30152218,
   9.80715811,-19.45247993,  0.25111767, -0.70480805, -7.27020638,
  24.80533191, -2.36612621,  1.01887249, -0.2058883 , -9.29929705,
 -21.71181485,  5.70119223]

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,
  8.20017238e-03,-1.49829821e-03, 7.43599623e-04,-2.06916242e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.06068264, -3.95508853,  4.59229233, -3.95508853, 29.74259866,
       20.3959303 ,  4.59229233, 20.3959303 , 23.62657438,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005554033089332916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.99842387e-13, -9.99474622e-14,  1.00000000e+00, -2.99684856e-26,
        1.00000000e+00,  9.99474622e-14, -1.00000000e+00,  0.00000000e+00,
       -2.99842387e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09508339, -0.09442631,  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:
[ 4.26544969e-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,
 -5.55527548e-05,-4.91133884e-05, 1.56009333e-06, 1.20343116e-04,
  2.42248523e-06, 2.79002020e-06,-4.90500190e+00, 2.62031492e-04,
  1.18254412e-02,-6.08159882e-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,
  1.29854747, 0.0075553 , 1.18064236, 0.04498804, 0.05789154,-0.07905405,
  0.17140388, 0.99961742, 0.0254926 ,-0.00258327,-0.01041509]

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,
 -0.02933866,-0.23666807,-2.4539777 , 8.49671987, 1.83822537,-1.75700937,
  0.06054415,15.98860571,17.41847083,-5.66237133]

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,
  8.18792037e-03,-1.50694965e-03, 7.37816318e-04,-2.03276577e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.07685012,  5.25025056, -3.05989811,  5.25025056, 17.81287989,
       20.13697667, -3.05989811, 20.13697667, 40.62838394,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000557349742062313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95984156e-14, -1.99196831e-13,  1.00000000e+00, -1.98396888e-26,
        1.00000000e+00,  1.99196831e-13, -1.00000000e+00,  0.00000000e+00,
       -9.95984156e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03359933, -0.05355383,  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:
[-1.43230690e-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,
 -5.29103998e-05,-3.51773756e-05, 4.51223144e-06, 4.24605515e-05,
 -9.92459514e-08,-1.34391955e-07,-4.90500132e+00, 2.62778133e-04,
  1.18267000e-02,-6.06397420e-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,
  1.29878425, 0.00755571, 1.18082318, 0.04498665, 0.05790538,-0.07905401,
  0.17140368, 0.99961772, 0.02548194,-0.00251312,-0.01042952]

qacc:
[ -7.3977018 ,  0.13014687, -1.1335397 ,  2.0345662 , -1.85458107,
   0.42260795, -6.45704721, 21.36035106,  0.63147607,  0.37321266,
  -5.30177766, 17.8044706 , -0.16192582,  0.13318957,-14.08273369,
  48.47276602,  1.80755337, -1.73357502, -0.09946677, 15.56780053,
  17.18184069, -5.30846433]

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,
  8.16671894e-03,-1.49433600e-03, 7.49128163e-04,-1.79602602e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005575166309732399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03359821, -0.05355585,  0.06198998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.44240667e-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,
 -5.73443628e-05,-9.40622605e-06, 1.36735578e-05, 2.38699408e-04,
  1.59139152e-06, 1.69607495e-06,-4.90500121e+00, 2.62826108e-04,
  1.18254149e-02,-6.05360741e-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,
  1.2990204 , 0.00755632, 1.18100409, 0.04498841, 0.05790958,-0.07904979,
  0.17140345, 0.99961851, 0.02545207,-0.00248776,-0.01043274]

qacc:
[ 1.44261905e+00, 6.61107968e-01,-3.23473484e+00, 4.75868844e+00,
 -1.20231578e+00,-1.63802277e+00,-1.99727003e+00, 2.24224385e+01,
 -2.57838842e+00,-8.34863055e-01, 3.81568112e-01, 6.58192850e+00,
 -4.19816825e-01, 4.65976565e-01,-9.36881858e+00, 3.30452517e+01,
 -2.40698610e+00, 1.04614239e+00,-6.59731155e-03,-9.36270550e+00,
 -2.23368080e+01, 6.19701113e+00]

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,
  8.12952458e-03,-1.48701578e-03, 7.60077605e-04,-1.63835748e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.09617959,  4.8629337 , -3.67631356,  4.8629337 , 21.37133452,
       20.20558487, -3.67631356, 20.20558487, 32.82361127,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005596754405863963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09507762, -0.09443318,  0.06198994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.67401565e-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,
 -6.88268087e-05,-9.09526655e-06, 3.95949236e-05, 1.71790032e-04,
  6.20926438e-06, 5.37557196e-07,-4.90500185e+00, 2.61527701e-04,
  1.18249825e-02,-6.05062667e-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,
  1.29925599, 0.0075568 , 1.18118567, 0.04498937, 0.05790431,-0.07904147,
  0.17140252, 0.99961978, 0.02540306,-0.00250613,-0.01042561]

qacc:
[  4.01385315,  0.38554366,  0.06563055, -5.72942564, -0.77701616,
   0.26008562, -6.9727914 , 24.5456925 ,  1.31699019, -0.26851087,
   0.96927876, -2.19200322, -0.45219826,  0.32273204,  3.43519387,
 -10.50781933, -2.36930115,  1.02484998, -0.17512431, -9.33523141,
 -21.83131914,  5.75724369]

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,
  8.09341499e-03,-1.50074321e-03, 7.76106967e-04,-1.68837310e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005609105478695114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89661390e-14, -9.89661390e-14,  1.00000000e+00, -9.79429666e-27,
        1.00000000e+00,  9.89661390e-14, -1.00000000e+00,  0.00000000e+00,
       -9.89661390e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09507572, -0.09443546,  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:
[ 2.41661021e-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,
 -7.34936888e-05,-3.28939072e-05, 4.72450804e-05,-3.67325029e-05,
  7.94139506e-07, 8.51367970e-07,-4.90500060e+00, 2.63213566e-04,
  1.18250004e-02,-6.04295721e-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,
  1.29949117, 0.00755685, 1.18136747, 0.04498783, 0.05790635,-0.07904013,
  0.17140203, 0.99962021, 0.02538634,-0.00249018,-0.01042902]

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, -0.22050841, -0.1271496 ,  7.93812707,
 -27.24816317,  1.82600295, -1.74430776,  0.10888631, 15.96009241,
  17.19156968, -5.74775805]

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,
  8.06862356e-03,-1.52685236e-03, 7.57848885e-04,-1.82480332e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.09543997,  5.27351301, -3.05686915,  5.27351301, 17.46203825,
       19.60892042, -3.05686915, 19.60892042, 39.92348162,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005595864780633185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.58719436e-07, -7.58719473e-07,  1.00000000e+00, -5.75655210e-13,
        1.00000000e+00,  7.58719473e-07, -1.00000000e+00,  1.00974196e-28,
       -7.58719436e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03396883, -0.05381142,  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:
[ 1.48795948e-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,
 -7.07704755e-05,-5.26212400e-05,-8.08931054e-06,-1.34098278e-04,
  3.85406668e-07,-1.23841126e-06,-4.90500051e+00, 2.63392607e-04,
  1.18259450e-02,-6.03164385e-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 ,
  1.29972589, 0.00755657, 1.18154883, 0.04498571, 0.05789996,-0.07903539,
  0.17140164, 0.99962104, 0.02535416,-0.00251345,-0.01042262]

qacc:
[ -1.49932928,  0.17132877, -1.03237417,  0.52415442,  2.63090667,
   2.448507  , -4.17307098, -5.25507155,  2.26046708,  1.3764697 ,
  -6.68872781, 13.06559533, -0.15220567, -0.16411718,  1.06252073,
  -4.67301805, -2.10520607,  0.84984573,  0.02511858, -7.51285039,
 -19.56071053,  5.4203075 ]

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,
  8.04530437e-03,-1.54227709e-03, 7.35010841e-04,-1.85128036e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.10017782,  4.80189791, -3.76217302,  4.80189791, 22.29651329,
       20.67240104, -3.76217302, 20.67240104, 32.48566269,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005601563199202877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.28334911e-08, -2.28334911e-08,  1.00000000e+00,  5.21368317e-16,
        1.00000000e+00,  2.28334911e-08, -1.00000000e+00, -9.86076132e-32,
        2.28334911e-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([ 0.09065808, -0.09150461,  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:
[-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,
 -7.36977370e-05,-4.60950344e-05,-4.63183743e-05,-3.60766701e-05,
  3.30422804e-07, 2.92744189e-07,-4.90500024e+00, 2.63671293e-04,
  1.18251469e-02,-6.02744154e-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,
  1.29996016, 0.00755605, 1.18172983, 0.04498259, 0.05790094,-0.07903766,
  0.17140147, 0.99962102, 0.0253543 ,-0.00250209,-0.01042666]

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,
 -2.32179580e-01,-1.68014482e-03, 2.53095260e+00,-9.58086411e+00,
  1.84117370e+00,-1.75272077e+00, 5.43320885e-02, 1.59662045e+01,
  1.73447431e+01,-5.69987198e+00]

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,
  8.02821389e-03,-1.55122310e-03, 7.20129291e-04,-1.90148368e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.12648168,  5.30696922, -3.06102197,  5.30696922, 17.49723848,
       19.71376124, -3.06102197, 19.71376124, 40.30471528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005633184836940364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85431028e-14, -9.85431028e-14,  1.00000000e+00, -9.71074310e-27,
        1.00000000e+00,  9.85431028e-14, -1.00000000e+00,  0.00000000e+00,
       -9.85431028e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0335927 , -0.05356837,  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:
[ 1.19775400e-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,
 -6.77614323e-05,-3.83816349e-05,-4.25984942e-05,-5.86882016e-05,
  6.61122659e-07,-1.00325209e-06,-4.90500030e+00, 2.63686729e-04,
  1.18257812e-02,-6.02015810e-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,
  1.30019398, 0.00755538, 1.18191024, 0.04498021, 0.05790915,-0.07904685,
  0.17140087, 0.99962019, 0.0253859 ,-0.00245656,-0.01044042]

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,
 -1.63664660e-01,-3.16538411e-02,-3.08758990e+00, 9.55676112e+00,
  1.80945332e+00,-1.72994536e+00,-1.06319169e-01, 1.55480726e+01,
  1.71200064e+01,-5.33867835e+00]

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,
  8.00954979e-03,-1.55623428e-03, 7.04703391e-04,-1.85874381e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005629188963055393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86130535e-14, -9.86130535e-14,  1.00000000e+00, -9.72453432e-27,
        1.00000000e+00,  9.86130535e-14, -1.00000000e+00,  0.00000000e+00,
       -9.86130535e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03359127, -0.05357031,  0.06198989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.52261790e-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,
 -6.43904400e-05,-3.09310444e-05,-4.42184415e-05, 3.34131459e-05,
  1.75114765e-07,-1.83698274e-08,-4.90500004e+00, 2.63883179e-04,
  1.18253450e-02,-6.02000408e-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,
  1.30042726, 0.00755487, 1.18209009, 0.04497932, 0.05790774,-0.07905184,
  0.17140026, 0.99961985, 0.02539826,-0.00245589,-0.01044294]

qacc:
[-2.23916527e+00, 1.06907338e+00,-4.57523862e+00, 1.04357344e+01,
  2.94366192e+00, 5.37829666e+01,-1.98694617e+02, 3.22790992e+02,
  1.23414787e+00,-1.50142757e+00, 5.24952303e+00,-7.49637988e+00,
 -4.00243449e-01, 4.48354596e-01,-5.34346201e+00, 1.75554983e+01,
 -2.40562496e+00, 1.04810547e+00,-2.30772874e-03,-9.37667082e+00,
 -2.23830881e+01, 6.21869946e+00]

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,
  7.98995826e-03,-1.54112883e-03, 6.88984623e-04,-1.77932967e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.13092664,  4.90542092, -3.67764967,  4.90542092, 21.35255071,
       20.30331321, -3.67764967, 20.30331321, 33.2124342 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005638526001372213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84497566e-14,  9.84497566e-14,  1.00000000e+00,  9.69235457e-27,
        1.00000000e+00, -9.84497566e-14, -1.00000000e+00,  0.00000000e+00,
       -9.84497566e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09506713, -0.09444704,  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:
[-1.33984142e-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,
 -6.15286754e-05,-8.10150192e-06,-3.44509811e-05, 7.51371150e-05,
  2.63548645e-06,-2.01218846e-06,-4.90500056e+00, 2.62705152e-04,
  1.18257212e-02,-6.02723095e-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 ,
  1.30066024, 0.00755422, 1.18226937, 0.04498071, 0.05789686,-0.07905274,
  0.17139896, 0.99962   , 0.02539145,-0.00249904,-0.01043506]

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,
  7.07506259e-02,-2.85758880e-01,-7.74035300e+00, 2.58170130e+01,
 -2.36828153e+00, 1.02596600e+00,-1.72397394e-01,-9.34336037e+00,
 -2.18678688e+01, 5.77903209e+00]

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,
  7.98048598e-03,-1.54971998e-03, 6.73109347e-04,-1.66121751e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005648889299887383
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82691433e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.82691433e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09506519, -0.09444937,  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:
[ 4.48759881e-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,
 -4.42086900e-05,-2.50404735e-05,-2.59069301e-05, 1.17315882e-04,
 -1.78115330e-09,-1.77366579e-08,-4.90500001e+00, 2.63668776e-04,
  1.18250467e-02,-6.02987206e-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,
  1.30089295, 0.00755321, 1.18244775, 0.04498589, 0.05789328,-0.0790606 ,
  0.17139805, 0.9996193 , 0.02541692,-0.00250797,-0.01043778]

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,
  3.52121535e-01,-7.59033728e-01,-1.28346465e+01, 4.28496222e+01,
  1.82485125e+00,-1.74164454e+00, 9.70882785e-02, 1.59479841e+01,
  1.71388658e+01,-5.77914165e+00]

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,
  7.96110572e-03,-1.57227138e-03, 6.35857806e-04,-1.46800313e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.12695143,  5.30566912, -3.06421426,  5.30566912, 17.32319428,
       19.38622918, -3.06421426, 19.38622918, 39.69409417,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005633749335856339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.89604589e-07, -7.89604601e-07,  1.00000000e+00, -6.23475417e-13,
        1.00000000e+00,  7.89604601e-07, -1.00000000e+00,  0.00000000e+00,
       -7.89604589e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03396278, -0.05382673,  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:
[-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,
 -4.87813593e-05,-3.96177155e-05,-3.84987069e-05, 1.95879669e-04,
  2.31339448e-06,-4.80295059e-07,-4.90500058e+00, 2.63148491e-04,
  1.18253582e-02,-6.02886502e-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,
  1.30112509, 0.0075525 , 1.18262566, 0.04499104, 0.05788128,-0.07906506,
  0.17139725, 0.999619  , 0.02542693,-0.00255618,-0.01043064]

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,
 -6.16972479e-01, 7.91815309e-01,-5.31436378e-01, 1.00103631e+00,
 -2.10509307e+00, 8.49540753e-01, 2.69802678e-02,-7.50889801e+00,
 -1.95881947e+01, 5.44795081e+00]

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,
  7.93578922e-03,-1.54968901e-03, 5.91156807e-04,-1.48068529e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.12984522,  4.83528943, -3.7676224 ,  4.83528943, 22.35373778,
       20.82141142, -3.7676224 , 20.82141142, 32.85161819,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005637226600980337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.43907349e-07, -3.43907546e-07,  1.00000000e+00,  1.18272333e-13,
        1.00000000e+00,  3.43907546e-07, -1.00000000e+00,  2.52435490e-29,
        3.43907349e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09064734, -0.09151836,  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:
[-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,
 -6.05416561e-05, 4.49753007e-07,-4.18856965e-05,-7.01672165e-06,
  7.44562144e-08, 2.53830058e-07,-4.90500015e+00, 2.63589432e-04,
  1.18254257e-02,-6.03485282e-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,
  1.30135687, 0.00755196, 1.18280344, 0.04499363, 0.05787663,-0.07907652,
  0.17139661, 0.99961785, 0.02546925,-0.00256985,-0.01043402]

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,
 -5.84248561e-01, 7.46455758e-01, 7.57431018e+00,-2.66515808e+01,
  1.83866086e+00,-1.75118515e+00, 4.09379677e-02, 1.59611595e+01,
  1.72954348e+01,-5.73846772e+00]

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,
  7.92825005e-03,-1.53602613e-03, 5.73933632e-04,-1.61460245e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.14979499,  5.32980509, -3.06808671,  5.32980509, 17.33926186,
       19.43806779, -3.06808671, 19.43806779, 39.91713026,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005661191295045775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.80556006e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.80556006e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03358462, -0.05358242,  0.06198983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.17437767e-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,
 -4.00778397e-05,-4.89767056e-08,-3.98825719e-05,-1.40281119e-04,
  2.87134949e-06, 4.55271234e-07,-4.90500088e+00, 2.62929201e-04,
  1.18254725e-02,-6.03786940e-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,
  1.30158845, 0.00755131, 1.1829799 , 0.04499444, 0.05787921,-0.07909491,
  0.1713955 , 0.99961588, 0.02554303,-0.00254944,-0.0104472 ]

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,
 -1.17992028e-01, 8.88485026e-03, 3.46120140e+00,-1.49203108e+01,
  1.80659438e+00,-1.72929087e+00,-1.18705871e-01, 1.55477724e+01,
  1.70748260e+01,-5.37995843e+00]

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,
  7.91540188e-03,-1.54547453e-03, 4.77320081e-04,-1.71221277e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005652806466276139
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82010468e-14, -9.82010468e-14,  1.00000000e+00, -9.64344559e-27,
        1.00000000e+00,  9.82010468e-14, -1.00000000e+00,  0.00000000e+00,
       -9.82010468e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03358303, -0.05358428,  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:
[ 1.47843272e-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,
 -3.51205607e-05,-1.82648211e-05,-1.33634639e-04,-1.11251444e-04,
  1.72461452e-07, 6.36846651e-07,-4.90500046e+00, 2.63287590e-04,
  1.18258992e-02,-6.04790596e-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,
  1.30181963, 0.00755085, 1.18315472, 0.0449954 , 0.05787216,-0.0791091 ,
  0.17139439, 0.9996144 , 0.0255976 ,-0.00257396,-0.01044904]

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,
 -3.45733550e-01, 4.45158249e-01,-2.84100147e+00, 6.49516281e+00,
 -2.40794168e+00, 1.04610741e+00, 2.52962051e-03,-9.36330366e+00,
 -2.24147314e+01, 6.27058730e+00]

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,
  7.89404100e-03,-1.53305404e-03, 4.07744731e-04,-1.69902044e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.15719534,  4.93136443, -3.68682782,  4.93136443, 21.40264324,
       20.39174682, -3.68682782, 20.39174682, 33.43244113,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005670077757414932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79019223e-14, -1.95803845e-13,  1.00000000e+00, -1.91695728e-26,
        1.00000000e+00,  1.95803845e-13, -1.00000000e+00,  0.00000000e+00,
       -9.79019223e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09505657, -0.09446113,  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:
[-1.78822512e-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,
 -4.67299690e-05, 4.87982055e-07,-1.41123019e-04,-9.65173474e-06,
  4.44960004e-07,-2.15875090e-06,-4.90500081e+00, 2.62239323e-04,
  1.18270994e-02,-6.06532844e-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,
  1.30205043, 0.00755057, 1.1833289 , 0.04499727, 0.05785562,-0.07911921,
  0.17139261, 0.99961341, 0.02563303,-0.00264236,-0.01044038]

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,
 -3.08776683e-01, 3.77188766e-01,-3.70372455e+00, 1.16330684e+01,
 -2.37067908e+00, 1.02315758e+00,-1.69173230e-01,-9.32515209e+00,
 -2.18959363e+01, 5.83529334e+00]

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,
  7.87824953e-03,-1.52554551e-03, 4.23703705e-04,-1.63831982e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005679171874457406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.95490302e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.95490302e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09505464, -0.09446349,  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:
[-2.91548623e-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,
 -4.26162825e-05,-2.16436935e-06,-4.71061084e-05, 4.27111312e-05,
  6.50645620e-07, 1.50592774e-06,-4.90500101e+00, 2.62471380e-04,
  1.18257240e-02,-6.07828136e-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,
  1.30228082, 0.00755042, 1.18350296, 0.04499779, 0.05783075,-0.07912599,
  0.17139046, 0.99961279, 0.02565304,-0.00274937,-0.01042236]

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,
 -5.02841639e-01, 5.97915039e-01, 3.98624004e+00,-1.40892798e+01,
 -2.08479501e+00, 8.32508633e-01,-9.47155758e-02,-7.49819265e+00,
 -1.92563087e+01, 5.19439106e+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,
  7.85516085e-03,-1.52102487e-03, 4.16391908e-04,-1.70971611e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005655352800468663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20102294e-06, -1.20102334e-06,  1.00000000e+00,  1.44245658e-12,
        1.00000000e+00,  1.20102334e-06, -1.00000000e+00,  0.00000000e+00,
        1.20102294e-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([ 0.09063863, -0.09152995,  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:
[-3.55674559e-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,
 -4.67569258e-05,-5.68525102e-06,-2.59258536e-05,-7.54510025e-05,
  5.75111275e-06, 2.66546934e-06,-4.90500226e+00, 2.61234799e-04,
  1.18253943e-02,-6.08759528e-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,
  1.30251069, 0.00755019, 1.18367671, 0.04499679, 0.05781337,-0.07913988,
  0.17138919, 0.99961129, 0.02570638,-0.00282141,-0.01041582]

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,
 -4.49491526e-01, 3.62428631e-01, 4.15062152e+00,-1.51133042e+01,
  1.87259399e+00,-1.78045942e+00, 2.23781403e-01, 1.64677811e+01,
  1.75062887e+01,-6.23401493e+00]

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,
  7.81173226e-03,-1.53608386e-03, 3.95093454e-04,-1.78744915e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.19022924,  5.32308089, -3.15970694,  5.32308089, 17.56798242,
       19.16782211, -3.15970694, 19.16782211, 38.48178969,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005709726004400895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72220929e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.72220929e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03357789, -0.05359562,  0.06198974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.90556571e-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,
 -7.01209661e-05,-2.72060865e-05,-4.50702542e-05,-8.60459001e-05,
  1.42482863e-05, 1.88173457e-06,-4.90500432e+00, 2.58929117e-04,
  1.18259070e-02,-6.09398315e-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 ,
  1.30274012, 0.00754958, 1.18385013, 0.04499515, 0.05780332,-0.0791608 ,
  0.17138808, 0.99960894, 0.02579203,-0.00285899,-0.01041988]

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,
 -1.12670284e-01,-2.45246217e-01, 1.47259950e+00,-5.84330016e+00,
  1.83407687e+00,-1.75539164e+00, 3.75897259e-02, 1.59708822e+01,
  1.72498065e+01,-5.79369452e+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,
  7.78275348e-03,-1.56273863e-03, 3.92054077e-04,-1.81502769e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.2078244 , -6.15999915,  0.76908666, -6.15999915,  7.11668903,
        7.27955073,  0.76908666,  7.27955073, 64.51338203,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005730832499833138
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68640267e-14, -9.68640267e-14,  1.00000000e+00, -9.38263967e-27,
        1.00000000e+00,  9.68640267e-14, -1.00000000e+00,  0.00000000e+00,
       -9.68640267e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03357668, -0.05359873,  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:
[-4.07993284e-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,
 -7.33666805e-05,-5.00618937e-05,-3.60118917e-05,-3.87490996e-05,
  6.29365925e-06, 4.35494562e-06,-4.90500294e+00, 2.60970457e-04,
  1.18264068e-02,-6.10686049e-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,
  1.3029691 , 0.00754863, 1.18402345, 0.04499245, 0.05780048,-0.07918866,
  0.17138647, 0.99960575, 0.02590919,-0.00286257,-0.01043386]

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,
 -1.95658518e-01,-1.08137177e-01, 3.03889359e+00,-1.08212924e+01,
  1.80135533e+00,-1.73373055e+00,-1.23547032e-01, 1.55628260e+01,
  1.70271191e+01,-5.44449988e+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,
  7.76245676e-03,-1.57825523e-03, 3.94656228e-04,-1.86603606e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005716841972085163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.7101077e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.7101077e-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([ 0.03357494, -0.05360043,  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:
[-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,
 -7.15272004e-05,-4.60569761e-05,-2.10409534e-05,-5.84047442e-05,
  1.50004600e-06, 3.62865261e-06,-4.90500234e+00, 2.61399664e-04,
  1.18277852e-02,-6.12737592e-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,
  1.30319769, 0.00754741, 1.18419662, 0.04498979, 0.05780473,-0.07922337,
  0.17138382, 0.99960174, 0.02605717,-0.00283255,-0.01045721]

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,
 -9.75106832e-02,-1.69544983e-01,-3.19084273e-01, 7.91961339e-01,
  1.77376076e+00,-1.71529769e+00,-2.62372390e-01, 1.52293545e+01,
  1.68364595e+01,-5.16849459e+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,
  7.75271160e-03,-1.58698571e-03, 4.00634786e-04,-1.85942852e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005674830714941931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95639849e-13, -9.78199245e-14,  1.00000000e+00, -1.91374753e-26,
        1.00000000e+00,  9.78199245e-14, -1.00000000e+00,  0.00000000e+00,
       -1.95639849e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03357277, -0.05360101,  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:
[ 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,
 -5.88804193e-05,-3.78229865e-05,-1.38552794e-05,-1.60414042e-07,
 -2.98694213e-07,-7.31072748e-08,-4.90500252e+00, 2.60388998e-04,
  1.18299022e-02,-6.15529103e-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,
  1.3034259 , 0.00754604, 1.18436935, 0.04499119, 0.05779914,-0.07925383,
  0.17138203, 0.99959822, 0.02618594,-0.00284882,-0.01046796]

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,
  1.14156881e-01,-3.68257066e-01,-1.29627839e+01, 4.43306628e+01,
 -2.46047883e+00, 1.06536065e+00, 2.17520359e-01,-9.34617178e+00,
 -2.30757512e+01, 6.93293139e+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,
  7.73865525e-03,-1.59157303e-03, 4.13973295e-04,-1.64138657e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.20613525,  5.011217  , -3.66112263,  5.011217  , 20.80681743,
       19.9849047 , -3.66112263, 19.9849047 , 33.56077601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005728806575126671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93796563e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.93796563e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09504279, -0.0944781 ,  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:
[ 2.58996315e-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,
 -5.43153048e-05,-2.85613392e-05, 3.33949166e-06, 2.15448902e-04,
  7.66359267e-07,-6.58030098e-06,-4.90500349e+00, 2.58065576e-04,
  1.18326597e-02,-6.19041512e-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 ,
  1.30365359, 0.00754465, 1.18454213, 0.04499743, 0.05778389,-0.07928013,
  0.1713803 , 0.99959517, 0.0262956 ,-0.00291012,-0.01046715]

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,
 -4.42668160e-02,-1.22398041e-01,-1.45767374e+01, 5.11157812e+01,
 -2.41638686e+00, 1.03698453e+00, 1.43780830e-02,-9.30634929e+00,
 -2.24499465e+01, 6.39614756e+00]

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,
  7.71137583e-03,-1.59368738e-03, 4.47737409e-04,-1.38928657e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.24309053, -3.35454909,  5.26528059, -3.35454909, 41.35363368,
       22.36918592,  5.26528059, 22.36918592, 20.49466381,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005773115675670182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.61545799e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.61545799e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09503927, -0.0944806 ,  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:
[-2.02577843e-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,
 -6.20378001e-05,-2.29079365e-05, 5.58426071e-05, 2.63758392e-04,
 -6.41874398e-08, 1.88982738e-06,-4.90500379e+00, 2.58838983e-04,
  1.18291466e-02,-6.22047192e-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,
  1.30388094, 0.00754316, 1.18471522, 0.04500472, 0.05775912,-0.07930239,
  0.17137792, 0.99959259, 0.02638626,-0.00301537,-0.01045561]

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,
 -1.40174362e-01, 5.69370912e-03,-2.70939438e+00, 1.01429112e+01,
 -2.37839670e+00, 1.01282522e+00,-1.61930499e-01,-9.26031347e+00,
 -2.19282205e+01, 5.97093999e+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,
  7.70281645e-03,-1.59438615e-03, 4.35143166e-04,-1.34994896e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.24634337, -3.05826454,  5.44645054, -3.05826454, 53.50956048,
       26.53901285,  5.44645054, 26.53901285, 21.14840139,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005777014526532898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92179372e-13, -9.60896861e-14,  1.00000000e+00, -1.84664555e-26,
        1.00000000e+00,  9.60896861e-14, -1.00000000e+00,  0.00000000e+00,
       -1.92179372e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09503754, -0.09448303,  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:
[-1.24145828e-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,
 -4.50617918e-05,-2.22499186e-05, 3.62894495e-05, 5.98016666e-05,
  4.33481446e-06, 7.61151454e-06,-4.90500506e+00, 2.57904368e-04,
  1.18268857e-02,-6.24697679e-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,
  1.30410806, 0.00754136, 1.18488811, 0.04501255, 0.0577441 ,-0.0793237 ,
  0.1713778 , 0.99959014, 0.02647304,-0.00307755,-0.01045289]

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,
  7.82601242e-02,-3.67140435e-01,-1.92652218e+00, 6.27128353e+00,
  2.43886085e+00, 2.35032518e-01, 5.63201311e-01,-2.17779042e+00,
  2.13911266e+01,-4.97352625e+00]

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,
  7.68951437e-03,-1.61189937e-03, 4.05361793e-04,-1.32988967e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.23762868,  6.21684378, -0.50878774,  6.21684378,  6.55057287,
        3.82384443, -0.50878774,  3.82384443, 52.9609314 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005766568683085033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44395621e-13,  2.40659369e-14,  1.00000000e+00,  3.47501591e-27,
        1.00000000e+00, -2.40659369e-14, -1.00000000e+00,  0.00000000e+00,
       -1.44395621e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02688978, -0.08242687,  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:
[ 1.77274075e-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,
 -4.16525092e-05,-3.44155416e-05,-1.23464077e-05, 2.66855753e-05,
  1.35444485e-05, 1.07740800e-05,-4.90500730e+00, 2.55511169e-04,
  1.18257484e-02,-6.26987526e-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,
  1.30433504, 0.00753951, 1.18506107, 0.04502148, 0.05773863,-0.07934413,
  0.17137906, 0.99958783, 0.02655571,-0.00309742,-0.01045836]

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,
  7.16681646e-04,-8.53531545e-02,-3.25001744e+00, 1.15187556e+01,
  2.38408529e+00, 2.22736222e-01, 3.46976504e-01,-2.28792867e+00,
  2.10192241e+01,-4.63894395e+00]

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,
  7.69999815e-03,-1.60375364e-03, 4.29211997e-04,-1.26804570e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005812395477969995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43257160e-13, -2.38761933e-14,  1.00000000e+00, -3.42043564e-27,
        1.00000000e+00,  2.38761933e-14, -1.00000000e+00,  0.00000000e+00,
       -1.43257160e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02688996, -0.08242929,  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:
[ 3.57119365e-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,
 -1.98231617e-05,-1.08485098e-05, 1.77854977e-05, 6.09527089e-05,
  4.56852522e-06, 6.15353271e-06,-4.90500384e+00, 2.56509585e-04,
  1.18273441e-02,-6.29070825e-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,
  1.30456174, 0.00753841, 1.18523404, 0.04503012, 0.0577425 ,-0.0793637 ,
  0.17138097, 0.99958567, 0.0266341 ,-0.00307563,-0.01047148]

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,
 -7.67539787e-01, 1.37602583e+00, 9.75374461e-01,-3.19319325e+00,
  2.33752817e+00, 2.12490526e-01, 1.59923635e-01,-2.36960559e+00,
  2.06968329e+01,-4.37280306e+00]

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,
  7.70877676e-03,-1.54483041e-03, 4.15988412e-04,-1.28843573e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000581766479532661
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.77091352e-14,  9.54182704e-14,  1.00000000e+00,  4.55232316e-27,
        1.00000000e+00, -9.54182704e-14, -1.00000000e+00,  0.00000000e+00,
       -4.77091352e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02688911, -0.08243129,  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:
[ 2.66985786e-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,
 -3.91513282e-06, 5.12743460e-05,-2.89328331e-06,-1.58025339e-05,
  3.09686735e-07, 1.73515380e-06,-4.90500177e+00, 2.56313303e-04,
  1.18284608e-02,-6.31038563e-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,
  1.3047878 , 0.00753909, 1.18540665, 0.04503688, 0.05775557,-0.07938246,
  0.17138287, 0.99958367, 0.02670809,-0.00301274,-0.01049184]

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,
 -1.83141213e+00, 3.26229148e+00, 5.34775581e+00,-1.90253243e+01,
  2.29827295e+00, 2.03933155e-01,-1.08539967e-03,-2.42987530e+00,
  2.04205805e+01,-4.16186485e+00]

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,
  7.68992054e-03,-1.43848648e-03, 3.69871903e-04,-1.39271634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005790276626915641
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58696014e-14,  1.19837002e-13,  1.00000000e+00,  1.14887256e-26,
        1.00000000e+00, -1.19837002e-13, -1.00000000e+00,  0.00000000e+00,
       -9.58696014e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02688742, -0.08243297,  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:
[ 1.88365095e-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,
 -9.01635592e-06, 1.19688118e-04,-5.33758669e-05,-1.06511714e-04,
  5.02567005e-07,-2.43457627e-06,-4.90500100e+00, 2.55072413e-04,
  1.18291266e-02,-6.32884125e-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,
  1.3050135 , 0.00754131, 1.1855785 , 0.04504204, 0.05775886,-0.07939705,
  0.17138502, 0.99958216, 0.02676344,-0.00299442,-0.01050035]

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,
 -1.41983007e+00, 2.67406824e+00, 3.88012922e+00,-1.48269052e+01,
 -2.44296193e+00, 1.04136448e+00, 6.40376734e-02,-9.07219027e+00,
 -2.22130371e+01, 6.55082300e+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,
  0.00768115,-0.00135826, 0.00032536,-0.00147461, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 6.26317875,  6.11943843, -1.33412193,  6.11943843,  8.39365497,
        9.7722088 , -1.33412193,  9.7722088 , 51.08699032,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005797190507828981
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.57552648e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.57552648e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09503105, -0.09449699,  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:
[ 8.66743583e-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,
  1.35776320e-05, 1.11519026e-04,-8.34745479e-05,-9.52702309e-05,
  4.93633295e-06,-6.32742364e-06,-4.90500148e+00, 2.52896874e-04,
  1.18293650e-02,-6.34602674e-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,
  1.30523938, 0.00754399, 1.18574947, 0.04504714, 0.05775256,-0.07940758,
  0.1713867 , 0.99958113, 0.02680016,-0.00301969,-0.01049789]

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,
 -1.16450601e-01, 5.00864536e-01,-1.08267938e+00, 1.92776893e+00,
 -2.39936048e+00, 1.01585824e+00,-1.19693574e-01,-9.07164948e+00,
 -2.17392377e+01, 6.09638689e+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 ,
  0.00768909,-0.00134744, 0.00029783,-0.0014716 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000580596903870495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56104844e-14, -1.91220969e-13,  1.00000000e+00, -1.82827295e-26,
        1.00000000e+00,  1.91220969e-13, -1.00000000e+00,  0.00000000e+00,
       -9.56104844e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502991, -0.09449989,  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:
[-4.64267793e-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,
  3.97515750e-05, 4.54352721e-05,-7.69962995e-05,-1.31325779e-05,
  3.73082715e-07,-1.41224775e-06,-4.90500059e+00, 2.54470347e-04,
  1.18274655e-02,-6.35837497e-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,
  1.30546534, 0.00754718, 1.18591969, 0.04505022, 0.05773681,-0.07941413,
  0.17138726, 0.99958057, 0.02681828,-0.00308775,-0.01048517]

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,
 -3.96997813e-01, 8.58866126e-01, 5.03652413e+00,-1.91021419e+01,
 -2.36226919e+00, 9.94450208e-01,-2.78094933e-01,-9.06028898e+00,
 -2.13420277e+01, 5.73451436e+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  ,
  0.00768571,-0.00132455, 0.00024857,-0.0015783 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005781001390293139
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.60234179e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.60234179e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09503008, -0.09450264,  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:
[-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,
  2.68160702e-05, 4.55087300e-05,-8.55881414e-05,-1.17244106e-04,
  7.76307356e-07, 1.04699250e-06,-4.90500073e+00, 2.54448166e-04,
  1.18266205e-02,-6.36723110e-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 ,
  1.30569089, 0.0075514 , 1.1860894 , 0.04504831, 0.05773051,-0.07941979,
  0.17138897, 0.99958013, 0.02683286,-0.00311342,-0.01048155]

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,
 -1.35221042e+00, 2.24504082e+00, 1.44858108e+01,-5.14256907e+01,
  2.36406521e+00, 2.24080567e-01, 2.85575851e-01,-2.01149346e+00,
  2.10460522e+01,-5.11101668e+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,
  7.64891870e-03,-1.27689223e-03, 2.02281617e-04,-1.83762564e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22139182,  6.18337551, -0.68671935,  6.18337551,  6.75026474,
        4.7620907 , -0.68671935,  4.7620907 , 49.10032751,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005747102536230037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65898048e-14,  9.65898048e-14,  1.00000000e+00,  9.32959040e-27,
        1.00000000e+00, -9.65898048e-14, -1.00000000e+00,  0.00000000e+00,
       -9.65898048e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02688335, -0.08244239,  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:
[-3.61799559e-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,
 -1.38044873e-05, 6.74157530e-05,-9.84144817e-05,-2.76815114e-04,
  5.81673594e-06, 1.17238317e-06,-4.90500189e+00, 2.53037331e-04,
  1.18267477e-02,-6.37253964e-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,
  1.30591595, 0.00755638, 1.18625801, 0.04504461, 0.0577335 ,-0.07942459,
  0.17139111, 0.99957984, 0.02684359,-0.00309738,-0.01048631]

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,
 -9.71407617e-01, 1.56762742e+00, 3.86320186e+00,-1.56476938e+01,
  2.32106840e+00, 2.13532558e-01, 1.09182059e-01,-2.15056328e+00,
  2.07119307e+01,-4.74403317e+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,
  7.60809238e-03,-1.25059954e-03, 1.63098694e-04,-1.91845237e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005746980850838274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.82959250e-14,  4.82959250e-14,  1.00000000e+00,  2.33249637e-27,
        1.00000000e+00, -4.82959250e-14, -1.00000000e+00,  0.00000000e+00,
       -4.82959250e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02688273, -0.0824451 ,  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:
[-3.11008632e-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,
 -3.45967774e-05, 4.26921885e-05,-1.15857881e-04,-1.09013766e-04,
  8.15293193e-07, 4.11034228e-07,-4.90500034e+00, 2.54160174e-04,
  1.18271954e-02,-6.37598409e-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,
  1.30614076, 0.00756106, 1.18642486, 0.04504201, 0.05774563,-0.07942857,
  0.17139309, 0.99957971, 0.02685027,-0.00304022,-0.01049889]

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,
  2.03849743e-01,-5.33881659e-01,-5.91866024e+00, 1.68453838e+01,
  2.28478578e+00, 2.04952604e-01,-4.26396049e-02,-2.25759636e+00,
  2.04278661e+01,-4.45162974e+00]

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,
  7.57019507e-03,-1.29053235e-03, 8.56464323e-05,-1.85788545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005716255126903269
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71110456e-14,  2.42777614e-14,  1.00000000e+00,  2.35763879e-27,
        1.00000000e+00, -2.42777614e-14, -1.00000000e+00,  0.00000000e+00,
       -9.71110456e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02688126, -0.08244732,  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:
[-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,
 -4.82040701e-05,-3.53484824e-05,-1.41794096e-04, 3.98871462e-05,
  3.26752679e-07,-2.40980168e-07,-4.90500007e+00, 2.54103381e-04,
  1.18272450e-02,-6.37834481e-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,
  1.30636524, 0.00756448, 1.18659098, 0.04504157, 0.0577481 ,-0.07942846,
  0.17139478, 0.99958005, 0.02683835,-0.00302679,-0.01050034]

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,
  8.06182420e-01,-1.93073007e+00,-7.75901791e+00, 2.53461105e+01,
 -2.41374955e+00, 1.02123361e+00,-7.09840490e-02,-9.05789915e+00,
 -2.18055649e+01, 6.18238682e+00]

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,
  7.51274802e-03,-1.38718952e-03, 1.02499227e-04,-1.73238912e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.19589584,  6.02456558, -1.44697436,  6.02456558,  8.94786034,
       11.45797128, -1.44697436, 11.45797128, 53.90185494,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005716524266552031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502973, -0.09451369,  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:
[-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,
 -9.33650153e-05,-1.16648650e-04,-4.02851243e-05, 1.10350040e-04,
  4.11809958e-06,-7.21355671e-07,-4.90500102e+00, 2.53017790e-04,
  1.18269074e-02,-6.37954133e-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 ,
  1.30658911, 0.00756641, 1.18675762, 0.04504275, 0.05774108,-0.07942436,
  0.17139553, 0.99958088, 0.02680784,-0.00305627,-0.0104914 ]

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,
  6.25127852e-01,-1.94243620e+00,-4.19004687e+00, 1.55593492e+01,
 -2.37452394e+00, 9.99777261e-01,-2.34110875e-01,-9.05742089e+00,
 -2.14028538e+01, 5.79729184e+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,
  7.45423886e-03,-1.48130492e-03, 1.70579088e-04,-1.64047245e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005706243246657999
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502952, -0.09451638,  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:
[-1.30699963e-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,
 -1.35578728e-04,-1.47912789e-04, 6.04027321e-05, 9.25757453e-05,
  2.20318063e-07, 1.81015808e-07,-4.90500012e+00, 2.54243514e-04,
  1.18266956e-02,-6.37630866e-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,
  1.30681204, 0.00756744, 1.18692518, 0.04504038, 0.05772469,-0.07941633,
  0.17139478, 0.99958217, 0.02675876,-0.00312797,-0.01047267]

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,
 -4.40381274e-01,-3.05340511e-01, 1.21111692e+01,-4.03424576e+01,
 -2.34131852e+00, 9.81935437e-01,-3.74483665e-01,-9.04924611e+00,
 -2.10657890e+01, 5.48906869e+00]

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,
  7.40578142e-03,-1.51989703e-03, 1.78770881e-04,-1.83529589e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005667339280926442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79492289e-14, -4.89746144e-14,  1.00000000e+00, -4.79702572e-27,
        1.00000000e+00,  4.89746144e-14, -1.00000000e+00,  0.00000000e+00,
       -9.79492289e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09503039, -0.09451896,  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:
[-5.56664961e-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,
 -1.53532217e-04,-1.11682079e-04, 3.90043616e-05,-1.83543910e-04,
  1.08610686e-06,-1.22331252e-06,-4.90500030e+00, 2.54011058e-04,
  1.18274104e-02,-6.36954384e-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,
  1.30703405, 0.00756785, 1.18709304, 0.04503378, 0.05771778,-0.07940738,
  0.17139531, 0.99958357, 0.02670636,-0.00315711,-0.01046348]

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,
 -6.22765114e-01, 9.53706571e-02, 1.32740922e+01,-4.57035641e+01,
  2.37054246e+00, 2.30484737e-01, 3.18300278e-01,-1.89798831e+00,
  2.11252445e+01,-5.33217169e+00]

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,
  7.36873172e-03,-1.54293100e-03, 1.66952479e-04,-2.05562975e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.17630011,  6.13146757, -0.74282471,  6.13146757,  6.78194161,
        4.99912175, -0.74282471,  4.99912175, 47.44034577,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005693011559353978
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46261299e-13,  4.87537665e-14,  1.00000000e+00,  7.13078924e-27,
        1.00000000e+00, -4.87537665e-14, -1.00000000e+00,  0.00000000e+00,
       -1.46261299e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0268784 , -0.08245855,  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:
[ 2.55035971e-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,
 -1.44079197e-04,-8.99175943e-05,-2.24094946e-05,-2.27348568e-04,
  6.44371326e-06,-4.84400674e-06,-4.90500153e+00, 2.52489245e-04,
  1.18289969e-02,-6.35920158e-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,
  1.30725545, 0.00756725, 1.1872602 , 0.04502991, 0.05772018,-0.07939755,
  0.17139639, 0.99958511, 0.02665028,-0.0031444 ,-0.010463  ]

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,
  4.48568562e-01,-1.40223566e+00,-9.34293143e+00, 3.10345673e+01,
  2.32682849e+00, 2.19951995e-01, 1.38616950e-01,-2.07027289e+00,
  2.07809174e+01,-4.90551222e+00]

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,
  7.34921111e-03,-1.59203892e-03, 1.75105912e-04,-1.89860991e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005702379359552173
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46021023e-13,  1.21684186e-13,  1.00000000e+00,  1.77684493e-26,
        1.00000000e+00, -1.21684186e-13, -1.00000000e+00,  0.00000000e+00,
       -1.46021023e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02687812, -0.08246163,  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:
[ 7.41038079e-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,
 -1.17519559e-04,-1.07257631e-04,-3.25420998e-05, 1.40378948e-04,
  1.02149975e-06,-2.05819908e-06,-4.90500066e+00, 2.54628884e-04,
  1.18285889e-02,-6.34670756e-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,
  1.30747627, 0.0075659 , 1.18742721, 0.04503015, 0.05773174,-0.07938687,
  0.17139741, 0.9995868 , 0.02659026,-0.00309044,-0.01047057]

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,
  3.62073182e-01,-1.12470550e+00,-1.27238328e+01, 4.40571866e+01,
  2.28984797e+00, 2.11566763e-01,-1.63318333e-02,-2.20460814e+00,
  2.04877434e+01,-4.56376086e+00]

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,
  7.33488697e-03,-1.62066433e-03, 2.05972262e-04,-1.68021703e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005679876317889881
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77330282e-14,  4.88665141e-14,  1.00000000e+00,  4.77587240e-27,
        1.00000000e+00, -4.88665141e-14, -1.00000000e+00,  0.00000000e+00,
       -9.77330282e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02687695, -0.08246414,  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:
[ 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,
 -1.01591371e-04,-8.56348760e-05, 2.93858536e-05, 2.21588636e-04,
  1.63239449e-07, 7.38429274e-07,-4.90500103e+00, 2.55517281e-04,
  1.18278689e-02,-6.33318999e-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,
  1.30769657, 0.00756425, 1.18759457, 0.04502807, 0.05775233,-0.07937537,
  0.17139783, 0.99958864, 0.02652607,-0.00299574,-0.01048565]

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,
 -3.93953047e-01, 1.42059035e-01, 7.55115151e+00,-2.56164355e+01,
  2.25885154e+00, 2.04931185e-01,-1.49354203e-01,-2.30992559e+00,
  2.02408668e+01,-4.28994216e+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,
  7.32902615e-03,-1.61909770e-03, 1.75881303e-04,-1.81803653e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005632056275020059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85628490e-14, -4.92814245e-14,  1.00000000e+00, -4.85731760e-27,
        1.00000000e+00,  4.92814245e-14, -1.00000000e+00,  0.00000000e+00,
       -9.85628490e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02687505, -0.08246621,  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:
[ 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,
 -7.84406089e-05,-4.63140479e-05, 3.14336344e-06,-1.22800589e-04,
  3.62086537e-06, 3.63278801e-06,-4.90500259e+00, 2.55330785e-04,
  1.18268295e-02,-6.31854842e-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,
  1.30791644, 0.00756267, 1.1877612 , 0.04502354, 0.05776321,-0.07935973,
  0.17139823, 0.99959094, 0.02644311,-0.00294505,-0.0104896 ]

qacc:
[ 8.32733302e+00,-4.53352915e+00, 1.40354164e+01,-1.22875168e+01,
  1.08573860e+01,-1.20831644e+01, 4.07243800e+01,-5.17889445e+01,
  4.52080847e+00,-5.49039094e+00, 1.65749708e+01,-9.01784515e+00,
 -5.10694396e-01, 5.60858988e-01, 6.41112210e+00,-2.38589370e+01,
 -2.43004050e+00, 1.03405338e+00,-3.92165672e-03,-9.14126869e+00,
 -2.19463005e+01, 6.18186864e+00]

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,
  7.32825875e-03,-1.59956287e-03, 1.03851502e-04,-1.95176270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.10409222,  5.93439251, -1.42931012,  5.93439251,  8.99167785,
       11.9890472 , -1.42931012, 11.9890472 , 55.88175125,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005606270575716638
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90161828e-14, -9.90161828e-14,  1.00000000e+00, -9.80420446e-27,
        1.00000000e+00,  9.90161828e-14, -1.00000000e+00,  0.00000000e+00,
       -9.90161828e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0950299 , -0.09453184,  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:
[ 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,
 -5.33219221e-05,-1.13980146e-05,-8.95019612e-05,-1.41337969e-04,
  1.12033326e-05, 6.68694254e-06,-4.90500530e+00, 2.54198836e-04,
  1.18254660e-02,-6.30270599e-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,
  1.30813604, 0.00756141, 1.187927  , 0.0450174 , 0.05776453,-0.07934005,
  0.17139794, 0.99959372, 0.02634138,-0.00293751,-0.01048319]

qacc:
[  5.22170567, -1.06723284,  4.57684143, -9.15371502,  9.9788158 ,
  -9.14390139, 14.11848631, 21.52484205,  3.68891004, -1.74108161,
   2.74344897,  8.95293085, -0.50589445,  0.76199031,  3.66825455,
 -14.5110536 , -2.38836147,  1.01278833, -0.17411496, -9.14399995,
 -21.52617379,  5.77498089]

qfrc_actuator:
[-1.53579872e-04, 8.17386048e-04, 3.46708556e-04, 1.89444696e-04,
 -4.85126002e-04, 9.26209678e-02,-6.36240959e-03, 7.75776001e-02,
 -6.85001975e-04, 8.47456905e-04, 6.70589250e-04, 1.34522004e-04,
  7.33588265e-03,-1.56949880e-03, 7.06508461e-05,-2.02871236e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005615783372188848
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.88484554e-14,  9.88484554e-14,  1.00000000e+00,  9.77101714e-27,
        1.00000000e+00, -9.88484554e-14, -1.00000000e+00,  0.00000000e+00,
       -9.88484554e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502909, -0.09453432,  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:
[ 3.13024887e-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,
 -2.49969015e-05, 1.53807649e-05,-9.03982956e-05,-9.63621016e-05,
  3.08340557e-06, 4.73843159e-06,-4.90500336e+00, 2.56652751e-04,
  1.18264055e-02,-6.28216824e-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,
  1.30835559, 0.00756019, 1.1880921 , 0.04500965, 0.05775644,-0.07931638,
  0.17139636, 0.99959695, 0.0262209 ,-0.0029724 ,-0.01046706]

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,
 -1.37837433e-01, 1.74567521e-01, 3.85848408e+00,-1.49680638e+01,
 -2.35285648e+00, 9.95194093e-01,-3.21098014e-01,-9.13857175e+00,
 -2.11725082e+01, 5.44649553e+00]

qfrc_actuator:
[-1.51982221e-04, 8.26222603e-04, 3.26188511e-04, 1.42867290e-04,
 -4.27696587e-04, 9.24644830e-02,-6.27632047e-03, 7.77936816e-02,
 -6.85356957e-04, 8.42843739e-04, 6.20257842e-04, 1.36700455e-04,
  7.33789218e-03,-1.56890589e-03, 4.48069433e-05,-2.10696899e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005593989361846463
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.98467132e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.98467132e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502944, -0.09453672,  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:
[ 2.50291490e-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,
 -9.30472989e-06,-9.33355876e-08,-7.79225724e-05,-9.51610623e-05,
 -1.19269151e-07, 5.16125496e-07,-4.90500260e+00, 2.57596310e-04,
  1.18281902e-02,-6.25806551e-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,
  1.30857491, 0.00755906, 1.18825625, 0.04500527, 0.05774021,-0.07928891,
  0.17139387, 0.99960061, 0.02608278,-0.00304388,-0.01044207]

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,
  5.76116964e-02,-7.74033754e-02,-1.15900009e+01, 3.84875974e+01,
 -2.03350583e+00, 9.50686892e-01,-2.28531785e-01,-8.62066852e+00,
 -1.82694154e+01, 4.93715131e+00]

qfrc_actuator:
[-1.84786279e-04, 8.32028793e-04, 3.12494830e-04, 1.31698884e-04,
 -4.08247932e-04, 9.26381972e-02,-6.15472927e-03, 7.82049982e-02,
 -6.27424742e-04, 8.75580933e-04, 5.16154391e-04, 1.19580602e-04,
  7.32054598e-03,-1.56807589e-03, 4.46979971e-05,-1.91907046e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005547056236005789
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96800134e-07, -3.96800134e-07,  1.00000000e+00,  1.57450346e-13,
        1.00000000e+00,  3.96800134e-07, -1.00000000e+00,  2.52435490e-29,
        3.96800134e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.090008  , -0.09365018,  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:
[-3.27293895e-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,
 -2.39155368e-05,-4.62813997e-07,-4.65867292e-05, 1.72593196e-04,
  1.29236700e-06,-5.89644898e-06,-4.90500298e+00, 2.57217509e-04,
  1.18307785e-02,-6.23034777e-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,
  1.30879385, 0.00755807, 1.18842065, 0.04499971, 0.05773269,-0.0792646 ,
  0.17139353, 0.99960385, 0.0259602 ,-0.00307559,-0.01042839]

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,
 -4.89300357e-01, 5.85781448e-01, 3.95789133e+00,-1.32188739e+01,
  2.17619425e+00,-7.89499929e-01, 5.37522069e-01, 7.55055639e+00,
  1.98152149e+01,-6.20041633e+00]

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,
  7.29160312e-03,-1.56719149e-03, 5.47516639e-05,-1.98412246e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.10102961,  5.69672941, -2.1839955 ,  5.69672941, 11.63761988,
       14.44163077, -2.1839955 , 14.44163077, 43.77054982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005602587590016645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.20516795e-14, -2.76615297e-07,  1.00000000e+00,  2.26967497e-20,
        1.00000000e+00,  2.76615297e-07, -1.00000000e+00,  0.00000000e+00,
        8.20516795e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0301959 , -0.06813863,  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:
[-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,
 -4.19622316e-05,-4.59677594e-06, 7.27027972e-06,-6.15293230e-05,
  6.13030112e-06,-1.33969446e-05,-4.90500416e+00, 2.55936612e-04,
  1.18339632e-02,-6.19911385e-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,
  1.30901226, 0.00755744, 1.18858509, 0.04499112, 0.05773266,-0.07924748,
  0.17139435, 0.9996062 , 0.02587117,-0.00307174,-0.0104259 ]

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,
 -8.87129172e-01, 1.18554386e+00, 9.29496211e+00,-3.22060609e+01,
  1.87217957e+00,-1.79850190e+00, 2.89336614e-01, 1.65730089e+01,
  1.77983430e+01,-6.10786779e+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,
  7.26105001e-03,-1.54859086e-03, 3.35494847e-05,-2.14449255e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005683130311216339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.76770691e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.76770691e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03355191, -0.05366646,  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:
[ 2.00648949e-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,
 -5.38468255e-05, 7.61863168e-06,-2.95560149e-05,-1.63942544e-04,
  1.02754008e-06,-5.48152620e-06,-4.90500338e+00, 2.59118105e-04,
  1.18313945e-02,-6.16981947e-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,
  1.30923023, 0.00755725, 1.18874855, 0.04498604, 0.05773997,-0.07923744,
  0.17139554, 0.99960769, 0.02581462,-0.00303296,-0.01043377]

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,
 -3.44478158e-01, 5.82891163e-01,-1.20060367e+01, 3.99643721e+01,
  1.83502662e+00,-1.76941002e+00, 9.53283151e-02, 1.60526293e+01,
  1.74904258e+01,-5.68290069e+00]

qfrc_actuator:
[-1.32796584e-04, 9.14333753e-04, 2.96713086e-04, 1.08405981e-04,
 -2.97899125e-04, 9.45563367e-02,-5.69774452e-03, 8.19178585e-02,
 -5.60472316e-04, 7.75146585e-04, 1.83287689e-04, 1.09896462e-04,
  7.25086135e-03,-1.51963837e-03, 2.02313983e-05,-1.95142793e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.19751752, -6.1969673 , -0.08258112, -6.1969673 ,  6.20834575,
       -0.81256083, -0.08258112, -0.81256083, 67.17286607,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005718469660772607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94146877e-13, -9.70734384e-14,  1.00000000e+00, -1.88465049e-26,
        1.00000000e+00,  9.70734384e-14, -1.00000000e+00,  0.00000000e+00,
       -1.94146877e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03355157, -0.05366975,  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:
[ 3.20429169e-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,
 -3.76827881e-05, 1.89094845e-05,-4.88435555e-05, 1.79340740e-04,
 -5.59183712e-08, 9.86856189e-08,-4.90500233e+00, 2.60576245e-04,
  1.18289315e-02,-6.14840542e-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,
  1.30944806, 0.00755688, 1.18891143, 0.04498556, 0.05775449,-0.07923438,
  0.17139645, 0.99960837, 0.0257897 ,-0.0029598 ,-0.01045133]

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,
  3.91701380e-01,-6.66541426e-01,-1.48088488e+01, 5.04582476e+01,
  1.80346769e+00,-1.74401787e+00,-7.28232996e-02, 1.56217056e+01,
  1.72267329e+01,-5.34028255e+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,
  7.24225110e-03,-1.53796957e-03, 2.23863750e-05,-1.71138742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005716107589844033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71135521e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.71135521e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03355052, -0.05367159,  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:
[ 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,
 -2.42494410e-05,-2.17862127e-05,-1.10710943e-06, 2.43622427e-04,
  1.95987245e-06, 2.42258893e-06,-4.90500202e+00, 2.60526828e-04,
  1.18275157e-02,-6.13465443e-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,
  1.30966561, 0.00755658, 1.18907405, 0.04498764, 0.05777612,-0.0792382 ,
  0.17139649, 0.99960825, 0.02579569,-0.0028527 ,-0.01047804]

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,
 -6.79850993e-02, 4.82669816e-02,-8.16349077e+00, 2.79916306e+01,
  1.77690657e+00,-1.72212019e+00,-2.17855016e-01, 1.52660622e+01,
  1.70036173e+01,-5.06391707e+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,
  7.22925088e-03,-1.53094821e-03, 1.86925833e-06,-1.58768151e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005683493570469295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76708261e-14, -9.76708261e-14,  1.00000000e+00, -9.53959028e-27,
        1.00000000e+00,  9.76708261e-14, -1.00000000e+00,  0.00000000e+00,
       -9.76708261e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03354891, -0.05367229,  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:
[-3.85640332e-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,
 -3.03253851e-05,-4.84348435e-06, 3.64610422e-06, 1.36581601e-04,
  6.90929043e-06, 1.72798110e-06,-4.90500248e+00, 2.59124822e-04,
  1.18269714e-02,-6.12831855e-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,
  1.30988282, 0.0075564 , 1.18923692, 0.04498885, 0.05780477,-0.07924884,
  0.17139515, 0.99960733, 0.02583199,-0.00271204,-0.01051348]

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,
 -4.29236678e-01, 5.11564172e-01, 3.06407145e+00,-1.00816633e+01,
  1.75478114e+00,-1.70346462e+00,-3.42418901e-01, 1.49738356e+01,
  1.68174147e+01,-4.84091799e+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,
  7.20830800e-03,-1.52666269e-03, 0.00000000e+00,-1.64010237e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005627003148882259
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86513598e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.86513598e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03354685, -0.05367208,  0.06198989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25852100e-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,
 -3.76696342e-05,-4.26624572e-06, 1.15391242e-05,-4.51354459e-05,
  1.46645612e-05,-1.80300436e-06,-4.90500371e+00, 2.56485141e-04,
  1.18271692e-02,-6.12919697e-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,
  1.31009994, 0.00755574, 1.18939961, 0.04499112, 0.05782346,-0.07925512,
  0.17139522, 0.99960691, 0.02584915,-0.00261845,-0.01053547]

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,
  3.43660033e-01,-7.67864885e-01,-3.49333980e+00, 1.17325336e+01,
 -2.48838542e+00, 1.08947875e+00, 3.52108575e-01,-9.30814851e+00,
 -2.34545096e+01, 7.36011096e+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,
  7.19859264e-03,-1.55959443e-03, 0.00000000e+00,-1.58274997e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.13189888,  4.95879541, -3.6070115 ,  4.95879541, 19.87812485,
       18.89783888, -3.6070115 , 18.89783888, 32.11199808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005639694169935622
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84293644e-14, -9.84293644e-14,  1.00000000e+00, -9.68833977e-27,
        1.00000000e+00,  9.84293644e-14, -1.00000000e+00,  0.00000000e+00,
       -9.84293644e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09501679, -0.09455776,  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:
[ 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,
 -3.05613179e-05,-4.28764964e-05,-4.64456137e-06, 5.51980843e-05,
  2.51288963e-05,-8.03259464e-06,-4.90500573e+00, 2.52692349e-04,
  1.18280144e-02,-6.13712728e-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,
  1.31031674, 0.00755521, 1.18956229, 0.0449937 , 0.0578324 ,-0.07925716,
  0.17139583, 0.99960698, 0.02584719,-0.00257052,-0.01054529]

qacc:
[  0.32420054,  1.17116649, -4.91874962,  8.55511559, -1.39922684,
   4.68417018,  0.90726541, -7.27138372,  6.95658769, -3.20491318,
  11.75915452,-13.86575675, -0.31539081,  0.38002449, -0.96193953,
   3.39117911, -2.43927118,  1.05997666,  0.13332933, -9.30320393,
 -22.76104335,  6.7006133 ]

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,
  7.19027771e-03,-1.54329923e-03, 0.00000000e+00,-1.56762757e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.19444392, -3.6630161 ,  4.99534268, -3.6630161 , 33.66356332,
       20.14272756,  4.99534268, 20.14272756, 20.96482908,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005714782465129631
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71360705e-14,  9.71360705e-14,  1.00000000e+00,  9.43541619e-27,
        1.00000000e+00, -9.71360705e-14, -1.00000000e+00,  0.00000000e+00,
       -9.71360705e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09501199, -0.09456048,  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:
[ 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,
 -3.45581633e-05,-2.55745320e-06, 8.55362129e-07, 1.68673927e-05,
  1.10763440e-05,-2.69682532e-06,-4.90500265e+00, 2.57375086e-04,
  1.18259913e-02,-6.13898421e-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,
  1.310533  , 0.00755518, 1.1897251 , 0.0449951 , 0.05783176,-0.07925506,
  0.17139621, 0.99960754, 0.02582618,-0.00256706,-0.01054396]

qacc:
[-2.54766517e+00, 2.74077861e+00,-7.59250317e+00, 3.80005214e+00,
 -3.85333907e-01,-4.42659620e+00, 4.11835266e+01,-9.59796906e+01,
  1.82828117e+00,-3.33501004e+00, 1.07789335e+01,-1.07231255e+01,
 -8.63304084e-01, 1.24105162e+00, 3.87144703e+00,-1.30337410e+01,
 -2.39655439e+00, 1.03505700e+00,-5.71918689e-02,-9.28432213e+00,
 -2.21795549e+01, 6.17297117e+00]

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,
  7.16152373e-03,-1.51563388e-03, 0.00000000e+00,-1.63078769e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.21903869, -3.41688621,  5.19628049, -3.41688621, 43.66571332,
       24.6235796 ,  5.19628049, 24.6235796 , 22.41061453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000574428096190488
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0950092 , -0.09456307,  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:
[-1.50516503e-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,
 -4.75484130e-05, 1.89283263e-05,-1.74535970e-06,-6.30288485e-05,
  2.88971957e-06,-5.56621025e-08,-4.90500079e+00, 2.59990258e-04,
  1.18250857e-02,-6.13737114e-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 ,
  1.31074873, 0.00755554, 1.18988776, 0.04499673, 0.05782167,-0.07924891,
  0.1713957 , 0.9996086 , 0.02578616,-0.00260707,-0.0105323 ]

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, -0.66542295,  0.92459686, -0.87643893,
   2.88161906, -2.35979144,  1.01413503, -0.22219123, -9.25822728,
 -21.69429904,  5.75090705]

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,
  7.13118923e-03,-1.49932087e-03, 0.00000000e+00,-1.61527656e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005736768502258016
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67637987e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.67637987e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500803, -0.09456556,  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:
[-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,
 -5.11021548e-05, 1.05057091e-05,-1.24668844e-05, 1.07291856e-05,
  4.98285350e-09, 7.09874435e-08,-4.90500011e+00, 2.60890623e-04,
  1.18251922e-02,-6.13219841e-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,
  1.31096398, 0.00755614, 1.19005037, 0.04499818, 0.05780227,-0.07923877,
  0.17139373, 0.99961012, 0.02572722,-0.00268973,-0.01051097]

qacc:
[  2.47149089, -0.36095452,  4.26957525,-13.6531011 ,  0.38881868,
  24.6079792 ,-97.72139331,203.61110315, -8.0400785 , -0.50654836,
   3.32356933, -8.067812  , -0.55774909,  0.71001199,  0.53338134,
  -1.86450296, -2.32848119,  0.99668501, -0.36443014, -9.22967393,
 -21.29165826,  5.41345682]

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,
  7.10525117e-03,-1.48991372e-03, 0.00000000e+00,-1.62451677e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005699622101394686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.73944417e-14, -9.73944417e-14,  1.00000000e+00,  9.48567727e-27,
        1.00000000e+00,  9.73944417e-14, -1.00000000e+00,  0.00000000e+00,
        9.73944417e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500815, -0.09456799,  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:
[ 1.49085152e-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,
 -5.05101693e-05, 4.15483592e-07,-8.23306551e-06,-1.10712493e-05,
  1.99666148e-06,-2.17452586e-06,-4.90500056e+00, 2.60333504e-04,
  1.18262292e-02,-6.12340466e-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,
  1.31117881, 0.00755666, 1.19021265, 0.04500149, 0.05777366,-0.07922469,
  0.17138982, 0.9996121 , 0.02564941,-0.00281436,-0.01048047]

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,
 -1.13549651e-01,-4.30916648e-02,-6.13062999e+00, 2.07643097e+01,
 -2.30210927e+00, 9.82241514e-01,-4.86565256e-01,-9.20197803e+00,
 -2.09599425e+01, 5.14389555e+00]

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,
  7.07663960e-03,-1.50241089e-03, 0.00000000e+00,-1.52401186e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005639148907194552
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84388817e-14,  1.96877763e-13,  1.00000000e+00,  1.93804269e-26,
        1.00000000e+00, -1.96877763e-13, -1.00000000e+00,  0.00000000e+00,
       -9.84388817e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500929, -0.09457036,  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:
[ 1.08879271e-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,
 -5.52639364e-05,-2.41226569e-05,-8.95619766e-06, 9.79441782e-05,
  8.54577933e-06,-6.68135304e-06,-4.90500209e+00, 2.58505878e-04,
  1.18281349e-02,-6.11094826e-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,
  1.31139318, 0.00755686, 1.19037485, 0.04500597, 0.05775282,-0.07921795,
  0.17138821, 0.99961312, 0.02560669,-0.00290305,-0.01046292]

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,
 -5.72800442e-02,-2.76026009e-01,-3.62138556e+00, 1.24698960e+01,
  1.94164921e+00,-1.83255449e+00, 5.77157344e-01, 1.73403655e+01,
  1.79853516e+01,-6.98246659e+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,
  7.04110961e-03,-1.52781793e-03, 0.00000000e+00,-1.46615850e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22312833,  5.31513127, -3.23677399,  5.31513127, 18.26695879,
       19.77726586, -3.23677399, 19.77726586, 38.69952748,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005749184676410168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65548236e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.65548236e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03353868, -0.05369324,  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:
[ 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,
 -7.01757538e-05,-4.50416708e-05, 3.55305858e-06, 6.14267826e-05,
  1.94157894e-05,-1.33648343e-05,-4.90500467e+00, 2.55542744e-04,
  1.18308625e-02,-6.09480097e-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,
  1.31160692, 0.00755728, 1.19053728, 0.04500908, 0.05773954,-0.07921841,
  0.17138797, 0.99961326, 0.02559773,-0.00295644,-0.01045713]

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,
 -7.59815762e-01, 8.96162243e-01, 4.51155220e+00,-1.51062217e+01,
  1.89268337e+00,-1.79945593e+00, 3.41490340e-01, 1.66843387e+01,
  1.76642635e+01,-6.38314255e+00]

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,
  7.01742493e-03,-1.50744672e-03, 0.00000000e+00,-1.54044253e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.29129298, -6.17149419,  1.22189474, -6.17149419,  7.92658242,
        8.25945059,  1.22189474,  8.25945059, 48.00777598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005830874189260982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.52021077e-14, -9.52021077e-14,  1.00000000e+00, -9.06344130e-27,
        1.00000000e+00,  9.52021077e-14, -1.00000000e+00,  0.00000000e+00,
       -9.52021077e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03353841, -0.05369868,  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:
[-1.16737356e-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,
 -7.09998747e-05,-8.58485600e-06, 4.32527435e-06,-7.13495657e-05,
  9.74505670e-06,-5.22317675e-06,-4.90500244e+00, 2.59607136e-04,
  1.18288035e-02,-6.08468417e-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,
  1.31182004, 0.00755834, 1.19069972, 0.0450113 , 0.05773368,-0.07922595,
  0.17138828, 0.99961254, 0.02562143,-0.00297512,-0.01046216]

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,
 -9.96487168e-01, 1.48209004e+00, 2.84436624e+00,-9.70822639e+00,
  1.85079037e+00,-1.77032257e+00, 1.36390729e-01, 1.61414847e+01,
  1.73813912e+01,-5.90430297e+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,
  7.00620544e-03,-1.46001048e-03, 0.00000000e+00,-1.58544935e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.31910246, -6.25199873,  0.91845948, -6.25199873,  7.48377418,
        7.92797753,  0.91845948,  7.92797753, 60.28523443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005864184228818459
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.46613358e-14, -9.46613358e-14,  1.00000000e+00, -8.96076849e-27,
        1.00000000e+00,  9.46613358e-14, -1.00000000e+00,  0.00000000e+00,
       -9.46613358e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0335374 , -0.0537022 ,  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:
[-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,
 -5.06956777e-05, 2.84667639e-05,-1.11083623e-05,-4.95883541e-05,
  3.47976639e-06,-6.96758832e-07,-4.90500092e+00, 2.61788092e-04,
  1.18279917e-02,-6.08262616e-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,
  1.31203291, 0.0075596 , 1.19086215, 0.04501226, 0.05773507,-0.07924047,
  0.17138842, 0.99961101, 0.02567691,-0.00295958,-0.01047725]

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,
 -4.21258084e-01, 5.79871477e-01, 3.79751060e+00,-1.32065263e+01,
  1.81520974e+00,-1.74503112e+00,-4.10950231e-02, 1.56937023e+01,
  1.71355635e+01,-5.52213518e+00]

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,
  7.00248597e-03,-1.45011694e-03, 0.00000000e+00,-1.64830059e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005858200799760266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03353578, -0.05370419,  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:
[ 3.36110044e-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,
 -2.39663313e-05, 5.99183345e-06,-1.48296224e-05,-6.79824961e-05,
  3.97093584e-07, 5.36327710e-07,-4.90500013e+00, 2.62332577e-04,
  1.18281845e-02,-6.08830105e-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,
  1.3122456 , 0.00756054, 1.19102448, 0.04501245, 0.0577436 ,-0.07926188,
  0.17138778, 0.99960867, 0.02576341,-0.00291026,-0.01050182]

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,
  1.64099585e-02,-2.82433205e-01, 2.21055311e+00,-7.97484823e+00,
  1.78521693e+00,-1.72336421e+00,-1.93955667e-01, 1.53258075e+01,
  1.69248064e+01,-5.21760975e+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,
  6.97662685e-03,-1.48030777e-03, 0.00000000e+00,-1.68565044e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005820737150353111
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.53679058e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.53679058e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03353366, -0.05370495,  0.06198954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.76450773e-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,
 -3.75763051e-05,-3.38643541e-05,-1.78902321e-05,-4.38438756e-05,
  3.20285691e-07,-1.27544878e-06,-4.90500012e+00, 2.61424711e-04,
  1.18292077e-02,-6.10144646e-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,
  1.31245826, 0.00756041, 1.19118626, 0.0450155 , 0.05775917,-0.07929011,
  0.17138585, 0.99960553, 0.02588032,-0.00282752,-0.01053538]

qacc:
[  5.96257655,  1.19099717, -5.28555637, 10.39488605,  9.09264822,
  -7.90569972, 11.60921963, 34.36494814,  8.55467402, -1.42095692,
   5.06237603,-11.73770317,  0.9646553 , -1.91254167, -9.58876035,
  32.11716865,  1.76014304, -1.70505642, -0.32506787, 15.02511037,
  16.74673865, -4.97552088]

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,
  6.95879076e-03,-1.55186716e-03, 0.00000000e+00,-1.53013672e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005758473632007238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63990717e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.63990717e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03353116, -0.05370475,  0.06198965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.58372529e-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,
 -4.60969932e-05,-8.94156815e-05,-1.62189931e-05, 1.50060649e-04,
  3.11042693e-06,-5.94217788e-06,-4.90500088e+00, 2.59200829e-04,
  1.18309369e-02,-6.12185144e-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,
  1.31267082, 0.00755917, 1.19134791, 0.04502035, 0.05778171,-0.0793251 ,
  0.17138216, 0.99960159, 0.02602717,-0.00271166,-0.01057756]

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,  0.80561991, -1.75699003, -5.73328299,
  19.54016023,  1.73938305, -1.68982362, -0.43711617, 14.78102999,
  16.59882401, -4.78371596]

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,
  6.94576000e-03,-1.61185631e-03, 0.00000000e+00,-1.43976996e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005677090239694788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77809915e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.77809915e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03352837, -0.0537038 ,  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:
[ 2.16566960e-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,
 -5.83198446e-05,-9.53938403e-05, 7.32709509e-06, 9.61877084e-05,
  8.65982673e-06,-1.33206388e-05,-4.90500243e+00, 2.55760925e-04,
  1.18332835e-02,-6.14934678e-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,
  1.31288299, 0.00755743, 1.19150982, 0.04502423, 0.05779408,-0.07935563,
  0.1713808 , 0.99959815, 0.02615477,-0.00264427,-0.01060516]

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,
 -4.35350406e-02,-3.86147091e-01, 3.27804241e+00,-1.09410842e+01,
 -2.53794771e+00, 1.11474271e+00, 5.79107371e-01,-9.34862311e+00,
 -2.41360817e+01, 7.95058076e+00]

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,
  6.93029566e-03,-1.62894103e-03, 0.00000000e+00,-1.49508409e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.290232  ,  5.11863905, -3.65602967,  5.11863905, 20.04762507,
       19.26109353, -3.65602967, 19.26109353, 33.25680352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005829603214636547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.52228637e-14, -9.52228637e-14,  1.00000000e+00, -9.06739377e-27,
        1.00000000e+00,  9.52228637e-14, -1.00000000e+00,  0.00000000e+00,
       -9.52228637e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09498584, -0.09459339,  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:
[ 3.08807801e-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,
 -6.83474326e-05,-5.71193113e-05, 1.04927346e-05,-4.98525971e-05,
  1.68866843e-05,-2.33048948e-05,-4.90500477e+00, 2.51177338e-04,
  1.18361856e-02,-6.18379736e-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,
  1.31309475, 0.00755583, 1.19167151, 0.04502945, 0.05779654,-0.07938185,
  0.17138073, 0.99959521, 0.02626318,-0.00262368,-0.01061963]

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,
 -3.03787589e-01, 3.41816918e-01,-4.32437422e+00, 1.47220658e+01,
 -2.48161088e+00, 1.07868558e+00, 3.23867704e-01,-9.32949071e+00,
 -2.33231392e+01, 7.19803861e+00]

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,
  6.93470268e-03,-1.60268839e-03, 0.00000000e+00,-1.42273403e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.37618408, -3.89528118,  5.04802021, -3.89528118, 27.7192703 ,
       16.46929263,  5.04802021, 16.46929263, 19.08463669,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005932543396348494
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.35705776e-14,  9.35705776e-14,  1.00000000e+00,  8.75545299e-27,
        1.00000000e+00, -9.35705776e-14, -1.00000000e+00,  0.00000000e+00,
       -9.35705776e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09497962, -0.09459632,  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:
[ 1.88213028e-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,
 -4.50182355e-05,-5.45953509e-06,-5.66958390e-06, 6.97879723e-05,
  5.53597054e-06,-1.17843669e-05,-4.90500295e+00, 2.55458604e-04,
  1.18312594e-02,-6.21180096e-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,
  1.31330611, 0.00755448, 1.19183308, 0.04503581, 0.05778926,-0.07940387,
  0.17138106, 0.99959277, 0.0263525 ,-0.00264851,-0.01062215]

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,
 -4.10814444e-01, 5.52433269e-01,-3.57832411e+00, 1.23731274e+01,
 -2.43252690e+00, 1.04796392e+00, 1.01436608e-01,-9.29455220e+00,
 -2.26412919e+01, 6.59898224e+00]

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,
  6.91909373e-03,-1.58637651e-03, 0.00000000e+00,-1.36445807e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.41692997, -3.69847589,  5.24387894, -3.69847589, 35.78456896,
       20.71281698,  5.24387894, 20.71281698, 21.02555369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005981341632654291
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.85614381e-13, -9.28071905e-14,  1.00000000e+00, -1.72263492e-26,
        1.00000000e+00,  9.28071905e-14, -1.00000000e+00,  0.00000000e+00,
       -1.85614381e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949758 , -0.0945991 ,  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:
[-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,
 -4.04869099e-05, 4.28538723e-06, 1.62904041e-06, 6.06261185e-05,
  3.26602621e-07,-3.30943429e-06,-4.90500220e+00, 2.57467368e-04,
  1.18277717e-02,-6.23640193e-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,
  1.31351701, 0.00755338, 1.19199518, 0.04503847, 0.05777242,-0.07942181,
  0.17138103, 0.99959082, 0.02642282,-0.00271759,-0.01061364]

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,
 -8.31882022e-01, 1.06684832e+00, 1.20625514e+01,-4.09010653e+01,
 -2.39022885e+00, 1.02190203e+00,-9.12401169e-02,-9.25145595e+00,
 -2.20720346e+01, 6.12291842e+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,
  6.89149025e-03,-1.57620403e-03, 0.00000000e+00,-1.56350645e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.42084257, -3.42010489,  5.43416064, -3.42010489, 46.63975809,
       25.31263219,  5.43416064, 25.31263219, 22.35188746,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005986028014430128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.27345330e-14, -9.27345330e-14,  1.00000000e+00, -8.59969361e-27,
        1.00000000e+00,  9.27345330e-14, -1.00000000e+00,  0.00000000e+00,
       -9.27345330e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09497391, -0.0946018 ,  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:
[-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,
 -4.77133803e-05, 1.85271164e-06, 3.52432574e-06,-1.96376039e-04,
  6.02636744e-07, 2.37379551e-06,-4.90500248e+00, 2.57613662e-04,
  1.18255500e-02,-6.25749820e-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,
  1.3137273 , 0.00755296, 1.19215737, 0.04503806, 0.05774617,-0.07943575,
  0.17137997, 0.99958934, 0.02647425,-0.00282996,-0.01059484]

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,
 -1.17325585e+00, 1.72736350e+00, 9.51794765e+00,-3.28001402e+01,
 -2.35416083e+00, 9.99885367e-01,-2.57321747e-01,-9.20555420e+00,
 -2.15992858e+01, 5.74550143e+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,
  6.86736032e-03,-1.53430433e-03, 0.00000000e+00,-1.71727573e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005955235507445478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.32140319e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.32140319e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09497356, -0.09460442,  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:
[-2.41884507e-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,
 -4.93233454e-05, 3.15377378e-05,-2.56976267e-05,-1.65501565e-04,
  5.87402111e-06, 5.46814827e-06,-4.90500377e+00, 2.56193309e-04,
  1.18244604e-02,-6.27502222e-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,
  1.31393697, 0.00755335, 1.19231922, 0.04503746, 0.05771062,-0.07944576,
  0.17137731, 0.99958833, 0.02650688,-0.00298483,-0.01056632]

qacc:
[  0.67963936, -1.13668742,  5.36073561,-12.27819505,  0.55125041,
  10.29163375,-54.26756614,156.55780145,  1.2510121 , -0.48086006,
  -0.55537953,  9.06068356, -1.03382262,  1.61743326,  0.18339366,
  -1.14918151, -2.32373927,  0.98136637, -0.39988445, -9.16054214,
 -21.20920639,  5.44729631]

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,
  6.84001849e-03,-1.49165463e-03, 0.00000000e+00,-1.71877668e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005896351642957487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.88289826e-13, -9.41449130e-14,  1.00000000e+00, -1.77265293e-26,
        1.00000000e+00,  9.41449130e-14, -1.00000000e+00,  0.00000000e+00,
       -1.88289826e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09497444, -0.09460698,  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:
[ 4.04961023e-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,
 -4.67000484e-05, 4.02312574e-05,-3.42424955e-05,-1.49123655e-05,
  1.57769524e-05, 6.13398288e-06,-4.90500606e+00, 2.53418434e-04,
  1.18243996e-02,-6.28893051e-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 ,
  1.31414605, 0.00755433, 1.19248098, 0.04503578, 0.05766587,-0.07945191,
  0.17137256, 0.99958775, 0.02652081,-0.00318154,-0.01052854]

qacc:
[  0.58500271, -0.9414355 ,  2.45871657, -1.5492589 ,  2.39784483,
  -0.88605603, -0.80731893, 32.52171826, -1.52917941,  1.11305058,
  -7.11623293, 19.26452167, -0.95144012,  1.39861878,  3.22334722,
 -11.22808337, -2.29838972,  0.96586386, -0.52181707, -9.11892021,
 -20.88996728,  5.21278664]

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,
  6.80544748e-03,-1.46669723e-03, 0.00000000e+00,-1.77257486e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000581566350081289
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.54511058e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.54511058e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09497626, -0.09460949,  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:
[ 3.42396888e-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,
 -5.01815095e-05, 2.53904004e-05,-2.02144175e-05,-5.96385813e-05,
  3.00443415e-05, 4.49652812e-06,-4.90500931e+00, 2.49439669e-04,
  1.18252884e-02,-6.29919601e-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,
  1.31435454, 0.00755594, 1.19264232, 0.04503578, 0.05763125,-0.07945701,
  0.17137168, 0.99958724, 0.02653194,-0.00333348,-0.01050196]

qacc:
[   3.36916385,   2.24370935, -11.12939818,  24.02459497,  -0.53027057,
  -14.84213395,  80.65601062,-177.80339651,  -0.49906484,   2.71689234,
   -9.23969595,  11.07999759,  -0.75579284,   1.16652184,  -5.62897431,
   18.97376694,   2.53003027,   0.26333947,   0.96625383,  -1.65323291,
   22.21279349,  -6.18612028]

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,
  6.77720987e-03,-1.43472448e-03, 0.00000000e+00,-1.67926949e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.37510857,  6.32600552, -0.78972361,  6.32600552,  7.0651351 ,
        5.52739165, -0.78972361,  5.52739165, 50.65175127,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005931255421348092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40386345e-13, -4.67954483e-14,  1.00000000e+00, -6.56944193e-27,
        1.00000000e+00,  4.67954483e-14, -1.00000000e+00,  0.00000000e+00,
       -1.40386345e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02683722, -0.08254208,  0.06198934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02692616e-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,
 -4.90962994e-05, 2.74436210e-05,-1.96399974e-05, 8.65700957e-05,
  4.84837185e-05, 6.52020045e-07,-4.90501352e+00, 2.44362345e-04,
  1.18270669e-02,-6.30580259e-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,
  1.31456263, 0.00755792, 1.1928034 , 0.04503787, 0.05760647,-0.07946112,
  0.17137356, 0.99958684, 0.02653979,-0.0034417 ,-0.01048542]

qacc:
[   2.11872558,   1.23879939,  -4.91168426,   7.049639  ,  -2.42244875,
   -5.49214683,  50.94801757,-142.36689424,   6.07650046,   2.76011237,
   -7.08451896,   1.88349677,  -0.39030964,   0.60255303,  -6.65817493,
   22.7949105 ,   2.45967245,   0.24640917,   0.68981417,  -1.88482833,
   21.69937007,  -5.58920311]

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,
  6.76344588e-03,-1.41656464e-03, 0.00000000e+00,-1.57103930e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.46197448, -6.41049446, -0.81404854, -6.41049446,  7.21592847,
       -5.93725999, -0.81404854, -5.93725999, 53.21689184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006035304643762923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.19773806e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.19773806e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02683925, -0.08254622,  0.06198916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 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,
 -3.31235732e-05, 1.42312497e-05,-2.38934413e-06, 1.09875046e-04,
  2.87468339e-05, 5.95210359e-07,-4.90500802e+00, 2.49693775e-04,
  1.18284760e-02,-6.30884064e-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 ,
  1.3147706 , 0.00755982, 1.19296487, 0.04503753, 0.05759128,-0.0794643 ,
  0.17137723, 0.99958658, 0.02654401,-0.00350712,-0.01047798]

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,
 -2.38210937e-01, 2.10165357e-01, 7.92186902e+00,-2.68183025e+01,
  2.39932808e+00, 2.32621719e-01, 4.49776624e-01,-2.06184836e+00,
  2.12523931e+01,-5.11151405e+00]

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,
  6.75836882e-03,-1.42443331e-03, 0.00000000e+00,-1.70346209e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  6.50281167,  -6.38897406,  -1.21143303,  -6.38897406,
         8.6756687 , -11.45942606,  -1.21143303, -11.45942606,
        66.93865422,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006084254412278278
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.82474786e-13, -4.56186966e-14,  1.00000000e+00, -8.32426192e-27,
        1.00000000e+00,  4.56186966e-14, -1.00000000e+00,  0.00000000e+00,
       -1.82474786e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02683978, -0.08254958,  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:
[-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,
 -1.88875693e-05,-1.18089844e-05, 7.69039251e-06,-1.27386464e-04,
  1.44775433e-05, 3.81535332e-07,-4.90500402e+00, 2.53243930e-04,
  1.18294773e-02,-6.31104353e-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,
  1.31497856, 0.00756135, 1.19312676, 0.04503228, 0.05758548,-0.07946659,
  0.17138188, 0.99958648, 0.0265443 ,-0.00353053,-0.0104789 ]

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,
 -1.41536899e-01,-5.69161717e-02, 1.55215358e+01,-5.33465013e+01,
  2.34796289e+00, 2.21406608e-01, 2.42604953e-01,-2.19717815e+00,
  2.08669775e+01,-4.72936000e+00]

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,
  6.75316783e-03,-1.44761525e-03, 0.00000000e+00,-1.95885589e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006088325010887297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0268391 , -0.08255233,  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:
[-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,
 -1.82996634e-05,-3.06466922e-05,-1.53907437e-05,-2.62594419e-04,
  5.23323819e-06, 1.54179935e-07,-4.90500144e+00, 2.55323768e-04,
  1.18300789e-02,-6.31226461e-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,
  1.31518647, 0.00756215, 1.19328869, 0.04502299, 0.05758891,-0.07946803,
  0.17138679, 0.99958655, 0.02654045,-0.0035126 ,-0.01048759]

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,
  1.54466200e-01,-6.72365953e-01, 1.22351419e+01,-4.27836373e+01,
  2.30456971e+00, 2.12296560e-01, 6.47080136e-02,-2.30077180e+00,
  2.05377770e+01,-4.42381316e+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,
  6.73190950e-03,-1.49742088e-03, 0.00000000e+00,-2.16029875e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006056320240439145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.16582166e-14, -9.16582166e-14,  1.00000000e+00, -8.40122867e-27,
        1.00000000e+00,  9.16582166e-14, -1.00000000e+00,  0.00000000e+00,
       -9.16582166e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02683745, -0.08255461,  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:
[-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,
 -3.92816251e-05,-6.19427009e-05,-4.03489867e-05,-2.18972257e-04,
  6.62300062e-07, 1.29878901e-08,-4.90500017e+00, 2.56164092e-04,
  1.18302912e-02,-6.31239390e-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,
  1.31539417, 0.00756196, 1.19344999, 0.04501465, 0.0576014 ,-0.07946866,
  0.17139134, 0.99958681, 0.0265323 ,-0.00345389,-0.01050358]

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,
  6.34207416e-01,-1.50202988e+00,-3.90496895e+00, 1.21040985e+01,
  2.26820703e+00, 2.04909808e-01,-8.73680530e-02,-2.38031990e+00,
  2.02594215e+01,-4.17975815e+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,
  6.70102132e-03,-1.56269722e-03, 0.00000000e+00,-2.09750122e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005995779053267897
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.77751152e-13, -4.62918586e-14,  1.00000000e+00, -1.28576170e-26,
        1.00000000e+00,  4.62918586e-14, -1.00000000e+00,  0.00000000e+00,
       -2.77751152e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02683503, -0.0825565 ,  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:
[ 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,
 -6.75493211e-05,-9.08691761e-05,-4.54924394e-05, 4.48491494e-05,
  4.87532884e-07, 2.71188997e-08,-4.90500016e+00, 2.55935531e-04,
  1.18301245e-02,-6.31134886e-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 ,
  1.31560137, 0.00756127, 1.19361105, 0.04500672, 0.05762285,-0.07946849,
  0.17139503, 0.99958724, 0.02651971,-0.00335488,-0.01052649]

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,
 -1.72070693e-02,-4.51484144e-01,-1.57353942e+00, 4.98015834e+00,
  2.23801732e+00, 1.98934990e-01,-2.16837099e-01,-2.44176285e+00,
  2.00267685e+01,-3.98512519e+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,
  6.67502206e-03,-1.58343043e-03, 0.00000000e+00,-2.07481307e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005913121455525527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.38779148e-14, -9.38779148e-14,  1.00000000e+00,  8.81306289e-27,
        1.00000000e+00,  9.38779148e-14, -1.00000000e+00,  0.00000000e+00,
        9.38779148e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02683202, -0.0825581 ,  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:
[ 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,
 -8.35716380e-05,-6.13172131e-05,-1.70869912e-05, 1.91107710e-05,
  4.49260083e-06, 2.44122123e-07,-4.90500133e+00, 2.54763547e-04,
  1.18295878e-02,-6.30906742e-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,
  1.31580785, 0.00756078, 1.19377204, 0.04499876, 0.05765315,-0.07946754,
  0.17139742, 0.99958784, 0.02650259,-0.00321596,-0.01055602]

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,
 -7.01575359e-01, 7.86677316e-01, 4.57068368e-02,-1.77464146e-01,
  2.21323267e+00, 1.94118422e-01,-3.26626746e-01,-2.48968633e+00,
  1.98350348e+01,-3.83027483e+00]

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,
  6.65199055e-03,-1.55979233e-03, 0.00000000e+00,-2.07602201e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005813784289441654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90963918e-13, -9.54819589e-14,  1.00000000e+00, -1.82336089e-26,
        1.00000000e+00,  9.54819589e-14, -1.00000000e+00,  0.00000000e+00,
       -1.90963918e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02682855, -0.08255945,  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:
[ 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,
 -8.15840850e-05,-1.27875806e-05,-8.99817142e-06,-3.03655440e-06,
  1.25110001e-05, 6.96426313e-07,-4.90500365e+00, 2.52739683e-04,
  1.18286887e-02,-6.30550264e-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,
  1.31601374, 0.00756048, 1.19393298, 0.04499049, 0.05769222,-0.07946583,
  0.17139812, 0.99958859, 0.02648086,-0.00303745,-0.01059194]

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,
 -6.27255804e-01, 7.26903315e-01, 9.19870309e-01,-3.17521106e+00,
  2.19317328e+00, 1.90253500e-01,-4.19366584e-01,-2.52762653e+00,
  1.96798543e+01,-3.70750542e+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,
  6.63077696e-03,-1.54553356e-03, 0.00000000e+00,-2.09129529e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005702344914736424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.94695874e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.94695874e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02682477, -0.08256062,  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:
[-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,
 -6.71538806e-05,-8.36847352e-06,-8.63074260e-06,-1.74853771e-05,
  2.44171253e-05, 1.40597155e-06,-4.90500709e+00, 2.49929970e-04,
  1.18274332e-02,-6.30061874e-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,
  1.31621899, 0.0075606 , 1.19409401, 0.04498074, 0.05774001,-0.07946338,
  0.17139684, 0.99958948, 0.02645445,-0.0028196 ,-0.01063405]

qacc:
[  2.97205174, -0.40877942,  2.95677372, -8.74927792,  4.12199161,
  32.94988296,-95.83849308,134.99972762,  3.43936412,  2.27110372,
  -9.45284317, 15.38943247, -0.89746623,  1.19670552,  4.67816525,
 -15.97267533,  2.17724185,  0.18717194, -0.49739638, -2.55830624,
  19.55729025, -3.61065952]

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,
  6.60534354e-03,-1.51922513e-03, 0.00000000e+00,-2.16797818e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005582632275418359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.97177214e-14, -2.48588607e-14,  1.00000000e+00, -1.23592591e-27,
        1.00000000e+00,  2.48588607e-14, -1.00000000e+00,  0.00000000e+00,
       -4.97177214e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02682077, -0.08256163,  0.06198997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.78645971e-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,
 -6.28287847e-05, 8.33757878e-06,-9.97114712e-06,-7.96370956e-05,
  4.01190433e-05, 2.38750573e-06,-4.90501163e+00, 2.46381217e-04,
  1.18258256e-02,-6.29438807e-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,
  1.31642371, 0.00756103, 1.19425455, 0.04497349, 0.05777751,-0.07945646,
  0.17139788, 0.99959084, 0.02640918,-0.00264846,-0.01066262]

qacc:
[   5.02960367,   0.91015088,  -5.57342194,  14.34304959,   5.74064749,
   10.9326569 ,  17.05172219,-118.09231565,   5.43677135,  -1.39307196,
    5.2220556 ,  -9.0616884 ,  -0.4172733 ,   0.55076188,  -8.22956197,
   27.80946683,  -2.56988376,   1.11423027,   0.58267222,  -9.16306031,
  -23.26673516,   7.41879572]

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,
  6.58272863e-03,-1.50373729e-03, 0.00000000e+00,-2.03167862e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.20745859,  6.06958212, -1.30104381,  6.06958212,  8.41587179,
       10.30260874, -1.30104381, 10.30260874, 54.27081316,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000573039375639614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.6871443e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.6871443e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496977, -0.09464405,  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:
[ 3.01793679e-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,
 -5.39941068e-05, 3.23463199e-06,-1.78076490e-05, 1.29647453e-04,
  5.95526481e-05, 3.65092238e-06,-4.90501727e+00, 2.42125711e-04,
  1.18238687e-02,-6.28678883e-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,
  1.31662807, 0.00756159, 1.19441481, 0.04496888, 0.05780499,-0.07944523,
  0.17140024, 0.99959269, 0.02634501,-0.00252272,-0.01067892]

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,
 -1.69027903e-01, 1.90591356e-01,-8.41023784e+00, 2.88592269e+01,
 -2.50569655e+00, 1.08001617e+00, 3.28062118e-01,-9.19327805e+00,
 -2.26298167e+01, 6.75526665e+00]

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,
  6.57247029e-03,-1.49479687e-03, 0.00000000e+00,-1.89523314e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.29519206, -5.10955291,  3.67721527, -5.10955291, 21.85633229,
       21.62246794,  3.67721527, 21.62246794, 36.33997755,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005835544926547087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.51259084e-14, -1.90251817e-13,  1.00000000e+00, -1.80978769e-26,
        1.00000000e+00,  1.90251817e-13, -1.00000000e+00,  0.00000000e+00,
       -9.51259084e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496555, -0.09464701,  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:
[-3.43099902e-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,
 -3.77368304e-05,-2.86239038e-06, 3.53377760e-06, 1.40813338e-04,
  3.64697956e-05, 7.53576393e-06,-4.90501176e+00, 2.49369020e-04,
  1.18226912e-02,-6.27261863e-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,
  1.31683211, 0.00756226, 1.19457492, 0.04496694, 0.05782267,-0.07942979,
  0.17140302, 0.99959502, 0.02626194,-0.00244126,-0.010684  ]

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,
 -1.08169375e-01, 9.92682091e-02,-8.29183274e+00, 2.86788900e+01,
 -2.45016478e+00, 1.05128564e+00, 1.06441291e-01,-9.20018356e+00,
 -2.20853468e+01, 6.22016853e+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,
  6.55897760e-03,-1.48974467e-03, 0.00000000e+00,-1.75985597e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.33858343, -4.89367245,  4.028599  , -4.89367245, 30.20122282,
       28.98673737,  4.028599  , 28.98673737, 41.54973212,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000588751510000679
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.42862146e-14, -9.42862146e-14,  1.00000000e+00, -8.88989027e-27,
        1.00000000e+00,  9.42862146e-14, -1.00000000e+00,  0.00000000e+00,
       -9.42862146e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496326, -0.09464979,  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:
[-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,
 -3.35641958e-05,-4.75101753e-06, 1.38120885e-05, 1.42909580e-04,
  1.94565281e-05, 8.84927523e-06,-4.90500760e+00, 2.54381539e-04,
  1.18224955e-02,-6.25505608e-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 ,
  1.31703594, 0.00756273, 1.19473483, 0.04496832, 0.05783074,-0.07941024,
  0.17140547, 0.99959784, 0.02616001,-0.00240314,-0.01067869]

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,
  2.05935681e-01,-4.48775806e-01,-1.03420788e+01, 3.57033949e+01,
 -2.40251971e+00, 1.02732255e+00,-8.53262242e-02,-9.19302856e+00,
 -2.16228338e+01, 5.78814858e+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,
  6.54355304e-03,-1.50478945e-03, 0.00000000e+00,-1.59068982e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005896091349832794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.41490692e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.41490692e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496254, -0.09465246,  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:
[ 1.73994683e-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,
 -3.35982560e-05,-2.44606941e-05, 1.83098855e-05, 1.78017585e-04,
  7.94029932e-06, 7.73794620e-06,-4.90500474e+00, 2.57541259e-04,
  1.18232061e-02,-6.23399699e-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,
  1.31723917, 0.00756365, 1.19489471, 0.04497239, 0.05782936,-0.07938667,
  0.17140691, 0.99960114, 0.02603925,-0.00240755,-0.01066366]

qacc:
[ -3.96791785, -0.75184914,  0.82392835,  3.60125543,  4.27648045,
   4.98695488,  8.47234884,-39.82846007, -2.9786734 ,  0.06099899,
  -2.97788815, 15.13585817, -0.57362455,  0.81086207, -8.15542561,
  28.58563605, -2.36196809,  1.00748424, -0.25045251, -9.17844242,
 -21.23254409,  5.43891106]

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,
  6.51099513e-03,-1.47838959e-03, 0.00000000e+00,-1.45622546e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005869709688540864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496308, -0.09465504,  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:
[-2.39283191e-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,
 -5.52479720e-05, 1.14634976e-05, 2.43686806e-05, 1.45851735e-04,
  1.47584099e-06, 4.32149125e-06,-4.90500310e+00, 2.59130046e-04,
  1.18247641e-02,-6.20936805e-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,
  1.31744172, 0.00756517, 1.19505459, 0.04497874, 0.05781867,-0.07935912,
  0.17140678, 0.99960492, 0.0258997 ,-0.00245384,-0.01063945]

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,
 -7.84396253e-01, 1.16363687e+00,-6.79923763e+00, 2.39649706e+01,
 -2.32773951e+00, 9.91203488e-01,-3.92047767e-01,-9.16113326e+00,
 -2.09056644e+01, 5.15621643e+00]

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,
  6.47885076e-03,-1.44542395e-03, 0.00000000e+00,-1.34329023e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000581559838461837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.54521746e-14, -9.54521746e-14,  1.00000000e+00, -9.11111763e-27,
        1.00000000e+00,  9.54521746e-14, -1.00000000e+00,  0.00000000e+00,
       -9.54521746e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949646 , -0.09465757,  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:
[-1.41279016e-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,
 -5.76073214e-05, 2.27818107e-05, 2.24636649e-05, 1.23069125e-04,
 -2.81481322e-07,-1.30433729e-06,-4.90500263e+00, 2.59357778e-04,
  1.18271235e-02,-6.18111779e-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,
  1.3176441 , 0.00756627, 1.19521499, 0.04498273, 0.05779878,-0.07932767,
  0.1714046 , 0.99960914, 0.0257414 ,-0.00254143,-0.01060651]

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,
 -6.27332320e-02,-2.44527974e-01, 7.90139230e+00,-2.65332339e+01,
 -2.29911235e+00, 9.77985426e-01,-5.13022604e-01,-9.14440189e+00,
 -2.06343439e+01, 4.92707306e+00]

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,
  6.46296015e-03,-1.47987803e-03, 0.00000000e+00,-1.47471104e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00057399160512564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67107371e-14,  9.67107371e-14,  1.00000000e+00,  9.35296667e-27,
        1.00000000e+00, -9.67107371e-14, -1.00000000e+00,  0.00000000e+00,
       -9.67107371e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949669 , -0.09466004,  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:
[ 1.05305867e-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,
 -3.99964715e-05,-4.20424881e-05, 1.89025231e-05,-1.22838614e-04,
  2.40362914e-06,-9.06480499e-06,-4.90500329e+00, 2.58380363e-04,
  1.18302498e-02,-6.14920979e-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,
  1.31784641, 0.00756668, 1.19537584, 0.04498213, 0.0577698 ,-0.07929234,
  0.17139996, 0.99961378, 0.0255644 ,-0.00266989,-0.01056518]

qacc:
[  1.29905498,  1.86473764,-11.510895  , 30.40674458,  1.06840046,
   8.12353403,-19.30596261, 24.44180493, -0.90953386,  2.84397615,
 -13.26916496, 27.94849602,  0.06570613, -0.54053962, 14.5239798 ,
 -49.87734502, -2.27542618,  0.96740168, -0.61604156, -9.13051916,
 -20.4116648 ,  4.74108652]

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,
  6.45680181e-03,-1.51849271e-03, 0.00000000e+00,-1.71351650e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005647880404453937
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496979, -0.09466246,  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:
[ 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,
 -3.72381761e-05,-5.95136018e-05,-1.03824695e-05,-2.44472766e-04,
  9.33028598e-06,-1.89033888e-05,-4.90500503e+00, 2.56313184e-04,
  1.18341168e-02,-6.11361780e-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,
  1.31804841, 0.0075671 , 1.19553614, 0.04498269, 0.05774875,-0.07926446,
  0.17139851, 0.99961741, 0.02542373,-0.0027616 ,-0.01053776]

qacc:
[  6.8582104 , -1.13257383,  2.06010603,  2.50324953,  1.67460317,
   5.87857641,  0.60861001,-33.42895165, -6.22841067,  1.69260669,
  -7.82097011, 16.48929164, -0.14212247,  0.08577508, -4.30906093,
  13.91005437,  1.98595274, -1.86123102,  0.79878771, 17.96249523,
  18.37694621, -7.47291961]

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,
  6.45115228e-03,-1.50590382e-03, 0.00000000e+00,-1.64077675e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.11430897,  5.17663881, -3.25379546,  5.17663881, 18.32940267,
       19.4336518 , -3.25379546, 19.4336518 , 37.03235444,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005618554328869763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.97599411e-13, -9.87997054e-14,  1.00000000e+00, -1.95227636e-26,
        1.00000000e+00,  9.87997054e-14, -1.00000000e+00,  0.00000000e+00,
       -1.97599411e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03350355, -0.05377215,  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:
[ 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,
 -4.02554971e-05,-1.20677911e-05,-3.62650046e-05, 5.67967335e-05,
  2.03488464e-05,-3.07792335e-05,-4.90500782e+00, 2.53241132e-04,
  1.18387053e-02,-6.07432201e-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,
  1.31825007, 0.00756741, 1.19569591, 0.04498639, 0.05773544,-0.07924388,
  0.17139921, 0.9996201 , 0.02531785,-0.00281732,-0.01052284]

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,
  7.31189111e-02,-2.69029338e-01,-1.02929700e+01, 3.48584533e+01,
  1.93173046e+00,-1.82382723e+00, 5.36414176e-01, 1.71907621e+01,
  1.80084995e+01,-6.75780814e+00]

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,
  6.42985645e-03,-1.51627932e-03, 0.00000000e+00,-1.47378275e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.22384568, -6.10727578,  1.19893187, -6.10727578,  7.5547047 ,
        6.77930349,  1.19893187,  6.77930349, 40.75714735,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005750044783156688
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.65403807e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.65403807e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03350428, -0.05377951,  0.06198967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.35675265e-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,
 -4.57336940e-05,-2.28932021e-05,-1.21525248e-05, 1.65097989e-04,
  1.02373150e-05,-1.73569245e-05,-4.90500511e+00, 2.58952383e-04,
  1.18336822e-02,-6.04067307e-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,
  1.31845161, 0.00756729, 1.19585603, 0.04498835, 0.05772966,-0.07923046,
  0.17140113, 0.99962191, 0.02524546,-0.00283774,-0.01051929]

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,
  5.55239146e-02,-3.86748903e-01, 5.77303751e+00,-1.94965993e+01,
  1.88505343e+00,-1.79040696e+00, 3.06751135e-01, 1.65496085e+01,
  1.76817178e+01,-6.18398615e+00]

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,
  6.42581465e-03,-1.54031452e-03, 0.00000000e+00,-1.57223332e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.28591191, -6.2135137 ,  0.95128128, -6.2135137 ,  7.33604794,
        6.85920632,  0.95128128,  6.85920632, 51.08840433,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005824427901465618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.53074743e-14, -9.53074743e-14,  1.00000000e+00, -9.08351465e-27,
        1.00000000e+00,  9.53074743e-14, -1.00000000e+00,  0.00000000e+00,
       -9.53074743e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03350409, -0.05378459,  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:
[-9.03144273e-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,
 -3.31990216e-05,-4.11742503e-05, 1.02603366e-05,-9.13904972e-05,
  3.70462677e-06,-7.90539834e-06,-4.90500301e+00, 2.62588864e-04,
  1.18303024e-02,-6.01539008e-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,
  1.31865289, 0.00756731, 1.19601639, 0.04498746, 0.05773126,-0.07922408,
  0.17140348, 0.99962288, 0.02520549,-0.00282342,-0.01052622]

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,
 -5.27737586e-01, 6.83238396e-01, 9.03299971e+00,-3.09529274e+01,
  1.84519423e+00,-1.76097237e+00, 1.07093155e-01, 1.60181912e+01,
  1.73958478e+01,-5.72343825e+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,
  6.42679222e-03,-1.51891486e-03, 0.00000000e+00,-1.71980128e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.30890144, -6.27680198,  0.63560547, -6.27680198,  6.89794171,
        5.81695606,  0.63560547,  5.81695606, 63.75315405,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00058519662878255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -9.4858973e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  9.4858973e-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([ 0.03350315, -0.05378783,  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:
[-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,
 -2.63880886e-05, 2.39174105e-06,-1.01275014e-05,-1.52422759e-04,
  4.87388068e-07,-2.02435285e-06,-4.90500159e+00, 2.64453012e-04,
  1.18282203e-02,-5.99808078e-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,
  1.31885385, 0.00756759, 1.19617647, 0.04498647, 0.05774011,-0.07922464,
  0.17140558, 0.99962306, 0.02519706,-0.00277487,-0.01054289]

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,
 -4.21886879e-01, 5.89532473e-01,-7.18115720e-02,-2.43604634e-01,
  1.81142440e+00,-1.73537496e+00,-6.55082710e-02, 1.55789455e+01,
  1.71489889e+01,-5.35376320e+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,
  6.40949443e-03,-1.50617724e-03, 0.00000000e+00,-1.71751169e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005841531290587537
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50284240e-14, -9.50284240e-14,  1.00000000e+00, -9.03040137e-27,
        1.00000000e+00,  9.50284240e-14, -1.00000000e+00,  0.00000000e+00,
       -9.50284240e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03350157, -0.0537896 ,  0.06198951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48019106e-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,
 -3.12838728e-05, 7.60493825e-06,-2.57553712e-05,-8.44325558e-06,
  3.76831171e-07, 5.98119715e-07,-4.90500091e+00, 2.64771300e-04,
  1.18271841e-02,-5.98842839e-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,
  1.31905449, 0.00756806, 1.19633639, 0.04498547, 0.0577561 ,-0.07923206,
  0.17140681, 0.99962244, 0.02521943,-0.00269253,-0.01056874]

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,
 -3.71465851e-01, 4.86147502e-01,-1.81592726e-01, 3.58535339e-01,
  1.78304993e+00,-1.71338165e+00,-2.14012922e-01, 1.52171450e+01,
  1.69386288e+01,-5.05705605e+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,
  6.39189884e-03,-1.49879884e-03, 0.00000000e+00,-1.71568337e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005800744610657688
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56965958e-14, -9.56965958e-14,  1.00000000e+00, -9.15783845e-27,
        1.00000000e+00,  9.56965958e-14, -1.00000000e+00,  0.00000000e+00,
       -9.56965958e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0334995 , -0.0537902 ,  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:
[ 2.17593924e-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,
 -3.27138601e-05, 2.43262726e-06,-1.54711196e-05,-2.55155837e-06,
  3.20870169e-06, 2.03315969e-07,-4.90500099e+00, 2.63712551e-04,
  1.18270101e-02,-5.98617703e-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,
  1.31925469, 0.00756893, 1.19649633, 0.04498346, 0.05777912,-0.07924625,
  0.17140668, 0.99962106, 0.02527202,-0.00257675,-0.0106033 ]

qacc:
[ -0.54892084,  0.5970514 ,  0.3187258 , -7.23635676, -1.85927396,
  27.06951329,-76.14064332,119.12511699,  0.97016743, -1.45811998,
   5.75268978,-10.06021672, -0.70493821,  1.00314534,  3.12608932,
 -10.73650894,  1.75942977, -1.69471761, -0.34125621, 14.92048657,
  16.76198812, -4.81900755]

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,
  6.36880992e-03,-1.47691875e-03, 0.00000000e+00,-1.76743793e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005736117161562332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03349704, -0.05378987,  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:
[-3.18018852e-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,
 -3.99977159e-05, 1.50770436e-05,-1.05778729e-05,-5.45980519e-05,
  8.85519410e-06,-3.02378368e-06,-4.90500184e+00, 2.61401884e-04,
  1.18275646e-02,-5.99112019e-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,
  1.31945427, 0.00757019, 1.19665602, 0.04498218, 0.05780909,-0.07926717,
  0.17140475, 0.99961889, 0.02535433,-0.00242782,-0.0106462 ]

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,
 -6.82266059e-01, 9.15984939e-01,-2.46671763e+00, 8.26341490e+00,
  1.73998375e+00,-1.67909361e+00,-4.49876479e-01, 1.46787147e+01,
  1.66162354e+01,-4.62818073e+00]

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,
  6.32647067e-03,-1.46438231e-03, 0.00000000e+00,-1.72607745e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005653180029030619
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81945577e-14, -1.96389115e-13,  1.00000000e+00, -1.92843423e-26,
        1.00000000e+00,  1.96389115e-13, -1.00000000e+00,  0.00000000e+00,
       -9.81945577e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03349428, -0.05378884,  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:
[-1.93529794e-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,
 -6.01220420e-05, 7.52341880e-06,-1.48504024e-05, 3.60897461e-05,
  1.72184892e-05,-8.94312760e-06,-4.90500348e+00, 2.57931283e-04,
  1.18287505e-02,-6.00309149e-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,
  1.31965319, 0.00757172, 1.19681598, 0.04497836, 0.05782906,-0.07928362,
  0.17140465, 0.99961722, 0.02541749,-0.00232673,-0.01067489]

qacc:
[  1.12745124, -1.33315228,  6.34008335,-12.65138707, -2.8104129 ,
  25.84269966,-65.12875753, 84.20612537,  0.71407226,  0.54925633,
  -1.54752318, -1.57285528, -0.91048449,  1.10551534,  8.15111094,
 -27.74692011, -2.50336231,  1.11399803,  0.45796511, -9.30449881,
 -23.82926727,  7.72819338]

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,
  6.28326345e-03,-1.45760210e-03, 0.00000000e+00,-1.86095267e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.11198923,  4.96872027, -3.55924589,  4.96872027, 19.30149717,
       18.41260129, -3.55924589, 18.41260129, 31.81604792,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005615765603787376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.97697536e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.97697536e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09495397, -0.09468963,  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:
[ 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,
 -7.30637269e-05,-5.19863513e-06,-6.28633593e-06,-1.35532875e-04,
  2.82255527e-05,-1.74505728e-05,-4.90500591e+00, 2.53367589e-04,
  1.18304973e-02,-6.02195727e-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,
  1.31985156, 0.00757356, 1.19697584, 0.04497328, 0.05783922,-0.07929575,
  0.17140546, 0.99961605, 0.02546151,-0.00227191,-0.01069085]

qacc:
[   0.88383878,   0.55770788,  -2.80191247,   5.95997095,  -1.88567798,
    6.35740977,  27.49310634,-119.10207092,  -5.19943166,  -1.28292737,
    4.94062433,  -8.72619198,  -0.72662592,   0.93433755,   3.73156278,
  -13.0866721 ,  -2.45210559,   1.08116529,   0.22554873,  -9.31241734,
  -23.06732364,   6.9809317 ]

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,
  6.26619138e-03,-1.43655378e-03, 0.00000000e+00,-1.92107389e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.19222604, -3.76703079,  4.91458465, -3.76703079, 29.00676841,
       17.48735439,  4.91458465, 17.48735439, 19.59628905,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005712121666182762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.094948  , -0.09469262,  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:
[ 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,
 -5.70617144e-05, 2.65603955e-06,-2.28667853e-05,-6.95552574e-05,
  1.29404434e-05,-8.95447670e-06,-4.90500281e+00, 2.58704465e-04,
  1.18270511e-02,-6.03430565e-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,
  1.32004971, 0.00757528, 1.19713489, 0.04497284, 0.05783975,-0.07930367,
  0.17140635, 0.99961539, 0.02548643,-0.00226206,-0.01069523]

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,
  2.95530902e-01,-5.14301942e-01,-1.52778776e+01, 5.16032559e+01,
 -2.40730535e+00, 1.05330680e+00, 2.26658639e-02,-9.30112740e+00,
 -2.24282574e+01, 6.38469931e+00]

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,
  6.26481380e-03,-1.44259357e-03, 0.00000000e+00,-1.67032054e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.23108775, -3.56468141,  5.11072412, -3.56468141, 37.38739575,
       21.73122818,  5.11072412, 21.73122818, 21.38841251,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005758727494172278
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63948221e-14, -9.63948221e-14,  1.00000000e+00, -9.29196173e-27,
        1.00000000e+00,  9.63948221e-14, -1.00000000e+00,  0.00000000e+00,
       -9.63948221e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09494429, -0.09469541,  0.06198965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.93727182e-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,
 -3.12291878e-05,-1.84376494e-05,-2.17420510e-05, 2.43185057e-04,
  3.78302873e-06,-3.32198105e-06,-4.90500089e+00, 2.61788942e-04,
  1.18248652e-02,-6.04323959e-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 ,
  1.32024772, 0.00757644, 1.19729368, 0.04497602, 0.0578308 ,-0.07930747,
  0.17140663, 0.99961523, 0.0254923 ,-0.00229608,-0.01068895]

qacc:
[ 6.40644024e+00, 8.23170415e-01,-4.16273925e-01,-5.73168239e+00,
 -1.03085903e+00, 2.76558017e+01,-9.21637410e+01, 1.60328488e+02,
  1.49108736e+00,-2.07179061e+00, 1.30977875e+01,-3.55914286e+01,
  5.51840108e-01,-1.09667344e+00,-1.14021940e+01, 3.91696772e+01,
 -2.36858149e+00, 1.02979281e+00,-1.53375803e-01,-9.27874801e+00,
 -2.18946302e+01, 5.90927864e+00]

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,
  6.24621411e-03,-1.48234171e-03, 0.00000000e+00,-1.48697135e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.23611692, -3.28334316,  5.30177442, -3.28334316, 48.57031349,
       26.21720268,  5.30177442, 26.21720268, 22.47220435,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005764756483393196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62940089e-14, -1.92588018e-13,  1.00000000e+00, -1.85450723e-26,
        1.00000000e+00,  1.92588018e-13, -1.00000000e+00,  0.00000000e+00,
       -9.62940089e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09494238, -0.09469807,  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:
[ 3.85939253e-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,
 -3.90432622e-05,-5.22892161e-05, 1.56712263e-05, 1.93794876e-04,
  1.12835852e-07,-3.39509313e-07,-4.90500011e+00, 2.63031579e-04,
  1.18238022e-02,-6.04864903e-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,
  1.32044561, 0.00757685, 1.1974532 , 0.04497569, 0.05781251,-0.07930723,
  0.17140569, 0.99961556, 0.02547919,-0.00237307,-0.01067275]

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,
  1.06420433e-01,-6.38433399e-01, 1.16906386e+01,-3.93743402e+01,
 -2.33546619e+00, 1.01005357e+00,-3.05370663e-01,-9.25106938e+00,
 -2.14513562e+01, 5.53057912e+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,
  6.23325949e-03,-1.52406779e-03, 0.00000000e+00,-1.68220102e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005738114406226846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09494193, -0.09470063,  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:
[ 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,
 -4.50511105e-05,-6.56791319e-05, 2.52828595e-05,-1.83228143e-04,
  1.44849563e-06, 1.63103342e-07,-4.90500044e+00, 2.62730684e-04,
  1.18237556e-02,-6.05045874e-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,
  1.32064331, 0.00757693, 1.19761292, 0.0449724 , 0.057785  ,-0.07930301,
  0.17140301, 0.99961636, 0.02544717,-0.00249229,-0.01064721]

qacc:
[ -1.6608047 , -2.28254509,  7.65670217, -8.18888746, -0.29414651,
  18.19126599,-35.2702056 , 22.61450363,  4.00345819, -3.154042  ,
   9.85892981,-10.79754049, -0.14273537, -0.09411482,  9.25663513,
 -31.92712229, -2.30745897,  0.99358262, -0.43605146, -9.22217723,
 -21.08548998,  5.22939572]

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,
  6.23434636e-03,-1.53107532e-03, 0.00000000e+00,-1.83260255e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005685574642503854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.7635076e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.7635076e-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([ 0.09494261, -0.09470311,  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:
[-1.01301472e-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,
 -3.82839946e-05,-3.56148715e-05,-1.46675541e-05,-1.58717667e-04,
  7.42994821e-06,-1.68021924e-06,-4.90500183e+00, 2.61102153e-04,
  1.18246435e-02,-6.04861789e-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,
  1.32084047, 0.00757744, 1.19777234, 0.04496899, 0.05774834,-0.07929487,
  0.17139813, 0.99961761, 0.02539629,-0.00265312,-0.0106128 ]

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,
 -7.16469956e-01, 1.00053699e+00,-4.49243857e-03,-4.51052373e-01,
 -2.28406059e+00, 9.79935244e-01,-5.47996474e-01,-9.19491079e+00,
 -2.07859841e+01, 4.99041583e+00]

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,
  6.21191362e-03,-1.49960136e-03, 0.00000000e+00,-1.83098888e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005612907766089636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97798195e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.97798195e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949442 , -0.09470553,  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:
[-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,
 -5.17065957e-05, 1.30548199e-05,-2.81961280e-05,-9.96938519e-06,
  1.77903068e-05,-5.76565934e-06,-4.90500425e+00, 2.58301234e-04,
  1.18264036e-02,-6.04309252e-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,
  1.32103703, 0.00757858, 1.19793188, 0.04496323, 0.05771951,-0.07929408,
  0.17139577, 0.99961789, 0.02538076,-0.00277789,-0.01059158]

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,  -1.08870413,   1.58257677,   7.37369653,
  -25.29304511,   1.95519252,  -1.83529141,   0.62841518,  17.46618626,
   18.04489655,  -7.10000373]

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,
  6.18606010e-03,-1.46342506e-03, 0.00000000e+00,-1.95285371e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.19314015,  5.28429789, -3.22973385,  5.28429789, 18.25660741,
       19.73752565, -3.22973385, 19.73752565, 38.48650245,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005713218347417337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.71626636e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.71626636e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03348247, -0.05381128,  0.06198974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.92782527e-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,
 -5.03470849e-05, 2.79069875e-05,-1.69750578e-05,-1.26668592e-04,
  3.23347961e-05,-1.20143559e-05,-4.90500769e+00, 2.54438424e-04,
  1.18289892e-02,-6.03386000e-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,
  1.32123328, 0.00757987, 1.19809094, 0.04495905, 0.05769829,-0.07930049,
  0.17139495, 0.99961726, 0.0253992 ,-0.00286726,-0.01058231]

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,
 -1.90877617e-01, 2.34340988e-01,-5.46972262e+00, 1.81268167e+01,
  1.90408624e+00,-1.80218895e+00, 3.86579809e-01, 1.67876662e+01,
  1.77177613e+01,-6.47513064e+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,
  6.17415608e-03,-1.46031123e-03, 0.00000000e+00,-1.86248898e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.27097297, -6.12885156,  1.32750913, -6.12885156,  8.10776611,
        8.48011685,  1.32750913,  8.48011685, 45.42202378,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005806529827825646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.91202501e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.91202501e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03348232, -0.0538172 ,  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:
[-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,
 -3.23362434e-05,-6.59449846e-07,-2.60746768e-05, 8.02193389e-05,
  1.92798760e-05,-3.31699277e-06,-4.90500493e+00, 2.59351248e-04,
  1.18275135e-02,-6.03036894e-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,
  1.3214296 , 0.00758018, 1.19824988, 0.04495526, 0.05768452,-0.079314  ,
  0.17139484, 0.99961578, 0.02545048,-0.00292182,-0.010584  ]

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,
  7.47052218e-01,-1.53302228e+00,-1.43180740e+00, 4.56779053e+00,
  1.86024568e+00,-1.77298815e+00, 1.75789872e-01, 1.62264757e+01,
  1.74280539e+01,-5.97718955e+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,
  6.15996498e-03,-1.53005314e-03, 0.00000000e+00,-1.84304871e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.30683312, -6.22034883,  1.04086717, -6.22034883,  7.73040039,
        8.50741118,  1.04086717,  8.50741118, 57.14815729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005849488921819412
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48991476e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.48991476e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03348142, -0.05382112,  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:
[ 5.09399165e-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,
 -3.15423938e-05,-7.73640528e-05,-5.19565941e-06, 2.00972756e-05,
  9.73886687e-06, 1.66847521e-06,-4.90500290e+00, 2.62272451e-04,
  1.18272736e-02,-6.03500656e-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,
  1.3216256 , 0.00758024, 1.19840898, 0.04495005, 0.05767803,-0.0793345 ,
  0.1713947 , 0.99961348, 0.02553368,-0.0029421 ,-0.0105959 ]

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,
 -1.84446952e-01,-3.41048844e-02, 4.54521244e+00,-1.55495646e+01,
  1.82290038e+00,-1.74760517e+00,-6.85573622e-03, 1.57638455e+01,
  1.71749992e+01,-5.58107543e+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,
  6.14437938e-03,-1.53593761e-03, 0.00000000e+00,-1.91886639e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000585143797019641
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48675377e-14, -9.48675377e-14,  1.00000000e+00, -8.99984971e-27,
        1.00000000e+00,  9.48675377e-14, -1.00000000e+00,  0.00000000e+00,
       -9.48675377e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03347989, -0.05382343,  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:
[ 3.17587142e-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,
 -5.05569264e-05,-3.45854036e-05,-3.08128174e-06,-7.60367971e-05,
  3.47116291e-06, 3.28614600e-06,-4.90500163e+00, 2.63473952e-04,
  1.18280248e-02,-6.04743315e-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,
  1.32182088, 0.007581  , 1.19856804, 0.04494397, 0.05767872,-0.0793619 ,
  0.1713939 , 0.99961036, 0.02564802,-0.00292854,-0.01061736]

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,
 -1.11371071e+00, 1.61799447e+00, 2.69705492e+00,-9.24116435e+00,
  1.79131088e+00,-1.72584820e+00,-1.64337632e-01, 1.53840214e+01,
  1.69568826e+01,-5.26673125e+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,
  6.11733739e-03,-1.48607371e-03, 0.00000000e+00,-1.96141614e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005820422185024432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.53730665e-14, -9.53730665e-14,  1.00000000e+00, -9.09602182e-27,
        1.00000000e+00,  9.53730665e-14, -1.00000000e+00,  0.00000000e+00,
       -9.53730665e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03347785, -0.05382445,  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:
[ 9.24094418e-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,
 -6.20227043e-05, 2.86036864e-05,-1.40355734e-05,-4.81058606e-05,
  2.84395576e-07, 1.80195087e-06,-4.90500115e+00, 2.63158889e-04,
  1.18295929e-02,-6.06737562e-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,
  1.32201556, 0.00758211, 1.19872671, 0.04493974, 0.05768646,-0.07939613,
  0.1713919 , 0.99960645, 0.02579288,-0.00288151,-0.01064791]

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,
 -5.55993309e-01, 7.35598820e-01,-6.15129472e+00, 2.07917600e+01,
  1.76479130e+00,-1.70746785e+00,-2.99550763e-01, 1.50738315e+01,
  1.67714884e+01,-5.01813383e+00]

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,
  6.08346965e-03,-1.47463366e-03, 0.00000000e+00,-1.85972153e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005763329498502806
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03347541, -0.05382446,  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:
[-5.32967954e-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,
 -5.99242869e-05, 4.96686044e-06,-1.59115562e-05, 9.63297956e-05,
  2.59275735e-08,-2.58050585e-06,-4.90500146e+00, 2.61478002e-04,
  1.18318549e-02,-6.09461479e-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,
  1.32220989, 0.0075831 , 1.19888492, 0.0449394 , 0.05770117,-0.07943713,
  0.17138825, 0.99960173, 0.02596776,-0.00280132,-0.01068715]

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,
  1.23437660e-01,-3.42049447e-01,-1.24830311e+01, 4.26191333e+01,
  1.74271935e+00,-1.69218955e+00,-4.15212566e-01, 1.48222907e+01,
  1.66163825e+01,-4.82248022e+00]

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,
  6.06682447e-03,-1.48618172e-03, 0.00000000e+00,-1.65610749e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005686024159041458
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76273573e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.76273573e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03347266, -0.05382368,  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:
[-1.47987887e-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,
 -4.68094877e-05,-2.42587466e-05, 3.51364203e-07, 2.06283526e-04,
  2.57599953e-06,-9.70729728e-06,-4.90500256e+00, 2.58542114e-04,
  1.18347243e-02,-6.12897525e-04]


--- Step 1372 ---
qpos:
[ 0.01856212, 0.03008761,-0.00946415,-0.02535137, 0.00701932, 0.19433953,
 -0.01908676, 0.1872735 , 0.01169035, 0.02787003,-0.00828561, 0.02644641,
  1.32240402, 0.00758367, 1.19904319, 0.04494049, 0.05770584,-0.07947372,
  0.17138639, 0.99959749, 0.02612354,-0.00276899,-0.01071213]

qacc:
[   4.62333506,   1.54442763,  -7.0383304 ,  15.3866166 ,  -9.20193597,
   36.59728944,-114.0500822 , 195.91791313,  -1.25802665,   1.98959161,
   -4.9195197 ,   1.6340128 ,   0.22383706,  -0.61126473,  -4.22398391,
   14.84195837,  -2.50827465,   1.10144669,   0.44958181,  -9.27376432,
  -23.83187765,   7.77918901]

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,
  6.05518585e-03,-1.51118601e-03, 0.00000000e+00,-1.58939831e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.17036713,  5.01750284, -3.5913919 ,  5.01750284, 19.46069633,
       18.56780503, -3.5913919 , 18.56780503, 32.11128841,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005685890592433823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.76296507e-14,  9.76296507e-14,  1.00000000e+00, -9.53154869e-27,
        1.00000000e+00, -9.76296507e-14, -1.00000000e+00,  0.00000000e+00,
        9.76296507e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09492523, -0.09472885,  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:
[ 2.78058504e-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,
 -4.13184740e-05,-4.29659912e-05, 2.01904577e-05, 7.75933812e-05,
  7.84217887e-06,-1.94641405e-05,-4.90500446e+00, 2.54431616e-04,
  1.18381419e-02,-6.17031724e-04]


--- Step 1373 ---
qpos:
[ 0.01856145, 0.03008654,-0.00946391,-0.02534935, 0.00700746, 0.19691385,
 -0.01914768, 0.18947074, 0.01168706, 0.02786991,-0.00828517, 0.0264472 ,
  1.32259772, 0.00758444, 1.19920157, 0.04494205, 0.05770069,-0.07950604,
  0.17138539, 0.99959374, 0.02626026,-0.00278296,-0.01072424]

qacc:
[-8.74385742e-03,-2.24642913e-01, 1.16264772e+00,-2.17705360e+00,
 -9.19881216e+00, 1.20106772e+01,-5.69668466e+00,-2.89866268e+01,
 -9.46883378e+00,-1.79140090e-01, 9.64041626e-01,-2.30584106e+00,
 -4.51744030e-01, 5.56790010e-01,-1.24146006e+00, 4.67945125e+00,
 -2.45760440e+00, 1.06743615e+00, 2.15755837e-01,-9.26391604e+00,
 -2.30773873e+01, 7.06813603e+00]

qfrc_actuator:
[ 3.60805840e-05, 8.63416687e-04, 1.46033915e-04, 5.65980921e-05,
 -6.06707161e-04, 1.37271433e-01,-1.06225907e-04, 1.10749672e-01,
 -2.39852291e-04, 8.54034434e-04, 2.24908262e-04, 1.01565583e-04,
  6.04122499e-03,-1.49065979e-03, 0.00000000e+00,-1.56840924e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.24538137, -3.74731617,  4.99623958, -3.74731617, 29.81687114,
       17.67926125,  4.99623958, 17.67926125, 19.50531027,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005775861492972878
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.61088684e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.61088684e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09491951, -0.0947318 ,  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:
[-5.51312001e-08, 1.32392998e-05, 7.95588665e-06,-1.54544163e-06,
 -1.65769952e-04, 2.29675641e-03, 7.20681266e-04, 7.29632133e-05,
 -5.72226869e-05,-1.88752957e-06,-6.41699863e-08,-3.91731666e-06,
 -4.52867991e-05,-1.27120388e-06, 1.35129377e-05, 2.68971090e-05,
  9.11303012e-07,-7.44877758e-06,-4.90500382e+00, 2.57440905e-04,
  1.18328838e-02,-6.20558413e-04]


--- Step 1374 ---
qpos:
[ 0.01856044, 0.03008557,-0.0094634 ,-0.02534741, 0.00699249, 0.19950239,
 -0.01920532, 0.19166061, 0.01168311, 0.02786909,-0.00828423, 0.02644797,
  1.32279089, 0.00758569, 1.19935995, 0.0449442 , 0.05768589,-0.07953421,
  0.17138445, 0.99959047, 0.02637801,-0.00284195,-0.01072458]

qacc:
[-2.99404483e+00,-7.77526446e-01, 3.30474582e+00,-5.15997130e+00,
 -9.20775048e+00,-5.29308705e+00, 7.60930589e+01,-2.16058761e+02,
 -5.58106540e+00,-2.34446822e+00, 7.11516751e+00,-7.77890681e+00,
 -6.93460225e-01, 1.01216931e+00,-1.71877308e+00, 6.16450183e+00,
 -2.41347417e+00, 1.03840568e+00, 1.18412281e-02,-9.23748701e+00,
 -2.24458163e+01, 6.50388364e+00]

qfrc_actuator:
[ 1.80680907e-05, 8.75413121e-04, 1.62742603e-04, 5.34869843e-05,
 -7.63289345e-04, 1.37807107e-01,-1.94882178e-05, 1.10362852e-01,
 -2.72088864e-04, 7.79469991e-04, 2.35516239e-04, 9.76590046e-05,
  6.02057310e-03,-1.46101924e-03, 0.00000000e+00,-1.53897484e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.27919602, -3.53782891,  5.18768438, -3.53782891, 38.4626113 ,
       21.94802318,  5.18768438, 21.94802318, 21.24702082,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005816382062533154
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.54393137e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.54393137e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09491603, -0.09473457,  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:
[-1.80069875e-05, 2.10102323e-05, 2.03753524e-05,-2.30162769e-06,
 -1.69443907e-04, 1.87592064e-03, 6.17995311e-04,-2.73149383e-04,
 -3.39151361e-05,-7.58341560e-05, 1.00679629e-05,-4.06668234e-06,
 -4.44144440e-05, 1.85590958e-05, 4.50295267e-06, 3.16048172e-05,
 -1.93663736e-07, 1.56783334e-06,-4.90500414e+00, 2.58337180e-04,
  1.18290819e-02,-6.23743912e-04]


--- Step 1375 ---
qpos:
[ 0.01855921, 0.03008457,-0.00946264,-0.02534515, 0.00697504, 0.20210475,
 -0.01926232, 0.19384957, 0.0116795 , 0.02786795,-0.008283  , 0.02644865,
  1.32298367, 0.00758686, 1.19951832, 0.04494668, 0.05766158,-0.07955833,
  0.17138284, 0.99958767, 0.02647685,-0.00294489,-0.01071401]

qacc:
[ -1.77498706, -0.10523291, -0.99327394,  5.99177529, -7.24614049,
  14.64024535,-21.96038831, -4.74641947,  2.84767681, -1.40273445,
   4.78063499, -6.55522992, -0.23723001,  0.11422739, -1.01853243,
   3.57263399, -2.37548055,  1.01371857, -0.16496085, -9.20195475,
 -21.91968798,  6.05723497]

qfrc_actuator:
[ 7.87798424e-06, 8.65182999e-04, 1.72401164e-04, 6.86426094e-05,
 -8.84888645e-04, 1.38522519e-01, 1.81275792e-05, 1.10324396e-01,
 -2.53952746e-04, 7.88742917e-04, 2.58961905e-04, 9.50206790e-05,
  5.98527813e-03,-1.47952908e-03, 0.00000000e+00,-1.52252757e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.27941431, -3.24949593,  5.37325045, -3.24949593, 49.96488578,
       26.41897359,  5.37325045, 26.41897359, 22.25640031,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005816643600155547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.54350224e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.54350224e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09491435, -0.09473723,  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:
[-1.07061148e-05, 5.64985606e-06, 1.64304752e-05, 1.67129226e-05,
 -1.35111638e-04, 1.78399049e-03, 4.57369592e-04, 4.70096681e-05,
  1.71132233e-05,-3.12358052e-05, 8.87463986e-06,-5.62024119e-06,
 -5.40296214e-05,-2.38421868e-05, 1.24001932e-06, 1.78076492e-05,
  3.94968248e-06, 7.82528446e-06,-4.90500541e+00, 2.57485676e-04,
  1.18265622e-02,-6.26578684e-04]


--- Step 1376 ---
qpos:
[ 0.01855821, 0.03008324,-0.00946212,-0.02534301, 0.00695524, 0.20472011,
 -0.01931929, 0.19604447, 0.01167648, 0.02786695,-0.00828196, 0.02644892,
  1.32317612, 0.00758759, 1.19967653, 0.04495035, 0.0576279 ,-0.07957847,
  0.17137996, 0.99958533, 0.02655687,-0.00309088,-0.01069323]

qacc:
[ 1.99065089e+00, 8.92129654e-03,-2.40419592e-01,-9.54432753e-01,
 -6.77730515e+00, 2.90877485e+01,-1.02762537e+02, 1.92864951e+02,
  5.01650536e+00,-1.34728981e-01, 2.42653656e+00,-9.22148050e+00,
  1.38900449e-01,-5.47520237e-01,-3.81336442e+00, 1.29541836e+01,
 -2.34313888e+00, 9.92799585e-01,-3.17524476e-01,-9.16261375e+00,
 -2.14838974e+01, 5.70489937e+00]

qfrc_actuator:
[ 2.01319704e-05, 8.06205874e-04, 1.42234424e-04, 5.88951330e-05,
 -1.00263859e-03, 1.39233986e-01, 4.53641382e-05, 1.10633461e-01,
 -2.24072818e-04, 8.12696487e-04, 2.54611926e-04, 7.54671959e-05,
  5.96250914e-03,-1.50880035e-03, 0.00000000e+00,-1.46059688e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005784558955827385
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.59643625e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.59643625e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09491409, -0.09473979,  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:
[ 1.19445415e-05,-5.16864306e-05,-2.63986073e-05,-8.61548165e-06,
 -1.28621309e-04, 1.70872522e-03, 4.19177987e-04, 3.91352390e-04,
  3.03686289e-05, 8.09824402e-06,-9.91060240e-06,-2.06975220e-05,
 -5.66491054e-05,-4.85787985e-05,-1.51154955e-06, 6.21598328e-05,
  1.29128579e-05, 1.15151847e-05,-4.90500763e+00, 2.55148140e-04,
  1.18251893e-02,-6.29056435e-04]


--- Step 1377 ---
qpos:
[ 0.01855737, 0.0300816 ,-0.00946194,-0.02534134, 0.00693249, 0.20735128,
 -0.0193772 , 0.19824035, 0.01167418, 0.02786643,-0.00828119, 0.02644892,
  1.32336816, 0.0075882 , 1.19983495, 0.0449527 , 0.0576041 ,-0.07959764,
  0.17137992, 0.99958309, 0.02663343,-0.00319315,-0.01068215]

qacc:
[  1.32061327, -0.43897627,  2.99818982,-10.47624142, -8.31753226,
  25.51081695,-64.48072944, 70.39426089,  6.17454828,  0.78189336,
  -0.71657376, -3.99909602, -0.35216827,  0.23691012,  4.28540912,
 -14.48178424,  2.47190098,  0.24186274,  0.71105777, -1.98478756,
  21.70086389, -5.42219109]

qfrc_actuator:
[ 2.77427827e-05, 7.89311038e-04, 1.24073180e-04, 3.44991347e-05,
 -1.15271522e-03, 1.40275661e-01, 8.44679175e-05, 1.10700743e-01,
 -1.87536612e-04, 8.62896810e-04, 2.51703245e-04, 6.38694580e-05,
  5.94726225e-03,-1.50864377e-03, 0.00000000e+00,-1.53212646e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.26630182,  6.23440934, -0.6314101 ,  6.23440934,  6.74023704,
        4.67953577, -0.6314101 ,  4.67953577, 52.47104483,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000580093279919841
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56934913e-14,  7.17701185e-14,  1.00000000e+00,  6.86793321e-27,
        1.00000000e+00, -7.17701185e-14, -1.00000000e+00,  0.00000000e+00,
       -9.56934913e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02677364, -0.08265076,  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:
[ 7.94559632e-06,-5.15734585e-05,-3.23802288e-05,-2.76932899e-05,
 -1.60613357e-04, 2.00322179e-03, 4.22545967e-04, 1.51776097e-04,
  3.74289111e-05, 5.18193205e-05,-3.17803707e-06,-1.19989592e-05,
 -5.62628962e-05,-2.66569593e-05, 2.68075824e-06,-6.90727426e-05,
  2.63806916e-05, 1.27892022e-05,-4.90501079e+00, 2.51510544e-04,
  1.18248585e-02,-6.31173130e-04]


--- Step 1378 ---
qpos:
[ 0.01855698, 0.03007992,-0.00946185,-0.02534002, 0.00690708, 0.21000225,
 -0.01943666, 0.20043585, 0.01167165, 0.02786623,-0.00828043, 0.02644878,
  1.32355969, 0.00758903, 1.19999378, 0.04495084, 0.05758996,-0.07961591,
  0.17138179, 0.99958098, 0.02670621,-0.00325258,-0.01067995]

qacc:
[  3.79311078, -0.52916457,  3.29328021, -9.24329016, -7.46286195,
  29.69839488,-66.12341558, 46.80946614, -1.99182691,  0.21457797,
   0.44025446, -3.01062181, -0.89796583,  1.10442505, 13.45336892,
 -45.97496388,  2.4115807 ,  0.22775156,  0.47358183, -2.13502476,
  21.27514208, -4.99797051]

qfrc_actuator:
[ 5.03050877e-05, 8.15511876e-04, 1.31057422e-04, 1.94793098e-05,
 -1.28515878e-03, 1.41649490e-01, 1.49419242e-04, 1.10714295e-01,
 -2.00637098e-04, 8.75185224e-04, 2.49805079e-04, 5.70790881e-05,
  5.92589689e-03,-1.49096961e-03, 0.00000000e+00,-1.75272942e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005870034731469964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.72834947e-14,  2.36417474e-14,  1.00000000e+00,  1.11786444e-27,
        1.00000000e+00, -2.36417474e-14, -1.00000000e+00,  0.00000000e+00,
       -4.72834947e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02677458, -0.08265377,  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:
[ 2.27829994e-05,-1.04529553e-05,-8.59969366e-06,-1.88881279e-05,
 -1.45859904e-04, 2.48998401e-03, 5.01105059e-04, 1.05904325e-04,
 -1.19848994e-05, 4.01110740e-05, 7.99245494e-06,-4.91574541e-06,
 -5.73070409e-05,-2.82221363e-06,-1.10486811e-05,-2.25151238e-04,
  1.27810676e-05, 8.82255354e-06,-4.90500614e+00, 2.53952703e-04,
  1.18267502e-02,-6.33027892e-04]


--- Step 1379 ---
qpos:
[ 0.01855582, 0.03007825,-0.00946147,-0.02533893, 0.00687859, 0.21267673,
 -0.01949838, 0.20264211, 0.01166933, 0.02786567,-0.00827937, 0.02644828,
  1.32375086, 0.00759   , 1.20015258, 0.04494601, 0.05758525,-0.07963331,
  0.17138472, 0.99957902, 0.02677496,-0.00326992,-0.01068595]

qacc:
[-6.51491720e+00,-1.25671493e+00, 5.45628239e+00,-9.82247433e+00,
 -8.48028209e+00, 5.90859806e+01,-2.08809998e+02, 3.75090308e+02,
  1.78945623e+00,-2.10205885e+00, 8.30261277e+00,-1.47428143e+01,
 -5.81304235e-01, 7.00583990e-01, 9.00132365e+00,-3.14119948e+01,
  2.36007835e+00, 2.16070668e-01, 2.67750067e-01,-2.24786294e+00,
  2.09053149e+01,-4.65981839e+00]

qfrc_actuator:
[ 1.04780846e-05, 8.31927109e-04, 1.53022115e-04, 1.01547712e-05,
 -1.44162256e-03, 1.43265542e-01, 2.13103709e-04, 1.11300168e-01,
 -1.89593008e-04, 8.11431695e-04, 2.48378491e-04, 3.53903329e-05,
  5.91686245e-03,-1.48083240e-03, 0.00000000e+00,-1.89956884e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005893206468134821
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.41951576e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.41951576e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0267743 , -0.08265624,  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:
[-3.91606007e-05, 8.05115491e-06, 1.81083012e-05,-1.04376814e-05,
 -1.68638008e-04, 3.01792672e-03, 6.08051286e-04, 7.00601985e-04,
  1.07065601e-05,-3.98963772e-05, 7.66500002e-06,-1.97898759e-05,
 -4.05495957e-05,-3.68510213e-06,-3.49911004e-05,-1.61886630e-04,
  4.17432089e-06, 4.95883437e-06,-4.90500294e+00, 2.54998178e-04,
  1.18281501e-02,-6.34778491e-04]


--- Step 1380 ---
qpos:
[ 0.01855316, 0.03007681,-0.00946097,-0.02533729, 0.00684707, 0.21537714,
 -0.01956156, 0.20485941, 0.01166785, 0.02786468,-0.008278  , 0.02644822,
  1.32394199, 0.0075905 , 1.2003108 , 0.04494242, 0.05758981,-0.07964989,
  0.17138801, 0.99957722, 0.02683953,-0.00324582,-0.01069965]

qacc:
[-1.28895345e+01, 1.13471003e+00,-5.90150057e+00, 1.50675414e+01,
 -8.20733330e+00, 6.05786910e+01,-2.10625530e+02, 3.78438678e+02,
  7.17390793e+00,-5.02334912e-01,-9.09550229e-01, 8.43315851e+00,
  4.09817902e-01,-8.19874174e-01,-4.66203992e+00, 1.49473488e+01,
  2.31644500e+00, 2.06384846e-01, 9.03138245e-02,-2.33234348e+00,
  2.05873972e+01,-4.39089344e+00]

qfrc_actuator:
[-6.57566069e-05, 8.60193848e-04, 1.65874225e-04, 3.97635217e-05,
 -1.59326668e-03, 1.44873272e-01, 2.59603240e-04, 1.11881147e-01,
 -1.46657429e-04, 7.91377595e-04, 2.64661243e-04, 5.82978451e-05,
  5.91523010e-03,-1.51071791e-03, 0.00000000e+00,-1.82418471e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005879179480334368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.44198955e-14,  1.88839791e-13,  1.00000000e+00,  1.78302333e-26,
        1.00000000e+00, -1.88839791e-13, -1.00000000e+00,  0.00000000e+00,
       -9.44198955e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02677306, -0.08265828,  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:
[-7.73687241e-05, 3.61055484e-05, 1.63994770e-05, 3.03790063e-05,
 -1.65945841e-04, 3.35129674e-03, 7.33052222e-04, 7.33336163e-04,
  4.32354011e-05,-4.16237423e-05, 8.29336591e-06, 2.10769593e-05,
 -2.48225785e-05,-3.98805443e-05,-3.70912200e-05, 6.12143259e-05,
  2.31441195e-07, 1.27286085e-06,-4.90500110e+00, 2.54850624e-04,
  1.18290874e-02,-6.36415740e-04]


--- Step 1381 ---
qpos:
[ 0.01855029, 0.03007578,-0.00946099,-0.02533494, 0.00681389, 0.21810303,
 -0.01962405, 0.20708373, 0.01166655, 0.02786379,-0.00827693, 0.02644841,
  1.32413311, 0.00759016, 1.20046862, 0.04494104, 0.05760349,-0.07966567,
  0.17139105, 0.99957559, 0.02689976,-0.00318083,-0.01072062]

qacc:
[-1.77528390e+00, 3.42408414e+00,-1.43817548e+01, 2.70844424e+01,
 -4.47155687e+00, 4.59217003e+01,-1.43088301e+02, 2.40695439e+02,
  1.53650657e+00, 1.45290059e+00,-6.08430695e+00, 1.08480902e+01,
  7.41468484e-01,-1.46611095e+00,-7.34357240e+00, 2.46184354e+01,
  2.27978059e+00, 1.98336639e-01,-6.19259571e-02,-2.39543367e+00,
  2.03170626e+01,-4.17771881e+00]

qfrc_actuator:
[-7.40265212e-05, 8.77596994e-04, 1.37811047e-04, 7.42917070e-05,
 -1.66982848e-03, 1.46251171e-01, 3.31402729e-04, 1.12241579e-01,
 -1.38559639e-04, 8.15495462e-04, 2.55949255e-04, 7.17990297e-05,
  5.90204637e-03,-1.56407693e-03, 0.00000000e+00,-1.70725275e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005835461057574765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42690913e-13,  4.75636378e-14,  1.00000000e+00,  6.78689892e-27,
        1.00000000e+00, -4.75636378e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42690913e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02677103, -0.08265998,  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:
[-1.05101997e-05, 4.23049546e-05,-1.75221042e-05, 3.72351733e-05,
 -9.07603839e-05, 3.33410671e-03, 8.43238021e-04, 5.31746546e-04,
  9.34839706e-06, 3.48803025e-06,-1.55668395e-05, 1.24117684e-05,
 -3.61391597e-05,-6.99423429e-05,-1.14491867e-05, 1.15308051e-04,
  6.90499602e-07,-2.18675160e-06,-4.90500056e+00, 2.53660200e-04,
  1.18295874e-02,-6.37932850e-04]


--- Step 1382 ---
qpos:
[ 0.01854804, 0.03007505,-0.0094613 ,-0.02533219, 0.00677838, 0.22085036,
 -0.01968457, 0.20933086, 0.01166466, 0.02786345,-0.00827646, 0.02644804,
  1.32432388, 0.00758949, 1.20062655, 0.04493936, 0.05762617,-0.07968068,
  0.17139333, 0.99957411, 0.02695557,-0.0030754 ,-0.01074855]

qacc:
[ 5.23502012e+00, 2.04176694e+00,-8.38443493e+00, 1.54986853e+01,
 -6.07978894e+00, 6.88635211e+01,-2.96416050e+02, 6.60295236e+02,
 -4.98959475e+00, 1.27032880e+00,-1.02840673e+00,-8.31094114e+00,
 -6.73564409e-02,-2.34023765e-01, 1.04202214e+00,-3.41658256e+00,
  2.24925650e+00, 1.91633116e-01,-1.91995298e-01,-2.44250126e+00,
  2.00899665e+01,-4.00951006e+00]

qfrc_actuator:
[-4.22147091e-05, 8.88203506e-04, 1.21282185e-04, 9.36448811e-05,
 -1.79025847e-03, 1.47250455e-01, 4.16822486e-04, 1.13392419e-01,
 -1.68794818e-04, 8.65780404e-04, 2.32718112e-04, 4.41659433e-05,
  5.88193125e-03,-1.57770178e-03, 0.00000000e+00,-1.72662272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005768468584111813
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62320422e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.62320422e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02676839, -0.08266141,  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:
[ 3.15222564e-05, 3.22759098e-05,-8.65096605e-06, 2.12813836e-05,
 -1.27844261e-04, 2.95916865e-03, 8.59573267e-04, 1.32115316e-03,
 -2.99613869e-05, 4.95705178e-05,-2.40027180e-05,-2.77821458e-05,
 -5.55131730e-05,-4.14814962e-05, 5.33862186e-06,-1.49290315e-05,
  5.34544348e-06,-5.38955186e-06,-4.90500123e+00, 2.51536666e-04,
  1.18296708e-02,-6.39324822e-04]


--- Step 1383 ---
qpos:
[ 0.01854757, 0.03007407,-0.009461  ,-0.02532923, 0.0067473 , 0.22342977,
 -0.01987879, 0.21153869, 0.01166278, 0.02786343,-0.00827627, 0.02644768,
  1.32451434, 0.00758836, 1.20078444, 0.0449378 , 0.05763678,-0.07969156,
  0.17139545, 0.99957306, 0.02699378,-0.00302507,-0.01076491]

qacc:
[ 1.52762794e+01,-1.60116161e+00, 4.25936899e+00,-1.20721340e+00,
  1.08894575e+01, 7.08930904e+01,-4.08604859e+02, 6.16040375e+01,
 -3.99281239e-02, 1.23971539e+00,-3.89387601e+00, 4.49691775e+00,
  6.50466729e-02,-4.64958718e-01,-4.48667768e-01, 1.43293865e+00,
 -3.01530902e+00, 1.03423150e+00,-4.04416090e-02,-8.49203942e+00,
 -2.74729973e+01, 6.55004356e+00]

qfrc_actuator:
[ 4.84169304e-05, 8.59173054e-04, 1.47174227e-04, 1.03920990e-04,
 -1.90017528e-03, 1.47572605e-01, 4.73344821e-04, 1.14626104e-01,
 -1.68080966e-04, 8.77998121e-04, 2.18957035e-04, 4.58316365e-05,
  5.86301243e-03,-1.60315834e-03, 0.00000000e+00,-1.71964508e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20629068, -0.02997806,  0.20410085, -0.02997806,  0.49069962,
        0.04177361,  0.20410085,  0.04177361,  0.21242633,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.995480001131605e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.997155  , -0.06779625, -0.03294802, -0.06775927,  0.99769919,
       -0.0022389 ,  0.03302401,  0.        , -0.99945456])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09698996, -0.08060088,  0.21560079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.20212429, -6.05801429,  1.3292135 , -6.05801429,  7.27372428,
        4.88391674,  1.3292135 ,  4.88391674, 28.46102957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005723995672608645
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69797226e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.69797226e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09490896, -0.09476121,  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:
[ 9.15630832e-05,-1.18156443e-05, 3.22359913e-05, 1.17684229e-05,
 -1.21149355e-04, 2.10859797e-03, 7.82258778e-04, 1.40407897e-03,
 -1.46160072e-07, 3.37804525e-05,-7.44062878e-06, 2.42022356e-06,
 -5.77673472e-05,-4.99617512e-05,-3.51071456e-06, 5.86396505e-06,
  1.40366881e-05,-8.31754208e-06,-4.90500309e+00, 2.48559256e-04,
  1.18293544e-02,-6.40587975e-04]


--- Step 1384 ---
qpos:
[ 0.01854818, 0.03007287,-0.00946034,-0.02532615, 0.00672311, 0.22582332,
 -0.02017803, 0.21371528, 0.01166057, 0.02786323,-0.00827632, 0.02644776,
  1.32470429, 0.0075872 , 1.20094215, 0.04493733, 0.05763472,-0.07969848,
  0.17139636, 0.99957238, 0.02701522,-0.00303274,-0.01077219]

qacc:
[   9.3721026 ,  -1.08321628,   2.93178967,  -1.34915624,  17.17814294,
  -16.29696556,-166.72692547, -70.87851187,  -2.742761  ,   1.32510389,
   -6.90328104,  14.90847491,  -0.29438157,   0.18299596,  -3.5296529 ,
   12.02843462,  -3.16883065,   0.99004534,  -0.29922052,  -8.05652349,
  -28.95301881,   5.35049485]

qfrc_actuator:
[ 1.01919041e-04, 8.42294834e-04, 1.62227655e-04, 1.08769614e-04,
 -1.97410514e-03, 1.48343849e-01, 6.65161946e-04, 1.15039338e-01,
 -1.84649106e-04, 8.31879884e-04, 1.93033171e-04, 6.47105008e-05,
  5.83949593e-03,-1.59996168e-03, 0.00000000e+00,-1.66164953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26372923, -0.12261972,  0.23348985, -0.12261972,  0.26220351,
       -0.00080125,  0.23348985, -0.00080125,  0.26330844,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045666556589668816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97282116e-01, -6.81880747e-02, -2.79064021e-02, -6.81613941e-02,
        9.97672485e-01, -1.90732316e-03,  2.79715062e-02,  2.16840434e-19,
       -9.99608721e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09674685, -0.08059694,  0.21576664])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 6.22573972, -4.66012234,  4.12832835, -4.66012234, 32.82442079,
       30.0250119 ,  4.12832835, 30.0250119 , 40.11844808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000575231570400736
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65022681e-14, -9.65022681e-14,  1.00000000e+00, -9.31268775e-27,
        1.00000000e+00,  9.65022681e-14, -1.00000000e+00,  0.00000000e+00,
       -9.65022681e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09490723, -0.09476433,  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:
[ 5.61667656e-05,-1.62649798e-05, 1.69886451e-05, 5.67840208e-06,
 -4.17260387e-04, 1.11801190e-02, 7.62668729e-03, 3.77356901e-03,
 -1.65603658e-05,-2.86682940e-05,-1.97820008e-05, 2.01161619e-05,
 -6.56230203e-05,-2.41492479e-05,-4.66091089e-06, 5.70407743e-05,
  3.23862612e-06,-2.68985361e-06,-4.90500065e+00, 2.51875517e-04,
  1.18274744e-02,-6.41346964e-04]


--- Step 1385 ---
qpos:
[ 0.0185484 , 0.03007191,-0.00945994,-0.0253234 , 0.00670821, 0.22805254,
 -0.02056955, 0.2158638 , 0.01165784, 0.02786255,-0.00827651, 0.0264481 ,
  1.32489351, 0.00758659, 1.20109976, 0.04493788, 0.05761954,-0.07970161,
  0.17139522, 0.999572  , 0.02702102,-0.00310062,-0.01077321]

qacc:
[  -3.41572291,   0.35933162,   0.56728711,  -6.00731244,  22.87523957,
  -16.93032363,-136.66939468, -81.83381049,  -4.47948374,   0.30695662,
   -3.09070215,   8.12100797,  -0.8540118 ,   1.18993999,  -3.14293119,
   10.97950812,  -3.27850185,   0.94583686,  -0.51459865,  -7.48347928,
  -30.09592445,   3.96545468]

qfrc_actuator:
[ 7.98616158e-05, 8.68283217e-04, 1.53027688e-04, 9.26267454e-05,
 -2.10168191e-03, 1.50002244e-01, 9.62960457e-04, 1.15234250e-01,
 -2.11266996e-04, 7.86649355e-04, 1.77643644e-04, 7.57460912e-05,
  5.81325029e-03,-1.56205274e-03, 0.00000000e+00,-1.60956598e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.3862412 , -0.18160015,  0.34088656, -0.18160015,  0.30304435,
       -0.04432137,  0.34088656, -0.04432137,  0.36262992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007669115319225239
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97370844e-01, -6.85247270e-02, -2.35746033e-02, -6.85055928e-02,
        9.97649418e-01, -1.61924943e-03,  2.36301479e-02, -2.16840434e-19,
       -9.99720769e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09652012, -0.08059322,  0.21591553])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005743847029901217
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66445501e-14, -9.66445501e-14,  1.00000000e+00, -9.34016907e-27,
        1.00000000e+00,  9.66445501e-14, -1.00000000e+00,  0.00000000e+00,
       -9.66445501e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09490689, -0.09476724,  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:
[-2.04246822e-05, 2.06914386e-05,-1.02738704e-05,-1.61490164e-05,
 -8.90000081e-04, 2.20445396e-02, 1.31468833e-02, 5.52244869e-03,
 -2.71142999e-05,-6.44913545e-05,-2.30507557e-05, 9.51469325e-06,
 -6.61815650e-05, 1.57906410e-05, 5.00466271e-07, 5.38411980e-05,
  7.78934061e-08, 1.90542799e-07,-4.90499997e+00, 2.53203082e-04,
  1.18267200e-02,-6.41825435e-04]


--- Step 1386 ---
qpos:
[ 0.01854835, 0.03007145,-0.00945951,-0.02532126, 0.00670432, 0.23014369,
 -0.02103788, 0.21798746, 0.0116555 , 0.02786139,-0.00827631, 0.02644853,
  1.32508231, 0.00758611, 1.20125738, 0.04493871, 0.05759097,-0.07970115,
  0.17139132, 0.99957184, 0.02701262,-0.00323038,-0.01077124]

qacc:
[  -2.28835248,  -0.68637451,   5.98383779, -17.00058216,  26.80656362,
  -18.82023771, -93.37285198,-112.59061969,   3.35306124,  -1.53344009,
    4.14248683,  -2.78825851,  -0.41449688,   0.47026316,  -0.79785935,
    2.88232243,  -3.35077256,   0.90054288,  -0.69005474,  -6.76568216,
  -30.96206324,   2.35338443]

qfrc_actuator:
[ 6.67775583e-05, 9.19621437e-04, 1.65252166e-04, 6.42844420e-05,
 -2.28435655e-03, 1.51624410e-01, 1.35362076e-03, 1.15449522e-01,
 -1.90323673e-04, 7.77825117e-04, 2.04078944e-04, 8.20775676e-05,
  5.79605505e-03,-1.55714019e-03, 0.00000000e+00,-1.59689970e-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, -0.0501893 ,  0.42773891, -0.0501893 ,  1.85539854,
        0.16717197,  0.42773891,  0.16717197,  0.45028869,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010334025603831339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97430872e-01, -6.88040292e-02, -1.99414507e-02, -6.87902824e-02,
        9.97630195e-01, -1.37531138e-03,  1.99888203e-02, -2.16840434e-19,
       -9.99800204e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09630698, -0.08058954,  0.21604872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005705924588255695
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72868645e-14, -4.86434323e-14,  1.00000000e+00, -4.73236700e-27,
        1.00000000e+00,  4.86434323e-14, -1.00000000e+00,  0.00000000e+00,
       -9.72868645e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09490767, -0.09476998,  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:
[-1.36688910e-05, 6.01113548e-05, 1.46748483e-05,-2.81304312e-05,
 -1.53803440e-03, 3.18036473e-02, 1.81261956e-02, 7.13396502e-03,
  2.01238350e-05,-4.92338936e-05, 1.06114917e-05, 2.95714943e-06,
 -4.78805161e-05,-6.30958770e-06, 1.90504935e-06, 1.47775753e-05,
  5.54820762e-06, 4.77443990e-07,-4.90500148e+00, 2.53070581e-04,
  1.18268934e-02,-6.42038088e-04]


--- Step 1387 ---
qpos:
[ 0.0185485 , 0.03007158,-0.00945875,-0.02531951, 0.00670115, 0.23200179,
 -0.02163373, 0.22008217, 0.01165308, 0.02785986,-0.00827557, 0.02644901,
  1.32527066, 0.00758595, 1.20141527, 0.04493733, 0.05756721,-0.07970041,
  0.17139121, 0.99957168, 0.02700031,-0.00333873,-0.01078375]

qacc:
[ 1.61170798e+00,-9.54007879e-01, 6.18490287e+00,-1.39156173e+01,
  1.69608062e+00,-1.13827132e+01,-2.82602164e+02, 1.49755235e+02,
 -6.23051636e-01,-1.93036981e+00, 5.99292775e+00,-5.82162030e+00,
 -7.48415551e-01, 9.97013677e-01, 7.12764682e+00,-2.41846208e+01,
  1.20681242e+00, 6.61783423e-02, 9.47694021e-01,-2.09202434e+00,
  1.04879275e+01,-7.51531576e+00]

qfrc_actuator:
[ 7.68579420e-05, 9.68066704e-04, 1.90150118e-04, 4.67920110e-05,
 -2.50553305e-03, 1.52873742e-01, 1.83918771e-03, 1.15365481e-01,
 -1.94808110e-04, 7.73283805e-04, 2.37382407e-04, 8.56483890e-05,
  5.77896454e-03,-1.53633058e-03, 0.00000000e+00,-1.71406526e-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, -0.22453478,  0.3675101 , -0.22453478,  1.02013053,
        0.36013606,  0.3675101 ,  0.36013606,  0.65070288,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012597560266712686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97470477e-01, -6.90247770e-02, -1.69772710e-02, -6.90147812e-02,
        9.97614946e-01, -1.17465396e-03,  1.70178596e-02,  2.16840434e-19,
       -9.99855186e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0961042 , -0.08058576,  0.21616788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005803142873703204
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43485571e-13,  1.19571309e-13,  1.00000000e+00,  1.71567576e-26,
        1.00000000e+00, -1.19571309e-13, -1.00000000e+00,  0.00000000e+00,
       -1.43485571e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0267674 , -0.082669  ,  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:
[ 9.70419464e-06, 8.38877005e-05, 3.81432866e-05,-1.49629915e-05,
 -2.31094569e-03, 3.98823097e-02, 2.24291081e-02, 8.28600275e-03,
 -3.91534222e-06,-2.97161252e-05, 2.45499658e-05, 1.88557025e-06,
 -4.35923846e-05, 7.84313453e-06,-1.61149713e-06,-1.17027994e-04,
  2.03625100e-05,-1.47211817e-06,-4.90500549e+00, 2.52245487e-04,
  1.18277702e-02,-6.42000395e-04]


--- Step 1388 ---
qpos:
[ 0.01854841, 0.03007196,-0.00945811,-0.02531757, 0.00669829, 0.23364219,
 -0.02234243, 0.22215207, 0.01165028, 0.02785854,-0.00827494, 0.0264495 ,
  1.32545839, 0.00758636, 1.20157334, 0.04493289, 0.05754732,-0.07969951,
  0.17139419, 0.99957151, 0.02698416,-0.00343015,-0.01081101]

qacc:
[-1.93581593e+00, 1.08346634e+00,-4.21321229e+00, 7.64266917e+00,
  8.09001712e-01,-2.35806853e+01,-2.27175963e+02, 1.31673494e+02,
 -3.24528723e+00, 6.25990739e-01,-1.88804275e+00, 2.12718654e+00,
 -1.10979358e+00, 1.55995290e+00, 9.65710301e+00,-3.31213713e+01,
  9.64130648e-01, 4.19099839e-02, 7.71008330e-01,-2.03769978e+00,
  8.23989026e+00,-7.60038713e+00]

qfrc_actuator:
[ 6.49843603e-05, 9.43467024e-04, 1.69078600e-04, 5.35858102e-05,
 -2.79716670e-03, 1.54972721e-01, 2.44538061e-03, 1.15666216e-01,
 -2.14238806e-04, 8.06894165e-04, 2.38981999e-04, 8.75730807e-05,
  5.74597657e-03,-1.50621721e-03, 0.00000000e+00,-1.87125765e-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, -0.04136154,  0.42868259, -0.04136154,  0.70230484,
        0.02620843,  0.42868259,  0.02620843,  0.43320208,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014570134455427158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97499671e-01, -6.91953311e-02, -1.43670434e-02, -6.91881550e-02,
        9.97603131e-01, -9.96520858e-04,  1.44015621e-02,  2.16840434e-19,
       -9.99896292e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09592923, -0.08058219,  0.21627261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005870260869839244
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.45633464e-14,  7.09225098e-14,  1.00000000e+00,  6.70666987e-27,
        1.00000000e+00, -7.09225098e-14, -1.00000000e+00,  0.00000000e+00,
       -9.45633464e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02676916, -0.08267008,  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:
[-1.15639827e-05, 2.95319921e-05, 4.19277240e-07, 1.14073755e-05,
 -2.63807864e-03, 5.35689726e-02, 2.93921693e-02, 1.00282467e-02,
 -1.95609415e-05, 2.21813328e-05,-1.44389594e-06, 1.53775175e-06,
 -5.43538940e-05, 2.22966892e-05,-1.84200353e-05,-1.64962740e-04,
  1.44613478e-05,-1.22869302e-06,-4.90500399e+00, 2.54858131e-04,
  1.18282460e-02,-6.41768144e-04]


--- Step 1389 ---
qpos:
[ 0.01854853, 0.03007212,-0.00945777,-0.02531514, 0.00669533, 0.23509701,
 -0.02315625, 0.22419906, 0.01164762, 0.0278577 ,-0.00827474, 0.02644999,
  1.32564575, 0.00758709, 1.20173109, 0.04492826, 0.05753046,-0.07969855,
  0.17139967, 0.99957132, 0.02696424,-0.00350846,-0.01085354]

qacc:
[ 1.74031241e+00, 1.54676867e+00,-7.97603327e+00, 1.70021664e+01,
 -2.96249325e-01, 1.13217406e+00,-2.61711907e+02, 1.63053578e+02,
  1.11277678e+00, 1.85764483e+00,-5.68673504e+00, 6.05180442e+00,
 -5.09555309e-01, 7.24689999e-01, 1.69405583e-01,-1.16904322e+00,
  7.58262479e-01, 1.69073678e-02, 6.26802204e-01,-1.97818488e+00,
  6.32180511e+00,-7.79869506e+00]

qfrc_actuator:
[ 7.57811157e-05, 8.92900923e-04, 1.38500226e-04, 7.45182406e-05,
 -3.13097221e-03, 1.57641596e-01, 3.16028435e-03, 1.16542563e-01,
 -2.06797562e-04, 8.45223575e-04, 2.22008494e-04, 8.85252390e-05,
  5.73543576e-03,-1.48865666e-03, 0.00000000e+00,-1.87319551e-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, -0.03896706,  0.42890687, -0.03896706,  0.85076257,
        0.03816596,  0.42890687,  0.03816596,  0.43414081,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016266792480935173
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97521294e-01, -6.93161003e-02, -1.21056031e-02, -6.93109966e-02,
        9.97594746e-01, -8.41136343e-04,  1.21347903e-02,  1.08420217e-19,
       -9.99926371e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09577957, -0.08057881,  0.21636375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005895524855474565
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.70790579e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.70790579e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02676963, -0.08267101,  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:
[ 1.04673282e-05,-3.35064763e-05,-2.40484424e-05, 2.24273553e-05,
 -2.98806045e-03, 6.70668830e-02, 3.57341577e-02, 1.21399649e-02,
  6.87179844e-06, 5.05249238e-05,-1.25112607e-05, 1.88342184e-06,
 -3.44813628e-05, 1.13847575e-05,-3.11089918e-05,-1.44312088e-05,
  1.11913016e-05,-1.04955077e-06,-4.90500321e+00, 2.56762307e-04,
  1.18284154e-02,-6.41442776e-04]


--- Step 1390 ---
qpos:
[ 0.01854947, 0.03007169,-0.00945731,-0.02531246, 0.00669163, 0.23638512,
 -0.0240645 , 0.22622602, 0.01164575, 0.02785661,-0.00827416, 0.02645053,
  1.32583291, 0.00758799, 1.20188839, 0.04492559, 0.05751585,-0.07969761,
  0.17140718, 0.99957107, 0.02694065,-0.00357732,-0.01091198]

qacc:
[ 7.03167694e+00,-6.00985292e-01,-8.20635310e-02, 4.72824801e+00,
 -1.74546807e+00, 2.14688212e+00,-2.41178332e+02, 1.61265690e+02,
  6.83121207e+00,-1.33561716e+00, 4.01809571e+00,-3.55215233e+00,
 -9.98629228e-02, 1.66234224e-01,-6.60813240e+00, 2.21720137e+01,
  5.62059209e-01,-8.58366562e-03, 5.07684029e-01,-1.90971137e+00,
  4.49129744e+00,-8.07020881e+00]

qfrc_actuator:
[ 1.17594385e-04, 8.44872307e-04, 1.37948318e-04, 8.58149355e-05,
 -3.52528142e-03, 1.60139306e-01, 3.94231377e-03, 1.17417233e-01,
 -1.65841507e-04, 7.97246007e-04, 2.29755008e-04, 8.88988591e-05,
  5.73303811e-03,-1.47860721e-03, 0.00000000e+00,-1.76586948e-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, -0.03413511,  0.42931845, -0.03413511,  1.05213274,
        0.04941223,  0.42931845,  0.04941223,  0.43460212,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001771869559640694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97537915e-01, -6.93891410e-02, -1.01614645e-02, -6.93855412e-02,
        9.97589669e-01, -7.06798915e-04,  1.01860162e-02, -1.08420217e-19,
       -9.99948121e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09565175, -0.08057557,  0.21644283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005887084404374437
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.88586225e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.88586225e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02676907, -0.08267182,  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:
[ 4.21053185e-05,-7.07837247e-05,-9.66988068e-06, 9.45983968e-06,
 -3.37683263e-03, 7.87967626e-02, 4.17599392e-02, 1.41545788e-02,
  4.11732968e-05,-2.22067266e-05, 1.67106262e-05, 2.14208121e-06,
 -1.83451436e-05, 5.43893202e-06,-1.83524869e-05, 1.01997686e-04,
  9.93156448e-06,-9.27388558e-07,-4.90500298e+00, 2.58229380e-04,
  1.18282990e-02,-6.41024010e-04]


--- Step 1391 ---
qpos:
[ 0.01855056, 0.03007087,-0.00945692,-0.02530968, 0.00668638, 0.23751799,
 -0.02505386, 0.22823645, 0.01164439, 0.02785502,-0.00827332, 0.02645111,
  1.32601992, 0.00758878, 1.20204542, 0.04492519, 0.05750274,-0.07969682,
  0.17141631, 0.99957076, 0.02691353,-0.00364015,-0.0109871 ]

qacc:
[ 1.28544359e+00,-1.14504858e-01,-7.74984005e-01, 2.93788553e+00,
 -3.60343038e+00,-1.26979767e+01,-1.81240905e+02, 1.33208475e+02,
  4.32791982e+00,-1.29415881e+00, 3.49639539e+00,-2.85889498e+00,
  1.39436960e-01,-2.88854061e-01,-7.28025565e+00, 2.48490027e+01,
  3.77627083e-01,-3.50337396e-02, 4.04605489e-01,-1.83340235e+00,
  2.76889319e+00,-8.41442894e+00]

qfrc_actuator:
[ 1.24063695e-04, 8.34334738e-04, 1.37364062e-04, 9.13684308e-05,
 -4.00848643e-03, 1.62607413e-01, 4.83149646e-03, 1.17817877e-01,
 -1.41001488e-04, 7.51306347e-04, 2.33939900e-04, 8.88772223e-05,
  5.71954696e-03,-1.49078909e-03, 0.00000000e+00,-1.64832932e-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, -0.02940653,  0.42966824, -0.02940653,  1.2400637 ,
        0.05539475,  0.42966824,  0.05539475,  0.43446458,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018944297053887253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97551471e-01, -6.94152389e-02, -8.51986413e-03, -6.94127073e-02,
        9.97587853e-01, -5.92838417e-04,  8.54046499e-03,  0.00000000e+00,
       -9.99963530e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0955433 , -0.08057246,  0.21651085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005851966111099505
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48589759e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.48589759e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0267677 , -0.08267254,  0.06198949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.67202693e-06,-5.16952730e-05,-1.60760961e-05, 2.36460337e-06,
 -3.82348181e-03, 8.95596246e-02, 4.73622910e-02, 1.55526841e-02,
  2.60362968e-05,-5.47740073e-05, 1.73139202e-06,-3.55526858e-07,
 -2.19111719e-05,-1.48787626e-05, 6.86518773e-07, 1.20369902e-04,
  1.03680037e-05,-8.63558345e-07,-4.90500318e+00, 2.59498761e-04,
  1.18279147e-02,-6.40512563e-04]


--- Step 1392 ---
qpos:
[ 0.01855171, 0.03006946,-0.00945592,-0.02530652, 0.00667873, 0.2385079 ,
 -0.02611113, 0.23023366, 0.01164299, 0.02785342,-0.00827263, 0.02645199,
  1.32620688, 0.00758939, 1.20220262, 0.04492451, 0.05749049,-0.07969625,
  0.17142671, 0.99957034, 0.02688296,-0.00370001,-0.01107947]

qacc:
[ 6.26423196e-01,-1.74135796e+00, 3.50475048e+00, 2.34054010e+00,
 -5.49332576e+00,-2.65484848e+01,-1.22457310e+02, 1.02399129e+02,
 -3.13280203e-01, 1.05658901e+00,-5.07755459e+00, 1.06471103e+01,
  4.88410609e-02,-1.90678592e-01, 1.06313034e+00,-3.39527544e+00,
  2.12575360e-01,-5.56325513e-02, 3.16288553e-01,-1.76606150e+00,
  1.23576895e+00,-8.65692006e+00]

qfrc_actuator:
[ 1.27420778e-04, 8.10822465e-04, 1.72405453e-04, 1.11278580e-04,
 -4.45514958e-03, 1.65041965e-01, 5.84492297e-03, 1.17903102e-01,
 -1.43609867e-04, 7.77929711e-04, 2.35960905e-04, 1.06361973e-04,
  5.72070521e-03,-1.49835027e-03, 0.00000000e+00,-1.66777071e-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, -0.02400012,  0.43000411, -0.02400012,  1.43556869,
        0.05608692,  0.43000411,  0.05608692,  0.43380377,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019955895522346576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97563501e-01, -6.93945255e-02, -7.17361152e-03, -6.93927313e-02,
        9.97589294e-01, -4.99012339e-04,  7.19094677e-03,  0.00000000e+00,
       -9.99974145e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09545226, -0.08056946,  0.21656857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005796412375928539
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.91536239e-13, -9.57681194e-14,  1.00000000e+00, -1.83430654e-26,
        1.00000000e+00,  9.57681194e-14, -1.00000000e+00,  0.00000000e+00,
       -1.91536239e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02676571, -0.08267319,  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:
[ 3.56484288e-06,-5.56205242e-05, 2.24638781e-05, 1.71809153e-05,
 -4.19238117e-03, 9.97222573e-02, 5.24251595e-02, 1.64600543e-02,
 -1.86797896e-06,-3.61306729e-06,-9.08738819e-06, 1.51894808e-05,
 -1.35731149e-05,-1.69119229e-05, 1.06717735e-05,-1.33401973e-05,
  1.23199078e-05,-8.57496303e-07,-4.90500374e+00, 2.60797964e-04,
  1.18272770e-02,-6.39909613e-04]


--- Step 1393 ---
qpos:
[ 0.01855256, 0.03006727,-0.00945408,-0.02530349, 0.00666782, 0.23937553,
 -0.02722766, 0.23221959, 0.01164192, 0.02785203,-0.00827123, 0.02645299,
  1.32639376, 0.00759011, 1.20236024, 0.04492028, 0.05747855,-0.07969598,
  0.1714381 , 0.9995698 , 0.02684905,-0.00375938,-0.01118973]

qacc:
[-2.64828904e+00,-3.61237735e+00, 1.19331322e+01,-1.48689436e+01,
 -7.47175954e+00,-1.93508252e+01,-1.16712933e+02, 1.01632209e+02,
  2.78096900e+00,-1.51468679e+00, 5.30431349e+00,-4.63516517e+00,
 -4.17779914e-01, 5.63140278e-01, 1.14688582e+01,-3.90825806e+01,
  7.86288027e-02,-7.57249924e-02, 2.48916486e-01,-1.70358199e+00,
 -1.75237468e-02,-8.94011886e+00]

qfrc_actuator:
[ 1.11177846e-04, 7.62135771e-04, 2.10415782e-04, 1.03989507e-04,
 -4.93168082e-03, 1.67204415e-01, 6.91663166e-03, 1.18512486e-01,
 -1.26842286e-04, 8.30051626e-04, 2.90250572e-04, 1.16313941e-04,
  5.72532410e-03,-1.48527219e-03, 0.00000000e+00,-1.85652623e-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, -0.01822904,  0.43028739, -0.01822904,  1.66350732,
        0.05222877,  0.43028739,  0.05222877,  0.43288602,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020767609867804963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97575227e-01, -6.93276256e-02, -6.11120411e-03, -6.93263248e-02,
        9.97593946e-01, -4.24697115e-04,  6.12594347e-03,  0.00000000e+00,
       -9.99981236e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09537663, -0.08056658,  0.21661681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005725843169680639
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93896862e-13, -4.84742156e-14,  1.00000000e+00, -9.39899830e-27,
        1.00000000e+00,  4.84742156e-14, -1.00000000e+00,  0.00000000e+00,
       -1.93896862e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02676326, -0.08267378,  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:
[-1.61572049e-05,-7.43837507e-05, 2.98804576e-05,-8.56514375e-06,
 -4.54900357e-03, 1.09005259e-01, 5.68886076e-02, 1.77267351e-02,
  1.67070862e-05, 4.89179727e-05, 5.29569344e-05, 9.77817585e-06,
 -6.50297511e-06, 5.25736992e-06,-6.80636536e-07,-1.89071909e-04,
  1.56306570e-05,-9.09813285e-07,-4.90500458e+00, 2.62295055e-04,
  1.18264101e-02,-6.39217101e-04]


--- Step 1394 ---
qpos:
[ 0.01855355, 0.0300652 ,-0.00945294,-0.02530128, 0.00665255, 0.240142  ,
 -0.02839731, 0.2341956 , 0.01164141, 0.02785053,-0.00826926, 0.02645347,
  1.32658053, 0.00759076, 1.20251756, 0.04491616, 0.05746648,-0.07969614,
  0.1714503 , 0.99956911, 0.02681194,-0.00382042,-0.0113191 ]

qacc:
[ 1.20288760e+00, 4.31167093e-01, 2.11647473e+00,-1.51145827e+01,
 -1.00614632e+01,-5.87840091e+00,-1.29890372e+02, 1.12571898e+02,
  4.74317265e+00,-2.80837770e+00, 1.20172814e+01,-2.19597018e+01,
 -1.76117060e-02,-5.39873942e-02,-8.26155450e-01, 2.22299441e+00,
 -3.47124456e-02,-1.06173439e-01, 2.01446672e-01,-1.62384333e+00,
 -1.10771755e+00,-9.52577884e+00]

qfrc_actuator:
[ 1.19035142e-04, 7.87520613e-04, 1.78726857e-04, 6.29746370e-05,
 -5.63734857e-03, 1.69151331e-01, 8.04182568e-03, 1.19723747e-01,
 -9.87949206e-05, 7.90748515e-04, 3.04078104e-04, 8.63121345e-05,
  5.71072021e-03,-1.49552420e-03, 0.00000000e+00,-1.84167701e-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, -0.00988067,  0.43056   , -0.00988067,  1.95583524,
        0.03500005,  0.43056   ,  0.03500005,  0.43147655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002140166900340073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97587578e-01, -6.92160365e-02, -5.30710072e-03, -6.92150571e-02,
        9.97601694e-01, -3.68219580e-04,  5.31985937e-03,  0.00000000e+00,
       -9.99985849e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09531404, -0.0805638 ,  0.21665675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005644489740567887
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.96691477e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.96691477e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02676048, -0.08267431,  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:
[ 7.36412614e-06,-1.03623905e-05,-4.36707229e-05,-4.33380286e-05,
 -5.09191964e-03, 1.17043101e-01, 6.09753093e-02, 1.94981211e-02,
  2.85490958e-05,-5.55626457e-07, 3.07891476e-05,-2.58859806e-05,
 -1.75031209e-05,-9.90811584e-06,-2.58072136e-05, 3.21542268e-06,
  2.02438093e-05,-1.01098961e-06,-4.90500567e+00, 2.64135998e-04,
  1.18253239e-02,-6.38436730e-04]


--- Step 1395 ---
qpos:
[ 0.01855462, 0.03006373,-0.00945303,-0.02529959, 0.00663162, 0.24083106,
 -0.02961602, 0.23616235, 0.0116402 , 0.02784885,-0.00826758, 0.0264533 ,
  1.32676714, 0.00759133, 1.20267433, 0.04491522, 0.05745386,-0.07969685,
  0.17146316, 0.99956823, 0.02677178,-0.00388507,-0.011469  ]

qacc:
[ 6.90821698e-01, 3.15419024e+00,-7.86957965e+00, 2.27939737e-01,
 -1.30571987e+01, 1.55225246e+01,-1.63456580e+02, 1.33649674e+02,
 -5.91552331e+00,-7.69340567e-01, 5.12225576e+00,-1.56455500e+01,
  1.96249038e-01,-3.44895112e-01,-1.04384895e+01, 3.52858859e+01,
 -1.36216328e-01,-1.39424386e-01, 1.65699869e-01,-1.53852171e+00,
 -2.09576624e+00,-1.02082367e+01]

qfrc_actuator:
[ 1.23269038e-04, 8.39006595e-04, 1.24166362e-04, 3.79653606e-05,
 -6.46032680e-03, 1.71884359e-01, 9.21667493e-03, 1.21033015e-01,
 -1.35350024e-04, 7.50080781e-04, 2.75747455e-04, 5.06870650e-05,
  5.70056612e-03,-1.50189691e-03, 0.00000000e+00,-1.67141964e-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,  0.00288059,  0.43066372,  0.00288059,  2.28631934,
       -0.01241189,  0.43066372, -0.01241189,  0.43075637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021880060934637183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97601224e-01, -6.90607119e-02, -4.73460545e-03, -6.90599341e-02,
        9.97612459e-01, -3.27757758e-04,  4.74593657e-03,  0.00000000e+00,
       -9.99988738e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09526224, -0.08056109,  0.21668954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005555567166759118
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99198634e-14, -4.99599317e-14,  1.00000000e+00, -4.99198955e-27,
        1.00000000e+00,  4.99599317e-14, -1.00000000e+00,  0.00000000e+00,
       -9.99198634e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02675746, -0.08267481,  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:
[ 4.45337662e-06, 3.48723168e-05,-6.35740984e-05,-2.78111762e-05,
 -5.69629749e-03, 1.24815929e-01, 6.48064640e-02, 2.13009441e-02,
 -3.57208139e-05,-3.56891603e-05,-2.55569392e-05,-3.50907072e-05,
 -2.21845718e-05,-1.29291946e-05,-1.37037874e-05, 1.66631007e-04,
  2.63742204e-05,-1.14671980e-06,-4.90500700e+00, 2.66513979e-04,
  1.18239980e-02,-6.37569458e-04]


--- Step 1396 ---
qpos:
[ 0.01855504, 0.03006232,-0.00945396,-0.02529783, 0.00660384, 0.2414622 ,
 -0.03087923, 0.23812066, 0.0116389 , 0.02784732,-0.00826641, 0.02645302,
  1.32695351, 0.00759208, 1.20283119, 0.04491461, 0.05744029,-0.07969821,
  0.17147657, 0.99956713, 0.02672869,-0.0039552 ,-0.01164026]

qacc:
[-5.57223677e+00, 2.56281366e+00,-9.30246868e+00, 1.18096651e+01,
 -1.58035887e+01, 3.02140636e+01,-1.81844672e+02, 1.44399840e+02,
 -7.37347384e-01, 1.44065776e+00,-4.39871423e+00, 3.29583591e+00,
 -2.90487878e-01, 4.00549504e-01,-8.59800483e-01, 3.25425671e+00,
 -2.35996608e-01,-1.60378944e-01, 1.37740343e-01,-1.47398405e+00,
 -3.04179125e+00,-1.05953001e+01]

qfrc_actuator:
[ 8.98232696e-05, 8.16871928e-04, 7.44594127e-05, 4.03568599e-05,
 -7.13762509e-03, 1.75389816e-01, 1.04385035e-02, 1.22155845e-01,
 -1.38630271e-04, 7.79717456e-04, 2.58239748e-04, 4.75161418e-05,
  5.69308996e-03,-1.48814900e-03, 0.00000000e+00,-1.65955719e-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,  0.02124591,  0.43014899,  0.02124591,  2.7274988 ,
       -0.11344474,  0.43014899, -0.11344474,  0.43627661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022226924252543214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97616608e-01, -6.88626871e-02, -4.36278304e-03, -6.88620287e-02,
        9.97626148e-01, -3.01147844e-04,  4.37316429e-03,  0.00000000e+00,
       -9.99990438e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0952189 , -0.08055845,  0.2167164 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005461688769020229
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.04912017e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.04912017e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02675429, -0.08267526,  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:
[-3.32956961e-05,-1.69066371e-05,-5.12834382e-05, 1.14277860e-06,
 -6.09069634e-03, 1.32177279e-01, 6.84829916e-02, 2.28835250e-02,
 -4.34146657e-06, 2.92130675e-06,-2.92413532e-05,-6.26595458e-06,
 -2.19734225e-05, 4.91931254e-06, 1.01859853e-05, 1.89209608e-05,
  3.42568448e-05,-1.30798545e-06,-4.90500857e+00, 2.69597874e-04,
  1.18224244e-02,-6.36617071e-04]


--- Step 1397 ---
qpos:
[ 0.01855541, 0.03006048,-0.00945528,-0.02529603, 0.00656816, 0.24204935,
 -0.0321814 , 0.24007166, 0.01163792, 0.02784611,-0.00826562, 0.02645303,
  1.32713962, 0.00759258, 1.20298799, 0.04491483, 0.05742539,-0.07970025,
  0.17149045, 0.99956578, 0.02668274,-0.00403259,-0.01183314]

qacc:
[-5.11809465e-01, 6.28839377e-01,-3.29429361e+00, 5.11341013e+00,
 -1.82027504e+01, 3.54659972e+01,-1.78717477e+02, 1.41968700e+02,
  2.66624842e+00, 2.06165292e+00,-7.91388057e+00, 1.30962893e+01,
  2.42290727e-02,-2.71504863e-01,-2.60522015e+00, 8.95371095e+00,
 -3.33233181e-01,-1.69663628e-01, 1.16933443e-01,-1.42971617e+00,
 -3.94019812e+00,-1.07012462e+01]

qfrc_actuator:
[ 8.77257220e-05, 7.68611764e-04, 4.55037412e-05, 4.10450921e-05,
 -7.67080520e-03, 1.79210413e-01, 1.17035808e-02, 1.23134191e-01,
 -1.22277232e-04, 8.15772321e-04, 2.47580445e-04, 6.35389118e-05,
  5.66060461e-03,-1.51581129e-03, 0.00000000e+00,-1.61689239e-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,  0.0387909 ,  0.42892284,  0.0387909 ,  3.2183232 ,
       -0.25210933,  0.42892284, -0.25210933,  0.45347361,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022462055217757674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97633954e-01, -6.86231250e-02, -4.16659116e-03, -6.86225265e-02,
        9.97642655e-01, -2.86600122e-04,  4.17643647e-03,  0.00000000e+00,
       -9.99991279e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09518202, -0.08055587,  0.21673837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005365119174422367
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03466763e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.03466763e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02675104, -0.08267569,  0.06199037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06666179e-06,-6.82120715e-05,-3.86997656e-05,-1.78506965e-06,
 -6.28151733e-03, 1.38880973e-01, 7.19758787e-02, 2.42810455e-02,
  1.62244647e-05, 3.14164090e-05,-1.38706475e-05, 1.50155825e-05,
 -4.27056293e-05,-3.14602152e-05, 2.57980328e-06, 4.40715266e-05,
  4.38921381e-05,-1.48932300e-06,-4.90501038e+00, 2.73506198e-04,
  1.18206398e-02,-6.35581850e-04]


--- Step 1398 ---
qpos:
[ 0.01855541, 0.03005815,-0.00945635,-0.02529461, 0.00652362, 0.24260053,
 -0.03351542, 0.24201696, 0.01163645, 0.02784484,-0.00826456, 0.02645322,
  1.3273254 , 0.00759259, 1.20314504, 0.04491321, 0.05740878,-0.07970297,
  0.17150473, 0.99956417, 0.02663396,-0.00411897,-0.01204752]

qacc:
[-3.18429408e+00,-2.12425166e+00, 8.31416626e+00,-1.51244103e+01,
 -2.03588000e+01, 2.94954154e+01,-1.48884176e+02, 1.23082219e+02,
 -4.12867342e+00,-4.43096802e-01, 6.52734294e-01, 2.31040392e+00,
 -8.83685156e-02,-2.96919047e-01, 5.95450230e+00,-2.02622797e+01,
 -4.27152811e-01,-1.71365821e-01, 9.98813852e-02,-1.39789953e+00,
 -4.79122074e+00,-1.06258360e+01]

qfrc_actuator:
[ 6.86030875e-05, 7.58411388e-04, 6.44015782e-05, 2.29519604e-05,
 -8.13147620e-03, 1.83069579e-01, 1.29891238e-02, 1.23779554e-01,
 -1.47767469e-04, 8.02190095e-04, 2.58853911e-04, 7.29850217e-05,
  5.62910205e-03,-1.55021049e-03, 0.00000000e+00,-1.71614598e-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,  0.05239812,  0.42747395,  0.05239812,  3.70213709,
       -0.4010035 ,  0.42747395, -0.4010035 ,  0.47982683,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00225997366291294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97653330e-01, -6.83431552e-02, -4.12875251e-03, -6.83425700e-02,
        9.97661873e-01, -2.82833273e-04,  4.13842868e-03,  0.00000000e+00,
       -9.99991437e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09515002, -0.08055335,  0.21675625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005267791606984734
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05378412e-13, -5.26892058e-14,  1.00000000e+00, -5.55230482e-27,
        1.00000000e+00,  5.26892058e-14, -1.00000000e+00,  0.00000000e+00,
       -1.05378412e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02674776, -0.08267609,  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:
[-1.92273031e-05,-5.63369401e-05, 1.44869579e-08,-2.23841895e-05,
 -6.34723307e-03, 1.44929979e-01, 7.52137545e-02, 2.52891887e-02,
 -2.50065390e-05, 1.80141589e-06, 1.65773723e-05, 1.06047930e-05,
 -6.11560044e-05,-5.31941268e-05, 2.37033708e-06,-9.73113261e-05,
  5.51988241e-05,-1.68067755e-06,-4.90501241e+00, 2.78344186e-04,
  1.18186880e-02,-6.34465397e-04]


--- Step 1399 ---
qpos:
[ 0.01855517, 0.0300556 ,-0.00945704,-0.02529346, 0.00646948, 0.24312642,
 -0.03487573, 0.24395765, 0.0116347 , 0.02784302,-0.00826313, 0.02645394,
  1.32751073, 0.00759245, 1.20330288, 0.04490406, 0.05739014,-0.07970634,
  0.17151936, 0.99956227, 0.02658236,-0.00421577,-0.01228284]

qacc:
[-1.95191407e+00,-1.94303131e+00, 7.62985313e+00,-1.27568427e+01,
 -2.20214379e+01, 3.03973804e+01,-1.36411453e+02, 1.13462622e+02,
 -2.48336639e+00,-7.03509161e-01,-7.09944576e-01, 9.40892291e+00,
 -8.47102664e-01, 8.16885472e-01, 2.40188905e+01,-8.21579065e+01,
 -5.08313649e-01,-1.63242659e-01, 8.94677941e-02,-1.38610525e+00,
 -5.50750410e+00,-1.03194785e+01]

qfrc_actuator:
[ 5.73555367e-05, 7.71260341e-04, 9.37730468e-05, 1.17635008e-05,
 -8.45575745e-03, 1.86925938e-01, 1.43131615e-02, 1.24492742e-01,
 -1.62184103e-04, 7.41327274e-04, 2.65028449e-04, 9.62091276e-05,
  5.60885622e-03,-1.55281603e-03, 0.00000000e+00,-2.11124712e-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,  0.0599994 ,  0.42647346,  0.0599994 ,  4.11184114,
       -0.5178936 ,  0.42647346, -0.5178936 ,  0.50353441,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022648888434586042
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97674697e-01, -6.80237011e-02, -4.23961788e-03, -6.80230869e-02,
        9.97683705e-01, -2.89064057e-04,  4.24946088e-03,  5.42101086e-20,
       -9.99990971e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09512174, -0.08055091,  0.21677057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005171438312715632
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.07341803e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.07341803e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02674452, -0.08267647,  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:
[-1.18183934e-05,-1.95225351e-05, 1.70007086e-05,-1.40306703e-05,
 -6.22849123e-03, 1.50575819e-01, 7.81347231e-02, 2.62854528e-02,
 -1.51534113e-05,-5.59569622e-05, 8.95692562e-06, 2.40820611e-05,
 -6.50554056e-05,-3.16060235e-05,-1.42823002e-05,-4.01242055e-04,
  6.81012641e-05,-1.86959215e-06,-4.90501466e+00, 2.84213405e-04,
  1.18166084e-02,-6.33268689e-04]


--- Step 1400 ---
qpos:
[ 0.01855515, 0.03005322,-0.00945784,-0.02529247, 0.0064053 , 0.24364305,
 -0.0362609 , 0.2458938 , 0.01163278, 0.02784121,-0.00826155, 0.02645486,
  1.32769551, 0.00759228, 1.2034605 , 0.04489159, 0.05736922,-0.0797103 ,
  0.17153437, 0.99956009, 0.0265279 ,-0.0043241 ,-0.01253816]

qacc:
[ 1.80672463e+00, 2.25800073e-01, 2.18923762e-01,-2.95976761e+00,
 -2.30910011e+01, 4.75897820e+01,-1.67112940e+02, 1.30548244e+02,
 -1.35905423e+00, 2.20296365e-02,-9.71537544e-01, 4.45139539e+00,
 -6.44779143e-01, 6.15679026e-01, 9.76974710e+00,-3.45264644e+01,
 -5.70816804e-01,-1.47303267e-01, 9.33715756e-02,-1.39357017e+00,
 -6.04416872e+00,-9.84013666e+00]

qfrc_actuator:
[ 6.85912302e-05, 7.97882671e-04, 9.36840147e-05, 4.75359931e-06,
 -8.64066685e-03, 1.90518042e-01, 1.56674909e-02, 1.26064422e-01,
 -1.69954085e-04, 7.76878453e-04, 2.85690237e-04, 1.09550342e-04,
  5.57940948e-03,-1.55422459e-03, 0.00000000e+00,-2.26911751e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00226210968828681
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97697920e-01, -6.76664333e-02, -4.48490298e-03, -6.76657496e-02,
        9.97708000e-01, -3.04174556e-04,  4.49520599e-03,  0.00000000e+00,
       -9.99989897e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0950959 , -0.08054856,  0.21678199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005077369540154725
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.18661064e-13, -5.46652659e-14,  1.00000000e+00, -1.19531652e-26,
        1.00000000e+00,  5.46652659e-14, -1.00000000e+00,  0.00000000e+00,
       -2.18661064e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02674133, -0.08267682,  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:
[ 1.08929494e-05, 1.87106165e-05,-2.47665161e-06,-7.52557997e-06,
 -5.93358508e-03, 1.55425288e-01, 8.08095039e-02, 2.80849099e-02,
 -8.23943749e-06, 7.17855404e-06, 1.10413043e-05, 1.17213919e-05,
 -7.23350833e-05,-2.47773555e-05,-5.66397178e-05,-1.83254241e-04,
  8.23616920e-05,-2.04978917e-06,-4.90501712e+00, 2.91107605e-04,
  1.18144477e-02,-6.31994161e-04]


--- Step 1401 ---
qpos:
[ 0.01855491, 0.03005114,-0.00945899,-0.02529158, 0.00633075, 0.24415461,
 -0.03766697, 0.24782641, 0.01163112, 0.02784047,-0.00825994, 0.02645547,
  1.32787969, 0.00759211, 1.20361722, 0.04488193, 0.05734575,-0.07971477,
  0.17154979, 0.9995576 , 0.02647055,-0.0044451 ,-0.01281232]

qacc:
[-1.81603973e+00, 1.19790565e+00,-3.31807746e+00, 2.10140244e+00,
 -2.37854062e+01, 4.42010642e+01,-1.51292617e+02, 1.23100071e+02,
  2.24372329e+00, 6.87285037e-01, 9.45413341e-01,-7.32144525e+00,
 -2.14043622e-01, 8.32195514e-02,-9.81104860e+00, 3.24352845e+01,
 -6.36438462e-01,-1.26618908e-01, 1.02613362e-01,-1.40715014e+00,
 -6.59943811e+00,-9.24382405e+00]

qfrc_actuator:
[ 5.74626300e-05, 8.14696695e-04, 7.62672726e-05, 2.50588946e-07,
 -8.75541390e-03, 1.93661637e-01, 1.70490649e-02, 1.27762428e-01,
 -1.55999713e-04, 9.05445106e-04, 3.15111466e-04, 9.93015340e-05,
  5.54979327e-03,-1.55498319e-03, 0.00000000e+00,-2.10832123e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002253234066830413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97722796e-01, -6.72738331e-02, -4.84297048e-03, -6.72730405e-02,
        9.97734550e-01, -3.26544959e-04,  4.85396690e-03, -5.42101086e-20,
       -9.99988219e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09507102, -0.08054628,  0.21679131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004986107434398201
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.11331639e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.11331639e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02673824, -0.08267715,  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:
[-1.07960868e-05, 2.65400314e-05,-1.40832729e-05,-3.92972478e-06,
 -5.54583444e-03, 1.59025516e-01, 8.34394291e-02, 3.00081792e-02,
  1.37103567e-05, 1.35400014e-04, 3.26685152e-05,-9.33262255e-06,
 -7.46818367e-05,-2.39436681e-05,-4.86581748e-05, 1.42870643e-04,
  9.76868064e-05,-2.22322698e-06,-4.90501979e+00, 2.98937251e-04,
  1.18122454e-02,-6.30644957e-04]


--- Step 1402 ---
qpos:
[ 0.01855352, 0.03004899,-0.00945965,-0.02529076, 0.00624566, 0.24465861,
 -0.03908662, 0.24975738, 0.0116293 , 0.02784076,-0.00825806, 0.02645593,
  1.32806334, 0.00759233, 1.20377343, 0.04487585, 0.05731945,-0.07971964,
  0.17156563, 0.99955481, 0.02641023,-0.00457997,-0.01310382]

qacc:
[ -9.98088074, -1.61853495,  5.96091781, -7.97934662,-24.09396852,
  24.39111431,-93.71242459, 89.60584049, -1.41228575,  0.33044228,
   1.43343119, -5.12732479, -0.38486125,  0.56451796,-11.56759859,
  39.4456897 , -0.7077218 , -0.09943834,  0.10483816, -1.42760678,
  -7.18741521, -8.47677731]

qfrc_actuator:
[-2.25315785e-06, 8.07686440e-04, 1.01996391e-04,-2.75536055e-06,
 -8.78822134e-03, 1.96926191e-01, 1.84707333e-02, 1.28649404e-01,
 -1.64877226e-04, 9.64490622e-04, 3.32109251e-04, 9.31026481e-05,
  5.54672847e-03,-1.51986889e-03, 0.00000000e+00,-1.92090313e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002238673125097685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97749084e-01, -6.68473624e-02, -5.30986127e-03, -6.68464158e-02,
        9.97763213e-01, -3.55745948e-04,  5.32176492e-03,  0.00000000e+00,
       -9.99985839e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09504646, -0.0805441 ,  0.21679881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004897986466622234
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.40003907e-13, -5.66673179e-14,  1.00000000e+00, -1.92671095e-26,
        1.00000000e+00,  5.66673179e-14, -1.00000000e+00,  0.00000000e+00,
       -3.40003907e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02673524, -0.08267747,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.00128278e-05, 4.83741519e-06, 2.93765182e-05,-2.42771760e-06,
 -5.06028919e-03, 1.62537125e-01, 8.59125213e-02, 3.10698539e-02,
 -8.42974038e-06, 1.41116717e-04, 4.86538250e-05, 5.48111784e-07,
 -4.80454942e-05, 1.10801848e-05,-7.49597636e-06, 1.88959608e-04,
  1.13888223e-04,-2.39067471e-06,-4.90502266e+00, 3.07719189e-04,
  1.18100428e-02,-6.29221421e-04]


--- Step 1403 ---
qpos:
[ 0.01855245, 0.03004688,-0.00945974,-0.02529   , 0.00615005, 0.24515852,
 -0.04051335, 0.25168813, 0.01162739, 0.02784135,-0.00825561, 0.02645605,
  1.32824674, 0.00759284, 1.20392946, 0.04487271, 0.05729007,-0.07972478,
  0.17158188, 0.99955171, 0.02634687,-0.00472976,-0.01341096]

qacc:
[  2.83841184, -1.65481913,  6.25203148, -8.28143623,-24.01888913,
  13.80225198,-55.43003926, 63.73229435, -0.76793688, -1.92330236,
   8.88623746,-16.02485178, -0.17142376,  0.30817172, -9.12563935,
  31.56659098, -0.7695147 , -0.06835732,  0.10245691, -1.4548353 ,
  -7.67853054, -7.61577342]

qfrc_actuator:
[ 1.64339274e-05, 8.22140439e-04, 1.35151238e-04,-4.84497769e-06,
 -8.76754847e-03, 2.00498637e-01, 1.98997437e-02, 1.28960515e-01,
 -1.69377498e-04, 9.28162873e-04, 3.41395120e-04, 7.15319607e-05,
  5.54895777e-03,-1.49912523e-03, 0.00000000e+00,-1.77266755e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022182774394794748
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97776481e-01, -6.63882625e-02, -5.89004313e-03, -6.63871058e-02,
        9.97793866e-01, -3.91894301e-04,  5.90306609e-03,  0.00000000e+00,
       -9.99982577e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502195, -0.08054203,  0.21680453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048136673854895506
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.30639746e-13, -5.76599366e-14,  1.00000000e+00, -1.32986731e-26,
        1.00000000e+00,  5.76599366e-14, -1.00000000e+00,  0.00000000e+00,
       -2.30639746e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02673236, -0.08267778,  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:
[ 1.69461975e-05, 2.31896586e-05, 3.77228648e-05,-9.06215537e-07,
 -4.51277907e-03, 1.66482469e-01, 8.80270134e-02, 3.14607171e-02,
 -4.69733660e-06, 5.26168854e-05, 4.44192698e-05,-1.38350223e-05,
 -1.98308817e-05, 1.23770504e-05, 1.47556411e-05, 1.57201807e-04,
  1.30690991e-04,-2.55817273e-06,-4.90502575e+00, 3.17435401e-04,
  1.18078964e-02,-6.27724557e-04]


--- Step 1404 ---
qpos:
[ 0.01855299, 0.03004516,-0.00945983,-0.02528927, 0.00604412, 0.2456647 ,
 -0.04194424, 0.25361904, 0.01162613, 0.02784171,-0.00825271, 0.02645564,
  1.32842994, 0.00759335, 1.20408588, 0.04486836, 0.05725745,-0.07973007,
  0.17159857, 0.9995483 , 0.02628037,-0.00489515,-0.01373205]

qacc:
[ 1.38110092e+01, 4.03709042e-01,-6.22781273e-01,-1.86700602e-01,
 -2.35423833e+01, 2.00996799e+01,-5.97606954e+01, 6.26859150e+01,
  5.56368629e+00,-2.66934306e+00, 1.12736055e+01,-2.09201921e+01,
 -2.67158048e-01, 2.79012254e-01, 4.25692304e+00,-1.39893903e+01,
 -8.12509990e-01,-3.67031859e-02, 1.08697156e-01,-1.48760637e+00,
 -8.00223112e+00,-6.75855354e+00]

qfrc_actuator:
[ 9.88872775e-05, 8.49377988e-04, 1.36987961e-04,-6.36435547e-06,
 -8.71058487e-03, 2.03776030e-01, 2.13320895e-02, 1.29777473e-01,
 -1.35753386e-04, 8.70449775e-04, 3.45644588e-04, 4.09990222e-05,
  5.53305581e-03,-1.50480089e-03, 0.00000000e+00,-1.84400191e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002192575027831647
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97804638e-01, -6.58987196e-02, -6.57751099e-03, -6.58972879e-02,
        9.97826317e-01, -4.34393787e-04,  6.59183956e-03, -5.42101086e-20,
       -9.99978274e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09499681, -0.08054008,  0.21680881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047338764072546446
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17263626e-13,  5.86318130e-14,  1.00000000e+00,  6.87537899e-27,
        1.00000000e+00, -5.86318130e-14, -1.00000000e+00,  0.00000000e+00,
       -1.17263626e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02672961, -0.08267807,  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:
[ 8.29603944e-05, 4.80420360e-05, 1.12651825e-05, 7.63664056e-07,
 -3.92957169e-03, 1.69958272e-01, 8.98198870e-02, 3.22868031e-02,
  3.35078697e-05,-1.97647313e-05, 2.00731289e-05,-2.70176135e-05,
 -2.27498218e-05,-7.11838442e-06, 2.05371510e-05,-6.15170288e-05,
  1.47811760e-04,-2.74253244e-06,-4.90502906e+00, 3.27948307e-04,
  1.18058507e-02,-6.26157636e-04]


--- Step 1405 ---
qpos:
[ 0.01855348, 0.03004353,-0.00945952,-0.02528822, 0.00592824, 0.24618538,
 -0.04337742, 0.25555038, 0.01162529, 0.02784172,-0.00825018, 0.02645459,
  1.32861297, 0.0075936 , 1.204243  , 0.04485819, 0.05722142,-0.07973538,
  0.17161574, 0.99954459, 0.02621067,-0.00507671,-0.01406542]

qacc:
[-4.12061031e-01,-2.97696332e-01,-1.10615984e-01, 5.06099054e+00,
 -2.27385981e+01, 2.62657312e+01,-6.70375115e+01, 6.53226986e+01,
  3.51674620e+00,-7.30544912e-01, 4.59957865e+00,-1.47055818e+01,
 -4.41045215e-01, 3.31750387e-01, 1.86550435e+01,-6.36670882e+01,
 -8.48315551e-01,-5.40835814e-03, 1.22685859e-01,-1.52094457e+00,
 -8.26462883e+00,-5.92000783e+00]

qfrc_actuator:
[ 9.39187806e-05, 8.48434188e-04, 1.55880259e-04, 1.02067002e-05,
 -8.62784904e-03, 2.06707912e-01, 2.27841004e-02, 1.31075166e-01,
 -1.15465461e-04, 8.18067695e-04, 3.11257253e-04, 5.40719895e-06,
  5.51160357e-03,-1.52616689e-03, 0.00000000e+00,-2.15062760e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002162729962074131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97833219e-01, -6.53816048e-02, -7.35615789e-03, -6.53798282e-02,
        9.97860334e-01, -4.81988703e-04,  7.37193136e-03,  5.42101086e-20,
       -9.99972827e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496997, -0.08053823,  0.21681223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046587836713868347
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19153743e-13,  1.19153743e-13,  1.00000000e+00,  1.41976145e-26,
        1.00000000e+00, -1.19153743e-13, -1.00000000e+00,  0.00000000e+00,
       -1.19153743e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02672701, -0.08267836,  0.06199164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.52928737e-06, 2.83693617e-05, 3.02442162e-05, 1.90314628e-05,
 -3.33115384e-03, 1.72571680e-01, 9.14864154e-02, 3.35741135e-02,
  2.12680791e-05,-6.04842474e-05,-3.69722499e-05,-3.62780706e-05,
 -3.49970039e-05,-2.86562573e-05,-2.45738810e-06,-3.08555611e-04,
  1.65031034e-04,-2.96853038e-06,-4.90503257e+00, 3.39052149e-04,
  1.18039284e-02,-6.24524862e-04]


--- Step 1406 ---
qpos:
[ 0.01855356, 0.03004186,-0.00945887,-0.02528695, 0.00580291, 0.24674143,
 -0.04481539, 0.25748091, 0.01162504, 0.0278417 ,-0.00824881, 0.02645349,
  1.32879574, 0.00759342, 1.20439964, 0.04484813, 0.0571819 ,-0.07974058,
  0.17163347, 0.99954058, 0.02613767,-0.00527485,-0.01440945]

qacc:
[-3.48061095e+00,-5.74742159e-01, 1.05461833e+00, 2.14630488e+00,
 -2.16651165e+01, 5.82285447e+01,-1.35534912e+02, 9.99537229e+01,
  5.03482168e+00, 3.06188113e+00,-1.07298878e+01, 1.15806646e+01,
  1.25361511e-01,-5.09895185e-01,-1.02432213e+00, 2.51560867e+00,
 -8.75694734e-01, 2.52389925e-02, 1.37416838e-01,-1.55398721e+00,
 -8.45224737e+00,-5.10424346e+00]

qfrc_actuator:
[ 7.30180279e-05, 8.30698147e-04, 1.66852428e-04, 1.95310562e-05,
 -8.52588033e-03, 2.11001731e-01, 2.42299494e-02, 1.32447946e-01,
 -8.54494847e-05, 8.22351105e-04, 2.54332640e-04, 2.60325085e-06,
  5.48682738e-03,-1.55668613e-03, 0.00000000e+00,-2.13177083e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002129636131048201
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97861903e-01, -6.48394820e-02, -8.21365871e-03, -6.48372856e-02,
        9.97895707e-01, -5.33692422e-04,  8.23097911e-03,  2.16840434e-19,
       -9.99966125e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09494064, -0.08053649,  0.21681525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000458816791610861
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.04938096e-14, -6.04938096e-14,  1.00000000e+00, -3.65950100e-27,
        1.00000000e+00,  6.04938096e-14, -1.00000000e+00,  0.00000000e+00,
       -6.04938096e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02672454, -0.08267864,  0.06199177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.09619653e-05, 5.23931333e-06, 2.12273333e-05, 1.19565507e-05,
 -2.73123588e-03, 1.76134719e-01, 9.30530806e-02, 3.49236961e-02,
  3.06240408e-05,-3.87543154e-05,-7.52566580e-05,-7.38561684e-06,
 -5.08833422e-05,-4.61749508e-05,-4.05738956e-05, 2.14869112e-07,
  1.82225804e-04,-3.25927341e-06,-4.90503628e+00, 3.50615572e-04,
  1.18021518e-02,-6.22828535e-04]


--- Step 1407 ---
qpos:
[ 0.01855408, 0.03004044,-0.00945818,-0.02528559, 0.00566871, 0.24734438,
 -0.04625906, 0.25941005, 0.0116248 , 0.02784173,-0.00824828, 0.02645267,
  1.32897808, 0.00759315, 1.20455533, 0.04484399, 0.05713873,-0.07974557,
  0.17165181, 0.99953626, 0.0260613 ,-0.00549016,-0.01476255]

qacc:
[ 3.75496288e+00, 3.90104939e-01,-1.28757637e+00, 2.52796281e+00,
 -2.03832684e+01, 7.47127920e+01,-1.69715532e+02, 1.16580222e+02,
  1.21684114e-01, 3.01297651e+00,-1.18630699e+01, 1.81622972e+01,
  2.27511874e-01,-4.73568229e-01,-1.93684102e+01, 6.56301684e+01,
 -9.12450422e-01, 5.50721296e-02, 1.53989557e-01,-1.58118937e+00,
 -8.72612901e+00,-4.30378730e+00]

qfrc_actuator:
[ 9.61932877e-05, 8.56261582e-04, 1.72970211e-04, 2.44889072e-05,
 -8.40889861e-03, 2.15730975e-01, 2.56400205e-02, 1.33813585e-01,
 -8.54487131e-05, 8.42696086e-04, 2.20321407e-04, 1.91511468e-05,
  5.47072179e-03,-1.55691475e-03, 0.00000000e+00,-1.81469676e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020953659040657165
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97890478e-01, -6.42760993e-02, -9.12019600e-03, -6.42734149e-02,
        9.97932154e-01, -5.87425329e-04,  9.13909425e-03,  0.00000000e+00,
       -9.99958238e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949072 , -0.08053482,  0.21681885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004521680141738177
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22766648e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.22766648e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0267222 , -0.08267892,  0.06199189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25692774e-05, 3.34317802e-05, 1.02377969e-05, 6.14972498e-06,
 -2.14168116e-03, 1.79087823e-01, 9.47091498e-02, 3.63278316e-02,
  8.89878374e-07,-1.71915947e-05,-5.15562778e-05, 1.21375558e-05,
 -5.42868787e-05,-2.46654909e-05,-2.02567386e-05, 3.11545242e-04,
  1.99273565e-04,-3.64012868e-06,-4.90504018e+00, 3.62481954e-04,
  1.18005415e-02,-6.21071443e-04]


--- Step 1408 ---
qpos:
[ 0.01855523, 0.03003933,-0.00945778,-0.02528349, 0.00552625, 0.24798099,
 -0.04770197, 0.26133977, 0.01162422, 0.02784165,-0.00824817, 0.02645205,
  1.32916022, 0.00759253, 1.20471093, 0.04484296, 0.05709168,-0.07975022,
  0.17167082, 0.99953164, 0.02598149,-0.00572355,-0.01512308]

qacc:
[ 5.29164613e+00, 2.75455675e+00,-1.24039140e+01, 2.56586407e+01,
 -1.88908261e+01, 4.33272602e+01,-9.17745961e+01, 7.35313323e+01,
 -2.92985927e+00, 1.43853192e+00,-6.14939799e+00, 1.02655420e+01,
  2.98017073e-01,-6.59726053e-01,-9.56634157e+00, 3.31616577e+01,
 -9.67135600e-01, 8.57131524e-02, 1.67381144e-01,-1.60204124e+00,
 -9.15776889e+00,-3.46899258e+00]

qfrc_actuator:
[ 1.27379292e-04, 8.72021459e-04, 1.58590922e-04, 6.23763815e-05,
 -8.26195627e-03, 2.19293354e-01, 2.70491979e-02, 1.34749775e-01,
 -1.03117596e-04, 8.37106943e-04, 2.00206997e-04, 2.92333669e-05,
  5.46516802e-03,-1.57464048e-03, 0.00000000e+00,-1.66185828e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020609829645711745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97918749e-01, -6.36941170e-02, -1.00613231e-02, -6.36908799e-02,
        9.97969468e-01, -6.42151001e-04,  1.00817945e-02, -1.08420217e-19,
       -9.99949177e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09486872, -0.08053321,  0.21682357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004458997048413238
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24492460e-13,  1.24492460e-13,  1.00000000e+00,  1.54983726e-26,
        1.00000000e+00, -1.24492460e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24492460e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02671999, -0.0826792 ,  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:
[ 3.18582108e-05, 3.68790322e-05,-5.99668967e-06, 3.97903842e-05,
 -1.55103287e-03, 1.80297023e-01, 9.64089875e-02, 3.73310793e-02,
 -1.76467197e-05,-2.53383512e-05,-2.96008492e-05, 7.79829803e-06,
 -3.91487683e-05,-3.75819172e-05, 2.40121826e-05, 1.67322735e-04,
  2.16215128e-04,-4.13024910e-06,-4.90504429e+00, 3.74646913e-04,
  1.17991259e-02,-6.19253206e-04]


--- Step 1409 ---
qpos:
[ 0.01855673, 0.03003825,-0.00945768,-0.02528125, 0.00537624, 0.24864477,
 -0.0491387 , 0.26327155, 0.01162447, 0.02784095,-0.00824813, 0.02645229,
  1.32934212, 0.00759166, 1.20486709, 0.04483976, 0.0570406 ,-0.0797544 ,
  0.17169054, 0.99952671, 0.02589817,-0.00597572,-0.01548943]

qacc:
[ 3.12684291e+00, 1.14637291e+00,-4.59334203e+00, 7.32657431e+00,
 -1.71637109e+01, 2.27444458e+01,-3.73322554e+01, 4.20561946e+01,
  7.05776471e+00, 1.12685718e+00,-8.86450505e+00, 2.43267997e+01,
 -2.04934043e-01, 2.49830350e-02, 7.38397166e+00,-2.45709492e+01,
 -1.01051381e+00, 1.15754507e-01, 1.77280423e-01,-1.62360184e+00,
 -9.48732056e+00,-2.65611651e+00]

qfrc_actuator:
[ 1.45263549e-04, 8.46226546e-04, 1.32220717e-04, 6.60617709e-05,
 -8.09409448e-03, 2.22434131e-01, 2.85069171e-02, 1.35497898e-01,
 -6.00249009e-05, 7.80590327e-04, 1.88345611e-04, 7.09193918e-05,
  5.45529065e-03,-1.58481926e-03, 0.00000000e+00,-1.78463323e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020251480108883224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97946332e-01, -6.30938241e-02, -1.10584146e-02, -6.30899507e-02,
        9.98007600e-01, -6.99110574e-04,  1.10804914e-02, -1.08420217e-19,
       -9.99938609e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09482587, -0.08053167,  0.21682886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044001107265968786
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.30792663e-14,  6.30792663e-14,  1.00000000e+00,  3.97899383e-27,
        1.00000000e+00, -6.30792663e-14, -1.00000000e+00,  0.00000000e+00,
       -6.30792663e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02671789, -0.08267948,  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:
[ 1.88267439e-05,-4.66923848e-06,-1.81142391e-05, 5.82705590e-06,
 -9.69716552e-04, 1.81745115e-01, 9.78339948e-02, 3.80480950e-02,
  4.25669331e-05,-7.64714595e-05,-2.04704188e-05, 3.97296548e-05,
 -3.84057289e-05,-3.01651832e-05, 2.55712382e-05,-1.11294760e-04,
  2.33140636e-04,-4.75208046e-06,-4.90504865e+00, 3.87152085e-04,
  1.17979502e-02,-6.17372995e-04]


--- Step 1410 ---
qpos:
[ 0.01855741, 0.03003701,-0.00945749,-0.02527968, 0.0052195 , 0.24934058,
 -0.05056707, 0.26520571, 0.0116249 , 0.02783947,-0.00824814, 0.02645339,
  1.32952362, 0.00759092, 1.20502337, 0.04483517, 0.05698536,-0.07975801,
  0.171711  , 0.99952149, 0.02581128,-0.0062471 ,-0.01586019]

qacc:
[ -7.12374521, -1.8287512 ,  9.06269242,-20.66371066,-15.32346703,
  23.78689058,-33.19454878, 36.80383497,  1.46181134,  0.8803947 ,
  -8.28798326, 23.88294963, -0.52007156,  0.60848606,  4.46157448,
 -15.24738186, -1.03843949,  0.14218404,  0.1866723 , -1.64265647,
  -9.68494406, -1.94661902]

qfrc_actuator:
[ 1.01914299e-04, 8.31164850e-04, 1.34292620e-04, 3.17942021e-05,
 -7.94660346e-03, 2.25687777e-01, 2.99525287e-02, 1.36291241e-01,
 -5.25181616e-05, 7.29581843e-04, 1.81254657e-04, 1.13073266e-04,
  5.43750219e-03,-1.57267364e-03, 0.00000000e+00,-1.85572646e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001987277542437489
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97972839e-01, -6.24763059e-02, -1.21212252e-02, -6.24716981e-02,
        9.98046447e-01, -7.58771672e-04,  1.21449510e-02,  0.00000000e+00,
       -9.99926247e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09477886, -0.0805302 ,  0.21683452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004345019278975959
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55516248e-13,  6.38790621e-14,  1.00000000e+00,  1.63221383e-26,
        1.00000000e+00, -6.38790621e-14, -1.00000000e+00,  0.00000000e+00,
       -2.55516248e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02671591, -0.08267976,  0.06199221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.44923954e-04, 1.83629376e-01, 9.89753685e-02, 3.87361429e-02,
  8.72554706e-06,-9.62577976e-05,-2.40282062e-05, 3.89408914e-05,
 -4.49822609e-05,-5.21414803e-06,-6.26551214e-06,-7.52853104e-05,
  2.49984696e-04,-5.54051885e-06,-4.90505325e+00, 3.99795256e-04,
  1.17970365e-02,-6.15435426e-04]


--- Step 1411 ---
qpos:
[ 0.0185579 , 0.03003563,-0.00945727,-0.02527853, 0.0050569 , 0.25007263,
 -0.05198508, 0.26714255, 0.01162506, 0.02783788,-0.00824822, 0.02645455,
  1.32970459, 0.00759061, 1.20517884, 0.04483577, 0.05692587,-0.07976095,
  0.17173225, 0.99951596, 0.02572077,-0.00653807,-0.016234  ]

qacc:
[ -1.54136802, -1.13472115,  5.511232  ,-12.65933097,-13.32164102,
  24.33451868,-28.37352013, 30.99754225, -2.20089409,  0.21252639,
  -1.23181563,  2.56014258, -0.27767457,  0.44809871,-16.89658931,
  57.4381775 , -1.0640692 ,  0.16762971,  0.19550105, -1.66009231,
  -9.86383689, -1.26528433]

qfrc_actuator:
[ 9.38857402e-05, 8.22712445e-04, 1.35400357e-04, 1.10059882e-05,
 -7.77361662e-03, 2.28975668e-01, 3.13862356e-02, 1.37021802e-01,
 -6.60369205e-05, 7.71049796e-04, 1.94786930e-04, 1.19655112e-04,
  5.41499093e-03,-1.54741976e-03, 0.00000000e+00,-1.57615475e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019479327647361274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97997999e-01, -6.18436433e-02, -1.32422576e-02, -6.18381999e-02,
        9.98085850e-01, -8.20520056e-04,  1.32676539e-02,  0.00000000e+00,
       -9.99911981e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09472713, -0.08052879,  0.21684086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004293567202091758
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93933675e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.93933675e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02671405, -0.08268005,  0.0619923 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.27820016e-06,-2.19334410e-05,-4.56998109e-06,-2.24054251e-05,
  6.52287986e-05, 1.85304007e-01, 9.99960676e-02, 3.93449660e-02,
 -1.33015454e-05,-1.55989826e-05,-7.94828422e-06, 2.38386231e-06,
 -4.76013519e-05, 1.34663635e-05,-1.53262099e-05, 2.73673134e-04,
  2.66775681e-04,-6.52301122e-06,-4.90505807e+00, 4.12395988e-04,
  1.17963831e-02,-6.13444334e-04]


--- Step 1412 ---
qpos:
[ 0.0185583 , 0.03003444,-0.00945718,-0.02527801, 0.00488934, 0.25083923,
 -0.05338908, 0.26908293, 0.01162506, 0.02783677,-0.00824841, 0.02645468,
  1.32988511, 0.00759061, 1.20533405, 0.04484068, 0.056862  ,-0.07976313,
  0.17175431, 0.99951012, 0.0256266 ,-0.0068491 ,-0.01660959]

qacc:
[ -0.87225584, -0.6559661 ,  5.40909794,-16.35788162,-11.20889142,
  13.76590411,  2.2537327 , 11.48988965, -1.4087114 , -1.2238148 ,
   9.67432526,-27.87937822, -0.23559206,  0.34921168,-13.38739963,
  46.29842008, -1.09305023,  0.19170313,  0.20337895, -1.67340221,
 -10.07532544, -0.61822989]

qfrc_actuator:
[ 8.89784399e-05, 8.53794778e-04, 1.35960858e-04,-1.94302226e-05,
 -7.58351266e-03, 2.32000789e-01, 3.28784519e-02, 1.37624684e-01,
 -7.40581759e-05, 8.32135321e-04, 2.02986723e-04, 6.98405481e-05,
  5.39499811e-03,-1.53239823e-03, 0.00000000e+00,-1.35851626e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001907602479825958
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98021561e-01, -6.11977997e-02, -1.44150547e-02, -6.11914172e-02,
        9.98125658e-01, -8.83826220e-04,  1.44421241e-02,  0.00000000e+00,
       -9.99895707e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09467023, -0.08052742,  0.21684814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042455898494259126
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30750151e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.30750151e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0267123 , -0.08268034,  0.06199239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.18025484e-06, 1.69545640e-05,-5.29656560e-06,-3.19693792e-05,
  5.48760496e-04, 1.86503662e-01, 1.00973851e-01, 3.98113730e-02,
 -8.42147520e-06, 5.08745908e-05, 4.09877324e-06,-5.07099463e-05,
 -4.11134222e-05, 7.37875138e-06, 2.14004765e-05, 2.30484407e-04,
  2.83547907e-04,-7.72765139e-06,-4.90506311e+00, 4.24843015e-04,
  1.17960063e-02,-6.11402066e-04]


--- Step 1413 ---
qpos:
[ 0.01855725, 0.03003348,-0.00945716,-0.02527788, 0.0047178 , 0.25165247,
 -0.05478011, 0.27102614, 0.01162461, 0.02783618,-0.0082486 , 0.02645419,
  1.33006534, 0.00759055, 1.20548968, 0.04484515, 0.05679371,-0.07976446,
  0.17177723, 0.99950398, 0.02552871,-0.00718035,-0.01698593]

qacc:
[-12.36740496, -0.2847385 ,  3.11198849, -9.80855392, -9.07016677,
  31.11607281,-33.3695501 , 27.12197037, -3.76907432, -0.57425517,
   5.66443531,-16.69393794, -0.24331889,  0.17351584,  1.95426484,
  -5.87393156, -1.10544532,  0.21103348,  0.21408754, -1.68439519,
 -10.14871171, -0.1074882 ]

qfrc_actuator:
[ 1.49260869e-05, 8.72800781e-04, 1.36349391e-04,-3.75152738e-05,
 -7.41720985e-03, 2.35494542e-01, 3.43447325e-02, 1.38557340e-01,
 -9.65245523e-05, 8.68947056e-04, 2.08044280e-04, 4.05263063e-05,
  5.37652813e-03,-1.54132481e-03, 0.00000000e+00,-1.39224898e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018661950822682738
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98043202e-01, -6.05401069e-02, -1.56417118e-02, -6.05326733e-02,
        9.98165766e-01, -9.48691026e-04,  1.56704551e-02,  0.00000000e+00,
       -9.99877211e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09460807, -0.08052608,  0.21685637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042009906485157567
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.60691202e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.60691202e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02671065, -0.08268064,  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:
[-7.41922691e-05, 2.60620464e-05, 2.14343894e-06,-1.81634858e-05,
  9.62941473e-04, 1.88255368e-01, 1.01743349e-01, 4.05645870e-02,
 -2.26973806e-05, 6.39740005e-05, 1.43319819e-05,-2.79761627e-05,
 -3.72128101e-05,-1.69496218e-05, 3.14573335e-05,-1.90602750e-05,
  3.00435815e-04,-9.18039542e-06,-4.90506837e+00, 4.37089079e-04,
  1.17959222e-02,-6.09309660e-04]


--- Step 1414 ---
qpos:
[ 0.01855567, 0.0300327 ,-0.00945718,-0.02527692, 0.00454321, 0.2525204 ,
 -0.05615906, 0.27297166, 0.01162459, 0.02783557,-0.00824852, 0.0264541 ,
  1.33024534, 0.00759058, 1.20564533, 0.04485023, 0.05672094,-0.07976488,
  0.17180105, 0.99949752, 0.02542709,-0.00753205,-0.01736219]

qacc:
[-4.59373883e+00, 2.05753362e+00,-1.04726846e+01, 2.46731065e+01,
 -6.95758989e+00, 4.30934825e+01,-5.83230404e+01, 3.79018257e+01,
  3.61999899e+00, 4.23004913e-02,-1.90812809e+00, 8.42043326e+00,
 -2.12295439e-01, 2.55621610e-01,-1.81575623e+00, 6.41856118e+00,
 -1.11991088e+00, 2.26723493e-01, 2.26204581e-01,-1.68858763e+00,
 -1.02486902e+01, 3.08143448e-01]

qfrc_actuator:
[-1.04697781e-05, 8.84443258e-04, 1.36607817e-04, 5.06564710e-06,
 -7.26417086e-03, 2.39154799e-01, 3.57553763e-02, 1.39598383e-01,
 -7.40573439e-05, 8.37692763e-04, 2.11148187e-04, 5.90063784e-05,
  5.37495069e-03,-1.52886432e-03, 0.00000000e+00,-1.36076168e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018249489496513602
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99806286, -0.05987295, -0.01690463, -0.05986436,  0.99820601,
       -0.00101395,  0.01693502,  0.        , -0.99985659])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09453971, -0.08052473,  0.21686613])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041593774464118716
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.67301200e-14,  6.67301200e-14,  1.00000000e+00,  4.45290892e-27,
        1.00000000e+00, -6.67301200e-14, -1.00000000e+00,  0.00000000e+00,
       -6.67301200e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0267091 , -0.08268095,  0.06199254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75450932e-05, 2.58924693e-05, 5.29130329e-06, 4.34222707e-05,
  1.31575281e-03, 1.89567179e-01, 1.02508154e-01, 4.14610840e-02,
  2.18222896e-05, 6.29707951e-06, 1.71264726e-05, 2.11767120e-05,
 -2.46476518e-05,-1.13287366e-06, 6.75596782e-06, 3.31797638e-05,
  3.17505094e-04,-1.08948251e-05,-4.90507384e+00, 4.49003881e-04,
  1.17961080e-02,-6.07169770e-04]


--- Step 1415 ---
qpos:
[ 0.01855449, 0.03003205,-0.00945721,-0.02527476, 0.00436657, 0.25345033,
 -0.05752842, 0.27491869, 0.01162484, 0.02783491,-0.0082486 , 0.02645392,
  1.33042523, 0.00759069, 1.2058008 , 0.044857  , 0.05664365,-0.07976435,
  0.17182586, 0.99949072, 0.02532171,-0.00790435,-0.01773771]

qacc:
[ 3.40026761e+00, 2.65841378e+00,-1.42715679e+01, 3.48670245e+01,
 -4.77608874e+00, 5.79734467e+01,-9.38119461e+01, 5.72611219e+01,
  2.29192245e+00, 2.07076043e-01,-4.29676682e-01,-8.74258040e-01,
  3.32138800e-03, 5.53000327e-03,-5.33186133e+00, 1.82804324e+01,
 -1.13003187e+00, 2.39972373e-01, 2.46534397e-01,-1.69174010e+00,
 -1.03185604e+01, 6.50507781e-01]

qfrc_actuator:
[ 1.07513895e-05, 8.91640383e-04, 1.36797876e-04, 6.52398070e-05,
 -7.08293734e-03, 2.42621961e-01, 3.71815983e-02, 1.41378456e-01,
 -6.08235367e-05, 8.19207639e-04, 1.95071412e-04, 5.21390415e-05,
  5.37818873e-03,-1.52146503e-03, 0.00000000e+00,-1.27325988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017846382125120243
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98080458e-01, -5.91980457e-02, -1.81931764e-02, -5.91882134e-02,
        9.98246258e-01, -1.07889259e-03,  1.82251386e-02, -2.16840434e-19,
       -9.99833908e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09446453, -0.08052336,  0.21687781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041203218955217225
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.02087917e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.02087917e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02670763, -0.08268127,  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:
[ 2.04278375e-05, 2.46496959e-05, 7.70169950e-06, 6.23124822e-05,
  1.64943347e-03, 1.90281322e-01, 1.03332371e-01, 4.31230573e-02,
  1.38725379e-05,-1.04892888e-05,-1.19281843e-05,-5.59225834e-06,
 -9.80333866e-06, 1.30240714e-06, 2.85175372e-06, 8.93027036e-05,
  3.34992209e-04,-1.28794077e-05,-4.90507951e+00, 4.60625734e-04,
  1.17965541e-02,-6.04981490e-04]


--- Step 1416 ---
qpos:
[ 0.01855391, 0.03003175,-0.00945724,-0.02527331, 0.00418887, 0.25444994,
 -0.05889184, 0.27686617, 0.01162491, 0.02783438,-0.00824868, 0.02645362,
  1.33060504, 0.00759065, 1.20595629, 0.04486442, 0.0565618 ,-0.07976281,
  0.17185175, 0.99948359, 0.02521256,-0.00829741,-0.01811192]

qacc:
[ 5.20957224e+00,-1.01089918e+00, 7.23139945e+00,-1.96795274e+01,
 -2.59794992e+00, 7.60207448e+01,-1.38815491e+02, 8.31765889e+01,
 -1.60343017e+00,-1.01573455e-01, 1.09632356e+00,-3.19608057e+00,
  9.17830740e-02,-2.31731720e-01,-1.96820433e+00, 6.88618937e+00,
 -1.14032474e+00, 2.50617621e-01, 2.69597576e-01,-1.69131256e+00,
 -1.03966074e+01, 9.21281292e-01]

qfrc_actuator:
[ 4.14726139e-05, 9.13892582e-04, 1.36930234e-04, 2.87539647e-05,
 -6.88455666e-03, 2.46352386e-01, 3.85970734e-02, 1.43584072e-01,
 -7.08975946e-05, 8.43907651e-04, 2.03309269e-04, 4.81471398e-05,
  5.36833555e-03,-1.53486189e-03, 0.00000000e+00,-1.24222404e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017458674039133092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98095973e-01, -5.85167793e-02, -1.94991029e-02, -5.85056155e-02,
        9.98286425e-01, -1.14298329e-03,  1.95325734e-02,  2.16840434e-19,
       -9.99809221e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09438204, -0.08052192,  0.21689171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040830194161153854
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.79780642e-14,  6.79780642e-14,  1.00000000e+00,  4.62101722e-27,
        1.00000000e+00, -6.79780642e-14, -1.00000000e+00,  0.00000000e+00,
       -6.79780642e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02670622, -0.0826816 ,  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:
[ 3.13238565e-05, 4.03245611e-05, 8.33131683e-06,-3.39544911e-05,
  1.95101901e-03, 1.90890761e-01, 1.04269608e-01, 4.52503786e-02,
 -9.67235030e-06, 1.61615489e-05, 4.41723117e-06,-4.96143574e-06,
 -1.45131313e-05,-1.53459917e-05, 8.00273110e-06, 3.56087708e-05,
  3.53005870e-04,-1.51440357e-05,-4.90508540e+00, 4.71927135e-04,
  1.17972482e-02,-6.02745476e-04]


--- Step 1417 ---
qpos:
[ 0.01855336, 0.03003204,-0.0094576 ,-0.0252737 , 0.00401097, 0.25550728,
 -0.06024619, 0.27881528, 0.01162381, 0.02783398,-0.00824837, 0.02645291,
  1.33078462, 0.00759075, 1.20611179, 0.04487215, 0.05647525,-0.07976024,
  0.17187876, 0.99947608, 0.02509964,-0.00871184,-0.0184844 ]

qacc:
[  0.220823  , -2.09461678, 16.34450033,-48.0294954 , -0.60305071,
  54.01842223,-88.36213946, 57.70540925, -9.83813586, -1.71920133,
   8.1610668 ,-16.09168231, -0.26389875,  0.34493134, -0.92445964,
   3.32096531, -1.1749862 ,  0.258924  ,  0.28077067, -1.67645444,
 -10.69254312,  1.15133409]

qfrc_actuator:
[ 4.20186122e-05, 9.44907075e-04, 1.19266367e-04,-6.43044079e-05,
 -6.71156404e-03, 2.49764482e-01, 3.99704084e-02, 1.44927038e-01,
 -1.30112125e-04, 8.58861834e-04, 2.26024605e-04, 2.81866342e-05,
  5.35595412e-03,-1.52503987e-03, 0.00000000e+00,-1.22696153e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00170919885022328
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99810941, -0.05783034, -0.02081491, -0.05781776,  0.99832643,
       -0.00120575,  0.0208498 ,  0.        , -0.99978262])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0942918 , -0.0805204 ,  0.21690811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000404655494990816
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.05771892e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.05771892e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02670485, -0.08268195,  0.06199275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.17760147e-03, 1.90795929e-01, 1.05346331e-01, 4.65669516e-02,
 -5.94943416e-05, 2.47091023e-05, 2.64342664e-05,-1.92092217e-05,
 -2.35066290e-05, 2.15801651e-06, 3.90408818e-06, 1.73876793e-05,
  3.71717406e-04,-1.76938781e-05,-4.90509151e+00, 4.82938196e-04,
  1.17981782e-02,-6.00461202e-04]


--- Step 1418 ---
qpos:
[ 0.01855248, 0.03003242,-0.00945802,-0.02527446, 0.00383367, 0.25660609,
 -0.06158545, 0.28076797, 0.01162167, 0.02783361,-0.00824771, 0.02645128,
  1.33096358, 0.00759159, 1.2062675 , 0.04487834, 0.05638386,-0.0797566 ,
  0.1719069 , 0.99946819, 0.02498298,-0.00914827,-0.01885479]

qacc:
[ -2.8628773 , -0.43069787,  3.29391296, -9.70905885,  1.26810502,
  19.87519858, -6.4844423 , 14.1193116 , -8.90913509, -2.81302402,
  13.98494075,-30.40557785, -1.12226159,  1.67529019,  5.10945286,
 -17.15469583, -1.21147851,  0.26524112,  0.28251308, -1.65672378,
 -11.00462419,  1.33252729]

qfrc_actuator:
[ 2.47960530e-05, 9.27538560e-04, 1.09004538e-04,-8.33761862e-05,
 -6.55424089e-03, 2.52366061e-01, 4.13129636e-02, 1.45626802e-01,
 -1.82263250e-04, 8.50167515e-04, 2.39307539e-04,-1.87599663e-05,
  5.32077022e-03,-1.48376778e-03, 0.00000000e+00,-1.30985445e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016733005249642296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9981203 , -0.05713803, -0.02216089, -0.05712396,  0.99836629,
       -0.0012683 ,  0.02219716,  0.        , -0.99975361])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09419457, -0.0805188 ,  0.21692645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040107406133202406
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07609354e-13,  1.38406236e-13,  1.00000000e+00,  2.87344293e-26,
        1.00000000e+00, -1.38406236e-13, -1.00000000e+00,  0.00000000e+00,
       -2.07609354e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02670352, -0.08268231,  0.06199282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71571042e-05, 6.85592126e-06,-3.47866038e-06,-1.88791178e-05,
  2.34536626e-03, 1.90485432e-01, 1.06235529e-01, 4.71822525e-02,
 -5.38887246e-05, 9.74879629e-06, 2.09822439e-05,-4.53428367e-05,
 -4.69448457e-05, 3.64055694e-05,-1.64057957e-07,-8.23353632e-05,
  3.91677338e-04,-2.05400579e-05,-4.90509793e+00, 4.93897302e-04,
  1.17993541e-02,-5.98124340e-04]


--- Step 1419 ---
qpos:
[ 0.01855105, 0.03003252,-0.00945814,-0.02527508, 0.00365778, 0.25774499,
 -0.06290688, 0.28272487, 0.01161962, 0.02783331,-0.00824718, 0.02644948,
  1.33114202, 0.00759297, 1.20642369, 0.04487947, 0.05628754,-0.07975189,
  0.17193617, 0.99945987, 0.02486258,-0.009607  ,-0.01922286]

qacc:
[ -4.65345594, -0.95519795,  2.2654666 , -0.08292274,  3.09369669,
  11.85411162, 16.59651186, -0.42022028,  0.67658949,  0.09298021,
   0.51433818, -3.33856767, -1.16665226,  1.63031468, 16.12549524,
 -55.10059437, -1.22939983,  0.26973189,  0.28169255, -1.64159693,
 -11.15275383,  1.45148294]

qfrc_actuator:
[-2.73752745e-06, 8.99157251e-04, 1.20817653e-04,-7.65377335e-05,
 -6.38928172e-03, 2.54900569e-01, 4.26451361e-02, 1.46275337e-01,
 -1.76565276e-04, 8.45073529e-04, 2.29044221e-04,-2.79779368e-05,
  5.29325087e-03,-1.45978996e-03, 0.00000000e+00,-1.57416806e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016365395917157077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.998128  , -0.05643888, -0.02356141, -0.05642316,  0.99840606,
       -0.0013319 ,  0.02359902,  0.        , -0.9997215 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09409132, -0.0805171 ,  0.21694605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039757720871566593
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.98117875e-14, -6.98117875e-14,  1.00000000e+00, -4.87368568e-27,
        1.00000000e+00,  6.98117875e-14, -1.00000000e+00,  0.00000000e+00,
       -6.98117875e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02670222, -0.08268268,  0.06199288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.48090315e-03, 1.90919693e-01, 1.06811508e-01, 4.76483305e-02,
  4.12117795e-06, 2.73218647e-06,-7.23395646e-06,-8.95185440e-06,
 -4.36810070e-05, 2.32534734e-05,-1.40562070e-05,-2.70016784e-04,
  4.13106969e-04,-2.36920322e-05,-4.90510469e+00, 5.04836881e-04,
  1.18007712e-02,-5.95735660e-04]


--- Step 1420 ---
qpos:
[ 0.01854931, 0.03003243,-0.00945784,-0.02527563, 0.00348417, 0.25894337,
 -0.06421495, 0.28468427, 0.01161798, 0.02783313,-0.0082474 , 0.02644832,
  1.33132013, 0.00759443, 1.20657985, 0.04487709, 0.05618634,-0.07974609,
  0.17196659, 0.99945112, 0.02473844,-0.01008793,-0.01958855]

qacc:
[ -2.72384033, -1.25280208,  3.83395069, -3.19848788,  4.89745916,
  46.15274876,-60.80796319, 37.84213822,  3.62780038,  3.54912759,
 -15.09784101, 27.13067695, -0.57500609,  0.65869574, 10.64752639,
 -37.18672796, -1.2236335 ,  0.27155666,  0.288781  , -1.63349465,
 -11.0974822 ,  1.47773385]

qfrc_actuator:
[-1.83609310e-05, 9.00013844e-04, 1.45513751e-04,-7.22742481e-05,
 -6.20304317e-03, 2.58302768e-01, 4.39800748e-02, 1.47707683e-01,
 -1.54618202e-04, 8.42101227e-04, 1.87247878e-04, 2.81951062e-06,
  5.27034275e-03,-1.46402663e-03, 0.00000000e+00,-1.74792730e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015988400416052154
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98132209e-01, -5.57332631e-02, -2.50179468e-02, -5.57157643e-02,
        9.98445694e-01, -1.39650240e-03,  2.50568929e-02,  4.33680869e-19,
       -9.99686027e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.093982  , -0.08051529,  0.21696692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003941738082044455
  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([ 0.02670097, -0.08268307,  0.06199294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64501390e-05,-1.09414535e-05, 2.10394435e-05, 3.69938527e-06,
  2.59684546e-03, 1.92289123e-01, 1.07253827e-01, 4.88660052e-02,
  2.20687839e-05,-3.31867015e-06,-4.24336449e-05, 3.04929427e-05,
 -4.12738780e-05,-7.48966902e-06,-4.13821475e-05,-1.91707067e-04,
  4.35851466e-04,-2.71467506e-05,-4.90511173e+00, 5.15623201e-04,
  1.18024057e-02,-5.93299333e-04]


--- Step 1421 ---
qpos:
[ 0.01854773, 0.03003227,-0.00945728,-0.02527613, 0.00331362, 0.26021054,
 -0.06551283, 0.28664508, 0.01161697, 0.02783286,-0.00824835, 0.0264479 ,
  1.33149787, 0.00759568, 1.20673521, 0.04487727, 0.05608022,-0.07973921,
  0.17199821, 0.99944188, 0.0246106 ,-0.01059112,-0.01995196]

qacc:
[ 1.47288059e+00,-7.30469022e-01, 2.24585363e+00,-1.72972875e+00,
  6.53652805e+00, 6.49543622e+01,-1.05303146e+02, 6.08832168e+01,
  5.27064868e+00, 3.46033077e+00,-1.56934915e+01, 2.99239453e+01,
  7.93877317e-02,-3.44394758e-01,-8.97574563e+00, 2.96325264e+01,
 -1.22817079e+00, 2.70447552e-01, 2.99392239e-01,-1.61787425e+00,
 -1.11419457e+01, 1.42888927e+00]

qfrc_actuator:
[-9.09272709e-06, 9.00675575e-04, 1.59965152e-04,-6.95365372e-05,
 -6.02322638e-03, 2.61977105e-01, 4.52962475e-02, 1.49415084e-01,
 -1.23302128e-04, 8.22566512e-04, 1.44956699e-04, 3.91396285e-05,
  5.23955261e-03,-1.48494816e-03, 0.00000000e+00,-1.60058125e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015621125744214493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99813327, -0.05502319, -0.02650335, -0.0550038 ,  0.99848508,
       -0.00146051,  0.02654356,  0.        , -0.99964766])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09386527, -0.08051333,  0.21698996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039081558212271383
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13058871e-13, -7.10196238e-14,  1.00000000e+00, -1.51313609e-26,
        1.00000000e+00,  7.10196238e-14, -1.00000000e+00,  0.00000000e+00,
       -2.13058871e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02669975, -0.08268348,  0.06199301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.78412768e-06,-9.52089697e-07, 1.49120914e-05, 3.07100161e-06,
  2.66284817e-03, 1.92957980e-01, 1.07899329e-01, 5.04453447e-02,
  3.19615473e-05,-2.88347484e-05,-4.71434019e-05, 3.53053729e-05,
 -5.53875902e-05,-3.20764057e-05,-4.30945083e-05, 1.30742808e-04,
  4.59644946e-04,-3.08817201e-05,-4.90511897e+00, 5.26145107e-04,
  1.18042141e-02,-5.90818253e-04]


--- Step 1422 ---
qpos:
[ 0.01854594, 0.03003216,-0.00945687,-0.02527658, 0.00314679, 0.26153295,
 -0.06679664, 0.28860867, 0.011616  , 0.02783217,-0.0082494 , 0.02644792,
  1.33167538, 0.00759661, 1.2068907 , 0.04487579, 0.05596906,-0.07973125,
  0.17203104, 0.99943212, 0.02447909,-0.01111713,-0.02031321]

qacc:
[ -1.90649207,  0.60057948, -2.22788867,  3.25797201,  7.9825596 ,
  39.16011427,-45.34591468, 29.75629857,  0.33756193,  0.61452002,
  -4.83878592, 12.86493646, -0.0919621 , -0.15074321,  5.25183497,
 -18.0635672 , -1.25787373,  0.268576  ,  0.30201775, -1.5907079 ,
 -11.40986455,  1.37600599]

qfrc_actuator:
[-2.07569985e-05, 9.01181217e-04, 1.50500729e-04,-6.77246127e-05,
 -5.84895941e-03, 2.64965012e-01, 4.65989868e-02, 1.50435463e-01,
 -1.22233527e-04, 7.93256128e-04, 1.38154990e-04, 6.06491176e-05,
  5.23600358e-03,-1.49787966e-03, 0.00000000e+00,-1.69131440e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015271519308350263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98131308e-01, -5.43094268e-02, -2.80067613e-02, -5.42880600e-02,
        9.98524154e-01, -1.52327928e-03,  2.80481561e-02, -2.16840434e-19,
       -9.99606573e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09374054, -0.08051118,  0.21701555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038745096853091965
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43272713e-13,  1.43272713e-13,  1.00000000e+00,  2.05270702e-26,
        1.00000000e+00, -1.43272713e-13, -1.00000000e+00,  0.00000000e+00,
       -1.43272713e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02669854, -0.0826839 ,  0.06199307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.68415469e-03, 1.92473226e-01, 1.08689115e-01, 5.13907240e-02,
  1.99441548e-06,-5.36302639e-05,-1.73300643e-05, 1.93318440e-05,
 -4.03446925e-05,-3.47282479e-05,-6.29127375e-06,-8.92027561e-05,
  4.84852839e-04,-3.48848915e-05,-4.90512647e+00, 5.36619212e-04,
  1.18061723e-02,-5.88288143e-04]


--- Step 1423 ---
qpos:
[ 0.01854436, 0.03003229,-0.00945642,-0.02527635, 0.00298424, 0.26289764,
 -0.06806089, 0.2905767 , 0.01161436, 0.02783096,-0.0082499 , 0.02644782,
  1.33185254, 0.00759762, 1.20704648, 0.04487054, 0.05585276,-0.07972223,
  0.17206505, 0.99942179, 0.02434393,-0.01166646,-0.02067245]

qacc:
[  1.87375951,  1.62164575, -8.19464684, 19.72583604,  9.28241615,
  10.40694256, 24.94976307, -8.93443287, -5.67506575, -2.45279865,
   8.29153361,-10.9006599 , -0.62393199,  0.70673239, 11.85390443,
 -40.71568689, -1.28730708,  0.26590111,  0.29652085, -1.56212068,
 -11.67320847,  1.30183306]

qfrc_actuator:
[-9.15157712e-06, 9.36996749e-04, 1.62500288e-04,-3.09810852e-05,
 -5.67989084e-03, 2.67473846e-01, 4.79212127e-02, 1.50864178e-01,
 -1.56732730e-04, 7.76196805e-04, 1.70056107e-04, 5.55323633e-05,
  5.22216950e-03,-1.48807310e-03, 0.00000000e+00,-1.88618204e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001492515438458059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99812568, -0.05359071, -0.02954949, -0.05356724,  0.99856299,
       -0.00158586,  0.02959201,  0.        , -0.99956206])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09360868, -0.08050884,  0.2170431 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038408587110248804
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.4452797e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.4452797e-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([ 0.02669735, -0.08268434,  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:
[ 1.12742855e-05, 3.61086757e-05, 1.17890782e-05, 3.66599742e-05,
  2.66806471e-03, 1.92185098e-01, 1.09303510e-01, 5.16765683e-02,
 -3.44627723e-05,-4.97662234e-05, 1.93765766e-05,-7.63486690e-06,
 -4.35332846e-05,-9.12639474e-06,-1.66472248e-05,-2.01513215e-04,
  5.12077263e-04,-3.91734618e-05,-4.90513434e+00, 5.47297383e-04,
  1.18082894e-02,-5.85705014e-04]


--- Step 1424 ---
qpos:
[ 0.01854362, 0.03003244,-0.00945572,-0.02527601, 0.00282657, 0.26432667,
 -0.06931003, 0.29254723, 0.01161267, 0.02782956,-0.00825015, 0.02644798,
  1.33202934, 0.0075985 , 1.2072022 , 0.04486266, 0.05573134,-0.07971218,
  0.17210025, 0.99941085, 0.02420518,-0.01223902,-0.02103015]

qacc:
[ 7.22179253e+00,-4.94523048e-01, 1.31215011e+00, 1.35884433e-01,
  1.03927774e+01, 4.77318403e+01,-5.73898951e+01, 2.88548340e+01,
 -4.71636271e-01,-4.02699625e-01,-5.53813884e-02, 4.38436126e+00,
 -3.90668243e-01, 2.97984002e-01, 7.95295546e+00,-2.78627060e+01,
 -1.28077620e+00, 2.58269218e-01, 2.95411941e-01,-1.54156782e+00,
 -1.16255893e+01, 1.07122051e+00]

qfrc_actuator:
[ 3.38166503e-05, 9.22784379e-04, 1.69503242e-04,-2.71871700e-05,
 -5.55150832e-03, 2.71408089e-01, 4.92262710e-02, 1.51858263e-01,
 -1.58622579e-04, 7.84502079e-04, 1.89065570e-04, 7.03278794e-05,
  5.19685920e-03,-1.50038318e-03, 0.00000000e+00,-2.01650196e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014569401314322786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99811566, -0.05286596, -0.03115003, -0.05284023,  0.99860162,
       -0.00164908,  0.03119365,  0.        , -0.99951336])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09347042, -0.08050631,  0.21707209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003807568827482316
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.18687385e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.18687385e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02669619, -0.0826848 ,  0.06199319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.58227223e-03, 1.93967708e-01, 1.09626146e-01, 5.24446915e-02,
 -2.92271513e-06,-1.58166242e-05, 1.08717851e-05, 1.31898261e-05,
 -5.10964795e-05,-2.46245675e-05,-3.41706565e-05,-1.44592071e-04,
  5.41432226e-04,-4.37475605e-05,-4.90514259e+00, 5.58214861e-04,
  1.18105569e-02,-5.83070055e-04]


--- Step 1425 ---
qpos:
[ 0.01854272, 0.03003216,-0.00945498,-0.02527556, 0.00267432, 0.26583885,
 -0.07055001, 0.29451815, 0.01161131, 0.02782786,-0.00825041, 0.0264487 ,
  1.33220593, 0.00759895, 1.2073576 , 0.04485422, 0.05560481,-0.07970113,
  0.17213665, 0.99939925, 0.02406287,-0.01283471,-0.02138682]

qacc:
[-1.43283003e+00,-4.52038410e-01, 3.17720673e-01, 1.89900258e+00,
  1.13956858e+01, 8.44908569e+01,-1.42950539e+02, 7.07015651e+01,
  2.85962444e+00, 7.50507711e-01,-5.60839523e+00, 1.54306204e+01,
  1.05319728e-01,-4.65413293e-01, 1.14741576e+00,-4.75965088e+00,
 -1.27538098e+00, 2.49597665e-01, 3.02601543e-01,-1.52115084e+00,
 -1.15939057e+01, 8.05544033e-01]

qfrc_actuator:
[ 2.38824164e-05, 8.60934314e-04, 1.55519417e-04,-2.51087603e-05,
 -5.39658285e-03, 2.76016598e-01, 5.04821475e-02, 1.53475761e-01,
 -1.41291415e-04, 7.54656653e-04, 1.82670932e-04, 9.67337592e-05,
  5.18597902e-03,-1.52580108e-03, 0.00000000e+00,-2.03669320e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014226206482274289
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98101886e-01, -5.21368068e-02, -3.27777157e-02, -5.21087155e-02,
        9.98639952e-01, -1.71125282e-03,  3.28223557e-02, -2.16840434e-19,
       -9.99461201e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09332421, -0.08050354,  0.21710356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037744484031941583
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47070897e-13,  7.35354485e-14,  1.00000000e+00,  1.08149244e-26,
        1.00000000e+00, -7.35354485e-14, -1.00000000e+00,  0.00000000e+00,
       -1.47070897e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02669505, -0.08268527,  0.06199325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.49368072e-03, 1.95320116e-01, 1.10120990e-01, 5.39321954e-02,
  1.72342889e-05,-3.58324270e-05,-7.84903075e-06, 2.63640495e-05,
 -4.43619561e-05,-4.37935797e-05,-3.46619540e-05,-3.32509153e-05,
  5.72400034e-04,-4.85298003e-05,-4.90515108e+00, 5.69326618e-04,
  1.18128932e-02,-5.80385197e-04]


--- Step 1426 ---
qpos:
[ 0.01854239, 0.03003151,-0.0094544 ,-0.02527474, 0.0025279 , 0.26742551,
 -0.07178101, 0.29648974, 0.01160947, 0.0278262 ,-0.00825084, 0.026449  ,
  1.33238225, 0.00759909, 1.20751237, 0.0448489 , 0.05547313,-0.07968912,
  0.17217432, 0.99938692, 0.02391705,-0.01345384,-0.02174304]

qacc:
[   4.95818447,   0.73670763,  -4.93642236,  11.98345711,  12.24466711,
   74.24045962,-124.26044312,  63.96379579,  -4.02401028,  -0.2989106 ,
    2.91624718,  -9.84857984,   0.26063591,  -0.61054805, -10.3842061 ,
   34.89712437,  -1.28984198,   0.24013914,   0.31507662,  -1.49281068,
  -11.7438744 ,   0.52369209]

qfrc_actuator:
[ 5.38897432e-05, 8.41944294e-04, 1.46803355e-04,-6.35796515e-06,
 -5.22822674e-03, 2.79369627e-01, 5.17261594e-02, 1.55468432e-01,
 -1.66054349e-04, 7.73120135e-04, 1.78942428e-04, 7.64536010e-05,
  5.17310473e-03,-1.54097693e-03, 0.00000000e+00,-1.86758093e-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, -0.0498247 , -0.42778153, -0.0498247 ,  4.57636331,
       -0.48285804, -0.42778153, -0.48285804,  0.48691294,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013912753425065361
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99808498, -0.05140432, -0.03440895, -0.0513738 ,  0.99867792,
       -0.00177111,  0.0344545 ,  0.        , -0.99940627])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09316885, -0.08050049,  0.21713834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037409844692226635
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48386479e-13,  1.48386479e-13,  1.00000000e+00,  2.20185471e-26,
        1.00000000e+00, -1.48386479e-13, -1.00000000e+00,  0.00000000e+00,
       -1.48386479e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02669392, -0.08268577,  0.06199331])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.39132176e-03, 1.94473302e-01, 1.10899710e-01, 5.59010914e-02,
 -2.42762945e-05,-2.00095577e-06,-1.11654906e-05,-2.15724174e-05,
 -4.70784876e-05,-3.74485730e-05,-2.16403427e-05, 1.62382493e-04,
  6.05069618e-04,-5.35016639e-05,-4.90515981e+00, 5.80761000e-04,
  1.18152735e-02,-5.77648654e-04]


--- Step 1427 ---
qpos:
[ 0.01854312, 0.03003079,-0.00945433,-0.02527405, 0.00238763, 0.26907592,
 -0.07300195, 0.29846268, 0.01160701, 0.02782467,-0.00825081, 0.02644866,
  1.33255803, 0.00759955, 1.20766744, 0.04484192, 0.05533622,-0.0796762 ,
  0.17221328, 0.9993738 , 0.02376777,-0.01409669,-0.02209948]

qacc:
[  9.00639915,  1.03776613, -3.25112959,  1.68300567, 12.86403894,
  58.4874982 ,-91.69480065, 50.18606729, -5.33722611, -2.44782804,
  11.69842565,-23.70219224, -0.77695005,  1.00402517,  5.55033934,
 -18.60223793, -1.3051133 ,  0.22846278,  0.3232974 , -1.46057316,
 -11.90308367,  0.18309782]

qfrc_actuator:
[ 1.07183453e-04, 8.48786192e-04, 1.23688663e-04,-1.34157925e-05,
 -5.08990180e-03, 2.82157805e-01, 5.29595892e-02, 1.57366219e-01,
 -1.97648904e-04, 8.02585474e-04, 2.12486792e-04, 4.66599878e-05,
  5.15372213e-03,-1.51444338e-03, 0.00000000e+00,-1.96113387e-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, -0.04763324, -0.42803109, -0.04763324,  4.27624679,
       -0.42795287, -0.42803109, -0.42795287,  0.47829789,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013618135984407788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98064405e-01, -5.06670527e-02, -3.60595658e-02, -5.06340162e-02,
        9.98715600e-01, -1.82938158e-03,  3.61059403e-02, -2.16840434e-19,
       -9.99347968e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09300503, -0.08049716,  0.21717599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003706655634584666
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.49760746e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.49760746e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02669279, -0.08268628,  0.06199338])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.41442041e-05,-2.47436879e-05,-3.54540532e-05,-9.60551794e-06,
  2.23802444e-03, 1.93492118e-01, 1.11677173e-01, 5.77606314e-02,
 -3.23115010e-05, 2.51656339e-05, 3.10322134e-05,-3.06808960e-05,
 -5.26957732e-05, 5.01435799e-06, 6.33109782e-06,-8.76655112e-05,
  6.40011639e-04,-5.86708756e-05,-4.90516890e+00, 5.92792954e-04,
  1.18176896e-02,-5.74855936e-04]


--- Step 1428 ---
qpos:
[ 0.01854344, 0.0300301 ,-0.00945491,-0.02527346, 0.00225423, 0.27076319,
 -0.07421448, 0.30043899, 0.01160454, 0.02782291,-0.00824965, 0.02644761,
  1.33273327, 0.00760077, 1.20782272, 0.04483221, 0.05519387,-0.0796624 ,
  0.17225352, 0.99935981, 0.02361511,-0.0147643 ,-0.02245678]

qacc:
[ -3.45633339,  1.65642611, -5.4560758 ,  4.86108299, 14.39305564,
  31.62900715,-55.62044594, 70.77729371, -0.09272557, -4.87932405,
  19.95293398,-33.7648368 , -1.16617674,  1.75616176,  8.69545561,
 -29.66545713, -1.36094661,  0.21747843,  0.32127256, -1.41130057,
 -12.41930686, -0.11639526]

qfrc_actuator:
[ 8.49810178e-05, 8.53215781e-04, 9.23482394e-05,-1.78381870e-05,
 -4.93673257e-03, 2.84588013e-01, 5.41642310e-02, 1.58282987e-01,
 -1.97492494e-04, 7.85302145e-04, 2.67829861e-04, 1.15548701e-05,
  5.14111861e-03,-1.46339396e-03, 0.00000000e+00,-2.10223616e-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,  0.0304794 , -0.42959347,  0.0304794 ,  1.65560303,
        0.08690802, -0.42959347,  0.08690802,  0.43683943,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013329981149960623
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98039482e-01, -4.99233505e-02, -3.77472017e-02, -4.98876823e-02,
        9.98753052e-01, -1.88681955e-03,  3.77943292e-02,  2.16840434e-19,
       -9.99285539e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09283355, -0.08049355,  0.21721595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003671109031225389
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51210849e-13,  7.56054244e-14,  1.00000000e+00,  1.14323604e-26,
        1.00000000e+00, -7.56054244e-14, -1.00000000e+00,  0.00000000e+00,
       -1.51210849e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02669166, -0.08268681,  0.06199344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.08408431e-03, 1.92687353e-01, 1.12370019e-01, 5.86046919e-02,
 -7.87306315e-07, 1.92183320e-06, 6.33192268e-05,-3.35450390e-05,
 -3.90718721e-05, 4.01796279e-05,-1.18022119e-05,-1.46259674e-04,
  6.77409208e-04,-6.40087416e-05,-4.90517835e+00, 6.05604333e-04,
  1.18201097e-02,-5.72004978e-04]


--- Step 1429 ---
qpos:
[ 0.01854315, 0.03002916,-0.00945551,-0.02527294, 0.00212774, 0.27248042,
 -0.07541166, 0.30242032, 0.01160243, 0.02782103,-0.00824783, 0.02644652,
  1.33290824, 0.00760207, 1.20797816, 0.04481886, 0.05504598,-0.07964778,
  0.17229501, 0.99934488, 0.02345914,-0.0154571 ,-0.02281556]

qacc:
[ -5.25330435, -0.39397194,  1.22050082, -2.15653305, 14.44089261,
   6.82095383, 12.13138949, 28.08042652,  3.13703311, -2.15834345,
   7.62661004, -9.39622577, -0.54190516,  0.64750783, 11.29532884,
 -39.04983094, -1.38612462,  0.20667968,  0.31080569, -1.37467208,
 -12.65655514, -0.42711782]

qfrc_actuator:
[ 5.40175241e-05, 8.38381789e-04, 9.19161160e-05,-2.06727092e-05,
 -4.79559382e-03, 2.86787078e-01, 5.53847304e-02, 1.58803864e-01,
 -1.78646703e-04, 7.75762874e-04, 2.99898075e-04, 9.08457517e-06,
  5.12195236e-03,-1.46921160e-03, 0.00000000e+00,-2.28789188e-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,  0.02846088, -0.42973191,  0.02846088,  1.80566134,
        0.09106462, -0.42973191,  0.09106462,  0.43670451,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001301409777163473
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98008251e-01, -4.91700010e-02, -3.95201439e-02, -4.91314950e-02,
        9.98790424e-01, -1.94555881e-03,  3.95680044e-02, -2.16840434e-19,
       -9.99216880e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09265654, -0.08048964,  0.21725671])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003634802127838316
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.52721247e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.52721247e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02669053, -0.08268736,  0.06199351])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.88156261e-03, 1.92994452e-01, 1.13160704e-01, 5.89520774e-02,
  1.88176394e-05, 3.22157218e-06, 3.91103593e-05,-8.46665796e-07,
 -3.07098007e-05,-3.43731363e-06,-2.60540718e-05,-1.96257367e-04,
  7.18424448e-04,-6.95733308e-05,-4.90518844e+00, 6.19557583e-04,
  1.18225637e-02,-5.69091139e-04]


--- Step 1430 ---
qpos:
[ 0.0185425 , 0.03002809,-0.0094559 ,-0.02527248, 0.00200882, 0.27421863,
 -0.07660025, 0.30440731, 0.01160091, 0.0278192 ,-0.00824572, 0.02644644,
  1.33308325, 0.00760257, 1.20813361, 0.04480201, 0.05489237,-0.07963239,
  0.17233773, 0.99932892, 0.02329993,-0.01617592,-0.02317663]

qacc:
[ -3.15937296, -0.92455503,  3.34000316, -4.80315223, 15.69732839,
  14.73085446,-35.01074592,100.18911269,  5.01079003,  1.37254411,
  -9.09814723, 26.23630094,  0.31526233, -0.88690802, 10.53418741,
 -36.94248807, -1.42938351,  0.19231136,  0.30769879, -1.32550049,
 -13.06512396, -0.82976633]

qfrc_actuator:
[ 3.59224396e-05, 8.47759637e-04, 1.09663062e-04,-2.25441425e-05,
 -4.68221193e-03, 2.88999391e-01, 5.66221968e-02, 1.59616792e-01,
 -1.48961771e-04, 7.88625717e-04, 3.18003628e-04, 6.13248660e-05,
  5.10949348e-03,-1.52653335e-03, 0.00000000e+00,-2.46277163e-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,  0.02589815, -0.42989397,  0.02589815,  0.93846354,
        0.03059086, -0.42989397,  0.03059086,  0.43251624,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012665847997406577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99797   , -0.04840618, -0.04138502, -0.04836461,  0.99882773,
       -0.00200564,  0.0414336 ,  0.        , -0.99914126])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09247417, -0.08048543,  0.21729811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035981928500875004
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.54275086e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.54275086e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02668941, -0.08268794,  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:
[-1.90223963e-05,-1.12703085e-05, 9.59793324e-06,-3.70784218e-06,
  1.64936159e-03, 1.93658821e-01, 1.13621125e-01, 5.95092020e-02,
  3.02320614e-05, 2.27560889e-05, 2.35591281e-05, 5.37164901e-05,
 -3.03764250e-05,-6.49529137e-05,-3.71855826e-05,-1.89879130e-04,
  7.62317563e-04,-7.53178933e-05,-4.90519896e+00, 6.34452706e-04,
  1.18250269e-02,-5.66122061e-04]


--- Step 1431 ---
qpos:
[ 0.01854128, 0.03002691,-0.00945636,-0.02527204, 0.00189786, 0.27597466,
 -0.07778588, 0.30640051, 0.01160009, 0.02781781,-0.0082441 , 0.026447  ,
  1.33325814, 0.00760242, 1.20828801, 0.04478984, 0.05473286,-0.07961629,
  0.17238167, 0.99931183, 0.02313757,-0.01692154,-0.02354093]

qacc:
[-4.77763152e+00, 7.04806118e-02,-3.97160134e-01, 4.17417970e-01,
  1.63688906e+01, 2.68874244e+01,-8.58528862e+01, 1.68411164e+02,
  6.05037337e+00, 3.26509325e+00,-1.34724199e+01, 2.48761932e+01,
  7.57454964e-01,-1.38991053e+00,-1.57902707e+01, 5.27897490e+01,
 -1.47324934e+00, 1.76079208e-01, 3.06277699e-01,-1.27325022e+00,
 -1.34827105e+01,-1.28612537e+00]

qfrc_actuator:
[ 7.79742502e-06, 8.36145282e-04, 1.02581684e-04,-2.38074055e-05,
 -4.58890752e-03, 2.91589443e-01, 5.77994601e-02, 1.60513537e-01,
 -1.13140975e-04, 8.14793245e-04, 2.92348227e-04, 9.20881246e-05,
  5.10104157e-03,-1.56064430e-03, 0.00000000e+00,-2.20381125e-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,  0.02309077, -0.4300539 ,  0.02309077,  0.65642411,
        0.01212118, -0.4300539 ,  0.01212118,  0.43132417,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012268578948983187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99792327, -0.04763007, -0.04336498, -0.04758516,  0.99886504,
       -0.00206782,  0.04341426,  0.        , -0.99905716])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09228741, -0.0804809 ,  0.21733941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003561621815918875
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.33788794e-13,  1.55859196e-13,  1.00000000e+00,  3.64381334e-26,
        1.00000000e+00, -1.55859196e-13, -1.00000000e+00,  0.00000000e+00,
       -2.33788794e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02668832, -0.08268853,  0.06199365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.86797706e-05,-1.60551914e-05,-8.33778051e-06,-1.48277427e-06,
  1.36397193e-03, 1.95148388e-01, 1.14359295e-01, 6.01177745e-02,
  3.67085081e-05, 4.61087298e-05,-1.62002940e-05, 3.35970095e-05,
 -4.09227073e-05,-5.87432659e-05,-4.04705963e-05, 2.43136643e-04,
  8.09954864e-04,-8.12262530e-05,-4.90521009e+00, 6.50742497e-04,
  1.18274601e-02,-5.63090596e-04]


--- Step 1432 ---
qpos:
[ 0.01854043, 0.03002536,-0.00945653,-0.02527126, 0.00179426, 0.27776071,
 -0.07895696, 0.30840093, 0.01159972, 0.02781687,-0.0082431 , 0.02644793,
  1.33343251, 0.0076024 , 1.20844185, 0.04478313, 0.05456745,-0.07959955,
  0.17242679, 0.99929352, 0.02297214,-0.01769409,-0.02390925]

qacc:
[ 3.11847969e+00,-6.26019099e-01, 1.25073256e-01, 5.44480917e+00,
  1.50511388e+01, 1.32315013e+01,-1.89505902e+01, 9.53867712e+01,
  3.69202048e+00, 3.05494328e+00,-1.16444685e+01, 1.87839202e+01,
 -6.46158293e-02,-7.92474444e-04,-1.73322715e+01, 5.94234298e+01,
 -1.47843754e+00, 1.62648074e-01, 2.94794113e-01,-1.24112031e+00,
 -1.35440240e+01,-1.68601594e+00]

qfrc_actuator:
[ 2.72475579e-05, 8.11959820e-04, 1.16317924e-04,-6.98538143e-06,
 -4.49331655e-03, 2.94329906e-01, 5.89782882e-02, 1.60942924e-01,
 -9.17515365e-05, 8.30780807e-04, 2.58855884e-04, 1.09945162e-04,
  5.07902915e-03,-1.54515367e-03, 0.00000000e+00,-1.92210902e-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,  0.02069609, -0.43017579,  0.02069609,  0.82236693,
        0.01884468, -0.43017579,  0.01884468,  0.43157999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011812876457176515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99786682, -0.04684034, -0.04547305, -0.04679178,  0.99890239,
       -0.00213231,  0.04552302,  0.        , -0.99896329])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09209668, -0.08047603,  0.21738022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035253524270915937
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.36194050e-13,  7.87313501e-14,  1.00000000e+00,  1.85958765e-26,
        1.00000000e+00, -7.87313501e-14, -1.00000000e+00,  0.00000000e+00,
       -2.36194050e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02668726, -0.08268915,  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:
[ 1.86133457e-05,-3.49078422e-05, 9.36274099e-06, 1.58213877e-05,
  1.06119590e-03, 1.96946306e-01, 1.15379488e-01, 6.02311262e-02,
  2.24786822e-05, 3.99054709e-05,-2.48070407e-05, 1.99228559e-05,
 -5.72259680e-05,-1.04877704e-05, 8.36768442e-06, 2.90075827e-04,
  8.61637746e-04,-8.72700056e-05,-4.90522184e+00, 6.68658689e-04,
  1.18298322e-02,-5.59995336e-04]


--- Step 1433 ---
qpos:
[ 0.0185405 , 0.03002323,-0.00945583,-0.02527029, 0.00169886, 0.27956241,
 -0.08013223, 0.31040873, 0.01159926, 0.02781562,-0.00824216, 0.02644843,
  1.3336064 , 0.00760252, 1.20859559, 0.04478051, 0.05439583,-0.07958221,
  0.17247313, 0.99927388, 0.02280373,-0.01849486,-0.02428247]

qacc:
[ 8.00850143e+00,-2.82392156e+00, 8.12308880e+00,-5.81851423e+00,
  1.65884926e+01, 4.56198082e+01,-1.60302584e+02, 2.70636093e+02,
 -7.16057604e-01,-1.12278920e+00, 5.22927076e+00,-1.23076620e+01,
 -1.67662463e-01, 1.49504177e-01,-1.25067363e+01, 4.35444196e+01,
 -1.54896205e+00, 1.47638467e-01, 3.03296027e-01,-1.18044864e+00,
 -1.42012199e+01,-2.11365408e+00]

qfrc_actuator:
[ 7.45470296e-05, 7.80528421e-04, 1.59952577e-04, 2.59573826e-06,
 -4.36343183e-03, 2.97052512e-01, 6.01630468e-02, 1.62242336e-01,
 -9.67822523e-05, 7.69479428e-04, 2.38728985e-04, 8.45578687e-05,
  5.05957262e-03,-1.53592836e-03, 0.00000000e+00,-1.71817130e-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,  0.01812686, -0.43029171,  0.01812686,  0.44371445,
        0.00054938, -0.43029171,  0.00054938,  0.4306965 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011319465184065143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97801113e-01, -4.60379378e-02, -4.76806729e-02, -4.59854644e-02,
        9.98939692e-01, -2.19744983e-03,  4.77312827e-02, -4.33680869e-19,
       -9.98860213e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09190045, -0.0804708 ,  0.21742161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034896350462138015
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59074375e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.59074375e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02668624, -0.08268979,  0.06199378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.22843445e-04, 1.98114614e-01, 1.15826485e-01, 6.11646790e-02,
 -4.35920584e-06,-4.32292746e-05,-1.42539500e-05,-2.41509950e-05,
 -5.07644352e-05,-7.58876878e-06, 3.30587674e-05, 2.20523237e-04,
  9.16096446e-04,-9.34006561e-05,-4.90523392e+00, 6.87807086e-04,
  1.18321401e-02,-5.56848683e-04]


--- Step 1434 ---
qpos:
[ 0.0185408 , 0.030021  ,-0.00945532,-0.02526921, 0.00161259, 0.28135251,
 -0.08133835, 0.31242499, 0.01159875, 0.02781341,-0.0082408 , 0.02644799,
  1.33378002, 0.00760245, 1.20874972, 0.04477803, 0.05421753,-0.07956436,
  0.17252078, 0.99925276, 0.02263247,-0.01932611,-0.02466173]

qacc:
[ 1.89951533e+00, 6.33863865e-01,-2.96485197e+00, 5.39244586e+00,
  1.82668510e+01, 8.43688104e+01,-3.51427636e+02, 5.28307377e+02,
 -4.50007982e-01,-4.37420217e+00, 1.77351837e+01,-3.40291900e+01,
 -9.54732681e-02,-8.69449151e-02, 1.35310470e-01, 3.84635366e-01,
 -1.67260801e+00, 1.27684728e-01, 3.27357379e-01,-1.08988271e+00,
 -1.53484791e+01,-2.66310964e+00]

qfrc_actuator:
[ 8.45860504e-05, 7.80629623e-04, 1.49831888e-04, 7.84654354e-06,
 -4.27001700e-03, 3.00192843e-01, 6.12932606e-02, 1.64415752e-01,
 -9.95664068e-05, 6.80121035e-04, 2.44060450e-04, 3.38748965e-05,
  5.04699017e-03,-1.54827976e-03, 0.00000000e+00,-1.72147834e-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,  0.01502834, -0.43041107,  0.01502834,  0.2677493 ,
       -0.0056887 , -0.43041107, -0.0056887 ,  0.43047473,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010756739612158507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97723441e-01, -4.52199560e-02, -5.00309030e-02, -4.51632096e-02,
        9.98977055e-01, -2.26471191e-03,  5.00821343e-02,  4.33680869e-19,
       -9.98745103e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0917006 , -0.08046521,  0.2174621 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034545721305193067
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.60688934e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.60688934e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02668526, -0.08269045,  0.06199384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.05647674e-04, 2.00419353e-01, 1.17154913e-01, 6.29633285e-02,
 -2.92837668e-06,-1.17481769e-04,-6.18734044e-06,-5.34990925e-05,
 -3.96727356e-05,-2.69166740e-05, 3.50763437e-05, 1.21912971e-05,
  9.75783599e-04,-9.97102948e-05,-4.90524684e+00, 7.09002158e-04,
  1.18343923e-02,-5.53636333e-04]


--- Step 1435 ---
qpos:
[ 0.01854122, 0.03001914,-0.00945575,-0.02526773, 0.00153474, 0.28312666,
 -0.08256728, 0.31445275, 0.01159786, 0.02781085,-0.00823966, 0.0264476 ,
  1.33395323, 0.0076025 , 1.20890404, 0.04477525, 0.05403223,-0.07954608,
  0.17256977, 0.99923001, 0.02245848,-0.02018925,-0.02504809]

qacc:
[ 9.80339898e-01, 3.92500905e+00,-1.48963366e+01, 2.28287331e+01,
  1.67515979e+01, 6.25849400e+01,-2.95120491e+02, 5.16661596e+02,
 -3.19454694e+00, 2.76284883e-01,-1.84704827e+00, 3.32719672e+00,
 -4.44604422e-01, 5.01694566e-01, 1.24795873e+00,-3.86254590e+00,
 -1.74915335e+00, 1.09673282e-01, 3.37569281e-01,-1.02039493e+00,
 -1.60634301e+01,-3.17991916e+00]

qfrc_actuator:
[ 9.03570682e-05, 8.17153855e-04, 1.08166393e-04, 2.82454198e-05,
 -4.20269426e-03, 3.03285244e-01, 6.24368371e-02, 1.66186423e-01,
 -1.18749790e-04, 6.98980232e-04, 2.46467638e-04, 3.97132070e-05,
  5.02787884e-03,-1.53779216e-03, 0.00000000e+00,-1.74031509e-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,  0.01222401, -0.43049984,  0.01222401,  0.25731741,
       -0.00492243, -0.43049984, -0.00492243,  0.43053358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010071283363756785
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99762914, -0.04438173, -0.05259613, -0.04432018,  0.99901465,
       -0.00233661,  0.05264801,  0.        , -0.99861313])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0915003 , -0.08045923,  0.21749918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003420153923131969
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.62306003e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.62306003e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02668432, -0.08269113,  0.06199391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.15733435e-04, 2.04038660e-01, 1.19830199e-01, 6.43066106e-02,
 -1.93134463e-05,-5.03455930e-05,-2.44630348e-05,-4.48617594e-07,
 -4.56284254e-05,-6.56218315e-06, 1.19708255e-05,-1.48977950e-05,
  1.04324013e-03,-1.06235411e-04,-4.90526106e+00, 7.33227151e-04,
  1.18365562e-02,-5.50342242e-04]


--- Step 1436 ---
qpos:
[ 0.01854136, 0.03001747,-0.00945665,-0.02526638, 0.00146403, 0.28489734,
 -0.08379784, 0.31649497, 0.01159709, 0.02780883,-0.00823928, 0.0264479 ,
  1.33412613, 0.00760241, 1.20905768, 0.04477797, 0.05383982,-0.07952741,
  0.1726201 , 0.9992055 , 0.02228185,-0.02108476,-0.02544244]

qacc:
[-2.40621827e+00, 1.29671138e+00,-3.75379704e+00, 2.27364122e+00,
  1.41996305e+01, 2.67805688e+01,-1.57655845e+02, 3.94601903e+02,
  9.96981496e-01, 4.24502052e+00,-1.70049857e+01, 2.97005532e+01,
  2.88587374e-01,-5.43053284e-01,-1.76836238e+01, 6.03124339e+01,
 -1.77542791e+00, 9.50989085e-02, 3.33425180e-01,-9.75789559e-01,
 -1.63152283e+01,-3.62291111e+00]

qfrc_actuator:
[ 7.58294319e-05, 8.21826863e-04, 8.39015500e-05, 2.19099410e-05,
 -4.15395710e-03, 3.05843053e-01, 6.36460048e-02, 1.67371700e-01,
 -1.11926486e-04, 7.82533679e-04, 2.29836659e-04, 7.88465092e-05,
  5.01019865e-03,-1.54934598e-03, 0.00000000e+00,-1.44852602e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42576067,  0.00967981, -0.42565062,  0.00967981,  0.28682847,
       -0.00315949, -0.42565062, -0.00315949,  0.42568882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009259886431266741
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99751635, -0.04352233, -0.05537993, -0.04345541,  0.99905245,
       -0.00241255,  0.05543246,  0.        , -0.99846244])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09129936, -0.08045286,  0.21753279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003386408438265237
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.19616893e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.19616893e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02668342, -0.08269185,  0.06199397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43345197e-05, 8.85334915e-06,-2.45752559e-05,-6.59492418e-06,
 -2.56580452e-04, 2.07341806e-01, 1.22170364e-01, 6.49112099e-02,
  6.23335367e-06, 5.03979402e-05,-3.00419227e-05, 3.61252788e-05,
 -4.29080882e-05,-2.41184745e-05,-8.40268098e-07, 2.91450849e-04,
  1.11713292e-03,-1.12901739e-04,-4.90527624e+00, 7.60119292e-04,
  1.18386242e-02,-5.46981524e-04]


--- Step 1437 ---
qpos:
[ 0.01854098, 0.03001571,-0.00945686,-0.02526585, 0.00139914, 0.28668627,
 -0.08500761, 0.31855367, 0.0115964 , 0.02780763,-0.00823932, 0.02644826,
  1.33429881, 0.00760214, 1.20921166, 0.04478079, 0.05364038,-0.07950841,
  0.1726717 , 0.99917913, 0.02210264,-0.02201239,-0.02584554]

qacc:
[-4.43709288e+00,-3.71060521e+00, 1.65160523e+01,-3.17294071e+01,
  1.15591950e+01,-1.82441522e+00,-2.46516156e+01, 2.53665681e+02,
  7.17094150e-01, 2.35369067e+00,-7.09163290e+00, 8.19880199e+00,
 -6.55950819e-02,-1.01554712e-01, 2.08178780e-01, 3.28889840e-03,
 -1.76111096e+00, 8.31282919e-02, 3.18157820e-01,-9.50955476e-01,
 -1.61938321e+01,-4.00885225e+00]

qfrc_actuator:
[ 4.94720305e-05, 8.25186794e-04, 1.23235860e-04,-1.78656369e-05,
 -4.13622013e-03, 3.07914235e-01, 6.49001995e-02, 1.68002919e-01,
 -1.07597232e-04, 8.50903019e-04, 2.20163021e-04, 8.40436262e-05,
  5.00403498e-03,-1.55616232e-03, 0.00000000e+00,-1.45536750e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40723539,  0.00714821, -0.40717265,  0.00714821,  0.33575515,
       -0.00125489, -0.40717265, -0.00125489,  0.40721336,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008348950731301149
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97385271e-01, -4.26430365e-02, -5.83454635e-02, -4.25702597e-02,
        9.99090372e-01, -2.49029297e-03,  5.83985844e-02,  4.33680869e-19,
       -9.98293346e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09109574, -0.08044611,  0.21756433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003353403001924715
  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([ 0.02668258, -0.08269259,  0.06199403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67648128e-05, 3.01504249e-06, 3.79353170e-05,-4.03719317e-05,
 -5.96361016e-04, 2.09534787e-01, 1.23495227e-01, 6.48147816e-02,
  4.52338323e-06, 9.19624306e-05,-1.69602765e-06, 7.02304318e-06,
 -3.34246634e-05,-2.39753180e-05, 2.97649643e-05, 8.77145614e-06,
  1.19566790e-03,-1.19640846e-04,-4.90529197e+00, 7.89137489e-04,
  1.18406016e-02,-5.43571786e-04]


--- Step 1438 ---
qpos:
[ 0.01854028, 0.03001396,-0.00945607,-0.02526584, 0.00133945, 0.28850957,
 -0.0861958 , 0.32062911, 0.01159544, 0.02780656,-0.0082392 , 0.02644837,
  1.33447112, 0.00760204, 1.2093659 , 0.04478254, 0.05343389,-0.07948912,
  0.17272453, 0.99915078, 0.02192092,-0.0229721 ,-0.02625803]

qacc:
[-2.65728185e+00,-3.83632149e+00, 1.58841731e+01,-2.64331027e+01,
  1.02190881e+01, 1.74815422e+01,-6.32679905e+01, 2.81829282e+02,
 -2.44412218e+00,-7.34993751e-01, 3.91270491e+00,-8.41802928e+00,
 -4.94546955e-01, 6.07300826e-01, 3.64407497e+00,-1.20931829e+01,
 -1.75995659e+00, 7.33533362e-02, 3.07066785e-01,-9.23443360e-01,
 -1.61875971e+01,-4.33724947e+00]

qfrc_actuator:
[ 3.41220703e-05, 8.45718059e-04, 1.82018514e-04,-4.14513927e-05,
 -4.10311610e-03, 3.10418717e-01, 6.61419083e-02, 1.68755461e-01,
 -1.22531819e-04, 8.20909496e-04, 2.14622288e-04, 6.92305730e-05,
  4.98880644e-03,-1.54228284e-03, 0.00000000e+00,-1.51391565e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.37586656,  0.00492107, -0.37583434,  0.00492107,  0.30511392,
       -0.00092641, -0.37583434, -0.00092641,  0.37585443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007377776178160063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99723746, -0.04174608, -0.06143866, -0.04166708,  0.99912825,
       -0.00256706,  0.06149227,  0.        , -0.99810756])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09088669, -0.08043899,  0.2175958 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003321228090698708
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.34280873e-13,  8.35702182e-14,  1.00000000e+00,  2.79359255e-26,
        1.00000000e+00, -8.35702182e-14, -1.00000000e+00,  0.00000000e+00,
       -3.34280873e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02668177, -0.08269336,  0.06199409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.54677918e-04, 2.11074337e-01, 1.23687551e-01, 6.47379793e-02,
 -1.47738886e-05, 2.14258356e-05, 1.35024146e-05,-1.07924394e-05,
 -3.79068968e-05,-8.20804878e-07, 9.46553536e-06,-5.54310628e-05,
  1.27720002e-03,-1.26388876e-04,-4.90530786e+00, 8.19828722e-04,
  1.18424869e-02,-5.40126948e-04]


--- Step 1439 ---
qpos:
[ 1.85394067e-02, 3.00127356e-02,-9.45510645e-03,-2.52654239e-02,
  1.28472152e-03, 2.90366998e-01,-8.73740240e-02, 3.22721791e-01,
  1.15949846e-02, 2.78048792e-02,-8.23853092e-03, 2.64494214e-02,
  1.33464316e+00, 7.60163890e-03, 1.20951978e+00, 4.47866040e-02,
  5.32202240e-02,-7.94695663e-02, 1.72778588e-01, 9.99120297e-01,
  2.17367484e-02,-2.39645115e-02,-2.66804924e-02]

qacc:
[-1.54009315e+00, 1.01043859e+00,-4.24975760e+00, 1.04174401e+01,
  9.58397010e+00, 4.94668110e+01,-1.77894785e+02, 4.15816237e+02,
  4.44637511e+00,-4.60925513e-01,-3.48786948e+00, 1.91693048e+01,
  1.76445914e-01,-4.96024864e-01,-7.53870103e+00, 2.55530757e+01,
 -1.79435759e+00, 6.51470091e-02, 3.06017905e-01,-8.82757652e-01,
 -1.65002200e+01,-4.62176223e+00]

qfrc_actuator:
[ 2.53779709e-05, 8.94236595e-04, 1.98622464e-04,-1.97930385e-05,
 -4.04475117e-03, 3.13266273e-01, 6.73137591e-02, 1.70000011e-01,
 -9.54275485e-05, 7.49995441e-04, 2.28909490e-04, 1.13697364e-04,
  4.96283392e-03,-1.56952076e-03, 0.00000000e+00,-1.38933239e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.33590935,  0.00317105, -0.33589438,  0.00317105,  0.23774922,
       -0.00092669, -0.33589438, -0.00092669,  0.3359006 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006364904156312886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99707333, -0.04083229, -0.06463361, -0.04074677,  0.99916601,
       -0.00264134,  0.06468756,  0.        , -0.99790557])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09067089, -0.0804315 ,  0.21762816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032899240280533093
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.68730800e-13, -8.43653999e-14,  1.00000000e+00, -1.42350414e-26,
        1.00000000e+00,  8.43653999e-14, -1.00000000e+00,  0.00000000e+00,
       -1.68730800e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02668102, -0.08269417,  0.06199415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.05680100e-03, 2.12149517e-01, 1.23769646e-01, 6.51401810e-02,
  2.66751573e-05,-5.65773266e-05, 2.00130763e-05, 4.56444024e-05,
 -4.60023830e-05,-3.62882714e-05,-6.51917295e-06, 1.21641478e-04,
  1.36215337e-03,-1.33192590e-04,-4.90532397e+00, 8.52266676e-04,
  1.18443035e-02,-5.36648649e-04]


--- Step 1440 ---
qpos:
[ 1.85394688e-02, 3.00119757e-02,-9.45420625e-03,-2.52643850e-02,
  1.23452937e-03, 2.92243466e-01,-8.85461591e-02, 3.24834473e-01,
  1.15952065e-02, 2.78031823e-02,-8.23844836e-03, 2.64513401e-02,
  1.33481490e+00, 7.60093273e-03, 1.20967396e+00, 4.47890902e-02,
  5.29991849e-02,-7.94497749e-02, 1.72833877e-01, 9.99087549e-01,
  2.15502060e-02,-2.49904905e-02,-2.71133605e-02]

qacc:
[ 8.02186473e+00, 2.07785887e+00,-9.19400993e+00, 1.98426714e+01,
  8.74191086e+00, 4.53255484e+01,-2.02306324e+02, 5.00620409e+02,
  5.71662521e+00, 3.41451550e+00,-1.58985837e+01, 3.19581227e+01,
 -1.63162769e-01,-7.96829049e-02, 5.21396049e+00,-1.75866738e+01,
 -1.84365285e+00, 5.96537212e-02, 3.08725999e-01,-8.38632223e-01,
 -1.69419387e+01,-4.83589815e+00]

qfrc_actuator:
[ 7.38464890e-05, 9.05765004e-04, 1.90335072e-04, 1.05521507e-05,
 -3.95530571e-03, 3.15276516e-01, 6.84466737e-02, 1.71568067e-01,
 -6.15430771e-05, 7.61751095e-04, 2.01375860e-04, 1.57153392e-04,
  4.94639780e-03,-1.58552095e-03, 0.00000000e+00,-1.47736813e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.29180686,  0.00198484, -0.29180011,  0.00198484,  0.19634261,
       -0.00064935, -0.29180011, -0.00064935,  0.29180244,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005301151421584569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96891141e-01, -3.99006049e-02, -6.79411084e-02, -3.98082607e-02,
        9.99203654e-01, -2.71305185e-03,  6.79952561e-02, -4.33680869e-19,
       -9.97685644e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0904488 , -0.08042364,  0.217661  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032594579490509423
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.70307923e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.70307923e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02668032, -0.08269502,  0.06199421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.21517075e-03, 2.12398259e-01, 1.24392740e-01, 6.58403952e-02,
  3.46398784e-05,-1.37340808e-05,-3.51681930e-05, 4.26109723e-05,
 -4.87767693e-05,-3.70062079e-05, 7.72911113e-06,-8.27432141e-05,
  1.45204458e-03,-1.40146568e-04,-4.90534058e+00, 8.86807105e-04,
  1.18460843e-02,-5.33132945e-04]


--- Step 1441 ---
qpos:
[ 1.85397669e-02, 3.00115025e-02,-9.45354449e-03,-2.52636460e-02,
  1.18810638e-03, 2.94136719e-01,-8.97023832e-02, 3.26970488e-01,
  1.15954881e-02, 2.78020085e-02,-8.23893948e-03, 2.64530035e-02,
  1.33498637e+00, 7.59999175e-03, 1.20982824e+00, 4.47898470e-02,
  5.27706990e-02,-7.94297564e-02, 1.72890376e-01, 9.99052395e-01,
  2.13613396e-02,-2.60503370e-02,-2.75569352e-02]

qacc:
[ 2.01310142e+00, 4.23456076e-01, 2.97190089e-01,-5.30639908e+00,
  7.26497723e+00, 2.19556480e+01,-1.37604896e+02, 4.81645488e+02,
  4.82219253e-01, 1.76808528e+00,-4.22414155e+00, 3.36970639e-01,
 -1.97865080e-01, 1.05675121e-02, 5.39919007e+00,-1.86318786e+01,
 -1.86171271e+00, 5.67542980e-02, 3.02390780e-01,-8.09675834e-01,
 -1.70951889e+01,-4.98707300e+00]

qfrc_actuator:
[ 8.45885062e-05, 8.94956445e-04, 1.67290741e-04,-7.53824031e-06,
 -3.86653253e-03, 3.16785809e-01, 6.95916225e-02, 1.72876761e-01,
 -5.94573487e-05, 8.22748667e-04, 1.85176325e-04, 1.46431166e-04,
  4.93569492e-03,-1.59465667e-03, 0.00000000e+00,-1.56574321e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25158633,  0.00116373, -0.25158364,  0.00116373,  0.18123745,
       -0.00032541, -0.25158364, -0.00032541,  0.25158482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004165342033446865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99668794, -0.03894936, -0.07138694, -0.03884983,  0.99924119,
       -0.00278259,  0.07144115,  0.        , -0.99744482])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0902217 , -0.08041542,  0.21769335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003229761314881008
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.71873850e-13,  8.59369251e-14,  1.00000000e+00,  1.47703102e-26,
        1.00000000e+00, -8.59369251e-14, -1.00000000e+00,  0.00000000e+00,
       -1.71873850e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667966, -0.08269591,  0.06199426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.35359061e-03, 2.12899724e-01, 1.25221369e-01, 6.61435644e-02,
  3.09151950e-06, 4.79478878e-05,-2.18803742e-05,-1.17004315e-05,
 -4.50342115e-05,-3.08142712e-05,-1.02931603e-05,-9.30543115e-05,
  1.54757709e-03,-1.47326494e-04,-4.90535778e+00, 9.23505942e-04,
  1.18478700e-02,-5.29583548e-04]


--- Step 1442 ---
qpos:
[ 1.85398473e-02, 3.00112513e-02,-9.45281112e-03,-2.52638327e-02,
  1.14482599e-03, 2.96058934e-01,-9.08422823e-02, 3.29131020e-01,
  1.15957927e-02, 2.78013812e-02,-8.23969768e-03, 2.64541550e-02,
  1.33515734e+00, 7.59921873e-03, 1.20998225e+00, 4.47911999e-02,
  5.25347287e-02,-7.94095231e-02, 1.72948049e-01, 9.99014700e-01,
  2.11702013e-02,-2.71441907e-02,-2.80115248e-02]

qacc:
[-1.87008963e+00,-1.80984705e+00, 1.07826327e+01,-2.70646573e+01,
  5.98333161e+00, 3.87996463e+01,-1.78528023e+02, 5.30375314e+02,
  1.78689323e-01, 4.14478877e-01, 1.73124968e+00,-1.05666674e+01,
 -4.42396431e-01, 5.01551664e-01,-2.17063123e+00, 7.09486634e+00,
 -1.87110024e+00, 5.37121356e-02, 2.93515778e-01,-7.82590728e-01,
 -1.71695681e+01,-5.14444130e+00]

qfrc_actuator:
[ 7.30201980e-05, 9.06241192e-04, 1.71095138e-04,-5.40133049e-05,
 -3.81471355e-03, 3.19214102e-01, 7.07492875e-02, 1.74142771e-01,
 -5.83543398e-05, 8.59502861e-04, 1.75997272e-04, 1.21733089e-04,
  4.91246399e-03,-1.58186818e-03, 0.00000000e+00,-1.52927014e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.25783257e-01,  5.12655673e-04, -2.25782675e-01,  5.12655673e-04,
        1.63705395e-01, -1.40952214e-04, -2.25782675e-01, -1.40952214e-04,
        2.25782937e-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: -0.00029608068966276645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99646272, -0.03797865, -0.07496448, -0.03787163,  0.99927855,
       -0.00284911,  0.0750186 ,  0.        , -0.99718213])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08998927, -0.08040686,  0.21772546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003200797716603754
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.6714557e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -8.6714557e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667905, -0.08269684,  0.06199432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.49041326e-03, 2.14432110e-01, 1.25571309e-01, 6.62371788e-02,
  1.20785750e-06, 5.85923524e-05,-2.35864607e-06,-2.36281772e-05,
 -5.44752422e-05,-6.11640638e-06,-1.88118033e-05, 2.91192525e-05,
  1.64736281e-03,-1.54706427e-04,-4.90537525e+00, 9.61892337e-04,
  1.18496752e-02,-5.26015538e-04]


--- Step 1443 ---
qpos:
[ 1.85404779e-02, 3.00112419e-02,-9.45180429e-03,-2.52642463e-02,
  1.10388371e-03, 2.98025807e-01,-9.19570672e-02, 3.31317181e-01,
  1.15961086e-02, 2.78007406e-02,-8.24034233e-03, 2.64550473e-02,
  1.33532777e+00, 7.59884655e-03, 1.21013601e+00, 4.47939485e-02,
  5.22913114e-02,-7.93890819e-02, 1.73006839e-01, 9.98974331e-01,
  2.09768353e-02,-2.82718474e-02,-2.84773649e-02]

qacc:
[ 4.72457964e+00,-9.21622661e-01, 4.68875439e+00,-9.20780197e+00,
  4.42067041e+00, 3.74922028e+01,-1.48975727e+02, 4.96701648e+02,
  9.95552842e-02,-8.68720545e-01, 4.16548999e+00,-8.82132369e+00,
 -5.78562852e-01, 8.02744194e-01,-4.53975505e+00, 1.54688371e+01,
 -1.86173291e+00, 5.19686265e-02, 2.79426070e-01,-7.63775575e-01,
 -1.70714294e+01,-5.26914205e+00]

qfrc_actuator:
[ 1.01682951e-04, 9.30731904e-04, 1.90794090e-04,-6.35157133e-05,
 -3.78594821e-03, 3.21855356e-01, 7.19255564e-02, 1.75177375e-01,
 -5.78281880e-05, 8.28220466e-04, 1.70953363e-04, 1.06760840e-04,
  4.89239704e-03,-1.55623403e-03, 0.00000000e+00,-1.45502721e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.10757708e-01,  1.29392101e-05, -2.10757708e-01,  1.29392101e-05,
        1.59816516e-01, -3.12747182e-06, -2.10757708e-01, -3.12747182e-06,
        2.10757708e-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: -0.00017010788947739502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99621548, -0.03698926, -0.07865437, -0.03687451,  0.99931566,
       -0.00291136,  0.07870823,  0.        , -0.9968977 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08975047, -0.08039797,  0.21775807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031725303559329565
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62461561e-13,  3.49948748e-13,  1.00000000e+00,  9.18480944e-26,
        1.00000000e+00, -3.49948748e-13, -1.00000000e+00,  0.00000000e+00,
       -2.62461561e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667849, -0.08269781,  0.06199437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83465311e-05, 3.78836299e-05, 2.41578819e-05,-9.06826755e-06,
 -1.61890559e-03, 2.15567557e-01, 1.25918670e-01, 6.60401091e-02,
  5.80538363e-07, 1.34630296e-08, 5.96502421e-06,-1.30022539e-05,
 -5.01144726e-05, 1.12841198e-05,-8.40010266e-06, 7.27830264e-05,
  1.75109417e-03,-1.62265790e-04,-4.90539286e+00, 1.00194179e-03,
  1.18514894e-02,-5.22432975e-04]


--- Step 1444 ---
qpos:
[ 1.85404127e-02, 3.00118725e-02,-9.45105120e-03,-2.52644406e-02,
  1.06429649e-03, 3.00063811e-01,-9.30255586e-02, 3.33529465e-01,
  1.15957393e-02, 2.77998205e-02,-8.24086596e-03, 2.64554426e-02,
  1.33549799e+00, 7.59823120e-03, 1.21028976e+00, 4.47968722e-02,
  5.20406724e-02,-7.93684297e-02, 1.73066641e-01, 9.98931187e-01,
  2.07812626e-02,-2.94322472e-02,-2.89545400e-02]

qacc:
[-5.98785821e+00, 2.01837649e+00,-6.87173310e+00, 1.05726092e+01,
  2.58254843e+00, 1.56814425e+01,-2.50509126e+01, 3.38200464e+02,
 -5.83366154e+00,-1.71943850e+00, 7.71262571e+00,-1.63223652e+01,
  7.29432623e-03,-2.28763450e-01,-5.43855032e-01, 1.87580334e+00,
 -1.80544523e+00, 5.27686255e-02, 2.52871503e-01,-7.67076006e-01,
 -1.65442668e+01,-5.32653193e+00]

qfrc_actuator:
[ 6.50403880e-05, 9.80790290e-04, 1.84294016e-04,-5.11629082e-05,
 -3.77146758e-03, 3.24313066e-01, 7.30621631e-02, 1.75511885e-01,
 -9.31508669e-05, 7.91962682e-04, 1.68116749e-04, 7.98234096e-05,
  4.87957617e-03,-1.57645043e-03, 0.00000000e+00,-1.44792357e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.04383984e-01, -4.02488970e-04, -2.04383588e-01, -4.02488970e-04,
        1.75522372e-01,  5.68366609e-05, -2.04383588e-01,  5.68366609e-05,
        2.04383872e-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: -4.095394630957811e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99594745, -0.03598254, -0.08242527, -0.03585995,  0.99935242,
       -0.00296779,  0.08247868,  0.        , -0.99659283])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08950367, -0.08038875,  0.21779241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031449372946136533
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.82547823e-14,  3.53019129e-13,  1.00000000e+00,  3.11556264e-26,
        1.00000000e+00, -3.53019129e-13, -1.00000000e+00,  0.00000000e+00,
       -8.82547823e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667798, -0.08269884,  0.06199442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.58048977e-05, 7.58410146e-05, 3.97319866e-06, 1.46313906e-05,
 -1.72137750e-03, 2.15733017e-01, 1.25786212e-01, 6.50869964e-02,
 -3.53078620e-05,-3.55453488e-05,-2.53567220e-06,-2.69825905e-05,
 -3.61926757e-05,-2.88161907e-05, 8.49837187e-07, 9.32162698e-06,
  1.85780265e-03,-1.69984347e-04,-4.90541039e+00, 1.04336279e-03,
  1.18533148e-02,-5.18845763e-04]


--- Step 1445 ---
qpos:
[ 1.85395641e-02, 3.00132438e-02,-9.45046063e-03,-2.52645054e-02,
  9.92387987e-04, 3.03433326e-01,-9.28322550e-02, 3.36732715e-01,
  1.15952936e-02, 2.77988787e-02,-8.24153713e-03, 2.64558433e-02,
  1.33566824e+00, 7.59683491e-03, 1.21044343e+00, 4.48001881e-02,
  5.17970488e-02,-7.93470043e-02, 1.73123670e-01, 9.98887410e-01,
  2.05817539e-02,-3.05606488e-02,-2.94343295e-02]

qacc:
[-6.73902810e+00, 1.71346367e+00,-5.21152949e+00, 7.14121519e+00,
 -5.67036465e+01, 1.47631224e+02,-1.92693734e+03, 1.54262257e+04,
 -6.54553874e-01, 3.96062830e-01,-1.47393045e+00, 1.81550195e+00,
  5.77412053e-01,-1.20121040e+00,-1.36514408e+00, 4.45460343e+00,
  1.75387340e+00, 1.93272420e-01,-6.93301087e-01,-2.46104868e+00,
  1.58884685e+01,-1.58958030e+00]

qfrc_actuator:
[ 2.57457393e-05, 1.02794177e-03, 1.80244987e-04,-4.38049946e-05,
 -3.78326262e-03, 3.26971364e-01, 7.41437476e-02, 1.75752894e-01,
 -9.60329649e-05, 8.06249045e-04, 1.66551615e-04, 8.15536180e-05,
  4.87641887e-03,-1.62369350e-03, 0.00000000e+00,-1.42718334e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031180498542505986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.78031635e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.78031635e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667751, -0.08269991,  0.06199447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.03150030e-05, 9.09644778e-05, 1.25959872e-05, 1.10262452e-05,
 -1.80085171e-03, 2.14772696e-01, 1.24538625e-01, 6.40153635e-02,
 -3.93206358e-06,-7.24585729e-06,-1.01364408e-05,-4.02180581e-07,
 -2.88638612e-05,-6.37340838e-05,-2.23802857e-06, 2.05238460e-05,
  1.96484459e-03,-1.77795421e-04,-4.90542729e+00, 1.08534801e-03,
  1.18551520e-02,-5.15274378e-04]


--- Step 1446 ---
qpos:
[ 1.85389404e-02, 3.00147482e-02,-9.44969810e-03,-2.52637358e-02,
  9.24888715e-04, 3.07166963e-01,-9.26816759e-02, 3.39892425e-01,
  1.15955054e-02, 2.77981263e-02,-8.24181475e-03, 2.64565411e-02,
  1.33583847e+00, 7.59503181e-03, 1.21059677e+00, 4.48060600e-02,
  5.15525278e-02,-7.93248474e-02, 1.73179191e-01, 9.98841922e-01,
  2.03790798e-02,-3.16926931e-02,-2.99178936e-02]

qacc:
[ 1.93299312e+00, 1.41063031e+00,-8.29552562e+00, 2.23542910e+01,
  6.71505751e+00, 5.08875611e+02,-9.33966027e+02,-3.48978973e+01,
  5.61426049e+00,-2.48825377e-01,-2.31041890e-02, 4.41777187e+00,
  4.76094853e-01,-8.49781436e-01,-8.28373412e+00, 2.81273832e+01,
 -2.24357634e-01, 1.82889546e-01,-3.77021230e-01,-1.56738388e+00,
 -1.93085205e+00,-1.82451692e+00]

qfrc_actuator:
[ 3.84837083e-05, 1.00198177e-03, 1.77676849e-04,-3.93681618e-06,
 -3.74218347e-03, 3.27893098e-01, 7.39760525e-02, 1.75104529e-01,
 -6.20329248e-05, 8.50715818e-04, 2.01474798e-04, 1.00180900e-04,
  4.88969771e-03,-1.63325962e-03, 0.00000000e+00,-1.29203248e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20436634,  0.00637058, -0.20426703,  0.00637058,  0.45911898,
        0.0079451 , -0.20426703,  0.0079451 ,  0.20461413,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.999567910069696e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95633196e-01, -3.40786116e-02, -8.69090757e-02, -3.39495163e-02,
        9.99419155e-01, -2.96346194e-03,  8.69595857e-02,  4.33680869e-19,
       -9.96211840e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08881092, -0.08036954,  0.21801004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003096663940149319
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.96305707e-14,  1.79261141e-13,  1.00000000e+00,  1.60672784e-26,
        1.00000000e+00, -1.79261141e-13, -1.00000000e+00,  0.00000000e+00,
       -8.96305707e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667716, -0.08270101,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.35258143e-04, 1.49024092e-01, 6.12555282e-02, 1.37924270e-02,
  3.38790371e-05, 3.83420402e-05, 3.21816922e-05, 1.79609925e-05,
 -1.69191311e-05,-3.40658618e-05,-1.80297991e-06, 1.35284410e-04,
  1.87993651e-03,-1.79460956e-04,-4.90540821e+00, 1.06937585e-03,
  1.18567956e-02,-5.12986820e-04]


--- Step 1447 ---
qpos:
[ 1.85388187e-02, 3.00161013e-02,-9.44875566e-03,-2.52628026e-02,
  8.61702634e-04, 3.11005814e-01,-9.25352127e-02, 3.43026969e-01,
  1.15964679e-02, 2.77975011e-02,-8.24135062e-03, 2.64570940e-02,
  1.33600847e+00, 7.59355137e-03, 1.21075002e+00, 4.48138236e-02,
  5.13060418e-02,-7.93019744e-02, 1.73233609e-01, 9.98794527e-01,
  2.01733522e-02,-3.28332431e-02,-3.04056946e-02]

qacc:
[ 4.31542116e+00,-3.74569173e-01, 3.42244764e-01, 2.32281150e+00,
  7.38250482e+00, 1.01888845e+02,-6.25990050e+01,-4.24467914e+02,
  6.41953077e+00,-2.21605261e+00, 8.73532484e+00,-1.24989727e+01,
 -2.57868886e-01, 4.50119350e-01,-5.83118725e+00, 2.02636308e+01,
 -4.91257281e-01, 1.79037072e-01,-2.75772445e-01,-1.44548852e+00,
 -4.36698171e+00,-2.00944336e+00]

qfrc_actuator:
[ 6.39936791e-05, 9.67971541e-04, 1.75727784e-04, 1.42289506e-06,
 -3.67542918e-03, 3.27763864e-01, 7.38408385e-02, 1.75022229e-01,
 -2.43594933e-05, 8.59830526e-04, 2.40056256e-04, 9.31472391e-05,
  4.89153714e-03,-1.60252871e-03, 0.00000000e+00,-1.19707166e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21348156,  0.00592354, -0.21339936,  0.00592354,  1.91626276,
        0.0472658 , -0.21339936,  0.0472658 ,  0.21479356,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020034319053527112
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99563535, -0.03320409, -0.0872223 , -0.03307741,  0.99944859,
       -0.00289774,  0.08727042,  0.        , -0.99618466])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08834971, -0.08035954,  0.21820974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030863630720312507
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.69789150e-13,  3.59718866e-13,  1.00000000e+00,  9.70482470e-26,
        1.00000000e+00, -3.59718866e-13, -1.00000000e+00,  0.00000000e+00,
       -2.69789150e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667705, -0.08270212,  0.06199454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.88500581e-04, 1.30554127e-01, 6.32093715e-02, 1.58698748e-02,
  3.86757433e-05, 3.80145456e-05, 5.10961920e-05,-3.92811172e-06,
 -1.48027359e-05, 1.72025316e-05, 1.16782853e-05, 1.01655369e-04,
  1.89628718e-03,-1.85712786e-04,-4.90540864e+00, 1.07912785e-03,
  1.18593391e-02,-5.10043414e-04]


--- Step 1448 ---
qpos:
[ 1.85386595e-02, 3.00167801e-02,-9.44752939e-03,-2.52620964e-02,
  8.03440964e-04, 3.14877152e-01,-9.23981661e-02, 3.46138601e-01,
  1.15971861e-02, 2.77964290e-02,-8.24010601e-03, 2.64576301e-02,
  1.33617816e+00, 7.59267852e-03, 1.21090375e+00, 4.48189887e-02,
  5.10573441e-02,-7.92784181e-02, 1.73287239e-01, 9.98745126e-01,
  1.99646259e-02,-3.39834858e-02,-3.08983790e-02]

qacc:
[-3.01443830e-01,-2.15145806e+00, 7.33361114e+00,-1.12123866e+01,
  8.49897370e+00, 2.57416403e+01, 5.97356365e+01,-4.42996709e+02,
 -2.05064030e+00,-2.80258182e+00, 9.21296976e+00,-1.04278008e+01,
 -8.74570973e-01, 1.37171026e+00, 8.66273762e+00,-2.90549071e+01,
 -5.52918612e-01, 1.70822493e-01,-1.96983762e-01,-1.41011121e+00,
 -4.96832311e+00,-2.32228223e+00]

qfrc_actuator:
[ 6.12944978e-05, 8.93857009e-04, 1.74073413e-04,-1.35852131e-05,
 -3.59493745e-03, 3.26886522e-01, 7.37035943e-02, 1.75935458e-01,
 -3.80960363e-05, 7.94462627e-04, 2.62574425e-04, 8.87928607e-05,
  4.88120771e-03,-1.56593895e-03, 0.00000000e+00,-1.33961451e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003667954508104151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99564048, -0.03232017, -0.08749535, -0.03219609,  0.99947757,
       -0.00282934,  0.08754108,  0.        , -0.99616091])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0878807 , -0.08034932,  0.2184164 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030854368865765314
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.79913423e-13,  3.59826846e-13,  1.00000000e+00,  6.47376797e-26,
        1.00000000e+00, -3.59826846e-13, -1.00000000e+00,  0.00000000e+00,
       -1.79913423e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667714, -0.08270323,  0.06199454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.23997656e-04, 1.24276319e-01, 6.32279266e-02, 1.80263774e-02,
 -1.25923998e-05,-3.36910698e-05, 3.65283113e-05,-1.03607293e-06,
 -1.36236128e-05, 3.78462144e-05, 1.28758197e-05,-1.36270849e-04,
  1.92688965e-03,-1.92665896e-04,-4.90541159e+00, 1.09303986e-03,
  1.18618698e-02,-5.06969630e-04]


--- Step 1449 ---
qpos:
[ 1.85388141e-02, 3.00169839e-02,-9.44663971e-03,-2.52615569e-02,
  7.50782926e-04, 3.18741381e-01,-9.22829268e-02, 3.49227124e-01,
  1.15973897e-02, 2.77950504e-02,-8.23853829e-03, 2.64577795e-02,
  1.33634739e+00, 7.59260532e-03, 1.21105783e+00, 4.48200890e-02,
  5.08062557e-02,-7.92542192e-02, 1.73340348e-01, 9.98693620e-01,
  1.97529628e-02,-3.51442997e-02,-3.13966783e-02]

qacc:
[ 2.68899464e+00,-3.57694317e-02,-8.89629463e-02,-1.89881186e+00,
  9.56033225e+00, 7.28595677e+00, 5.13414204e+01,-3.92249149e+02,
 -4.37264113e+00,-2.09586517e+00, 8.53310599e+00,-1.55340145e+01,
 -1.22889737e+00, 1.88255598e+00, 1.29432994e+01,-4.42219340e+01,
 -5.97688825e-01, 1.60635695e-01,-1.30233613e-01,-1.37762480e+00,
 -5.41617614e+00,-2.68096897e+00]

qfrc_actuator:
[ 7.75137522e-05, 8.67274046e-04, 1.54667358e-04,-2.27364548e-05,
 -3.50853977e-03, 3.25679722e-01, 7.35543266e-02, 1.77098764e-01,
 -6.42313707e-05, 7.73691553e-04, 2.75119196e-04, 6.82231858e-05,
  4.85294035e-03,-1.52624788e-03, 0.00000000e+00,-1.54991565e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005307109535812859
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99563946, -0.03142094, -0.08783385, -0.03129938,  0.99950624,
       -0.00276119,  0.08787724,  0.        , -0.99613131])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08740983, -0.0803389 ,  0.2186256 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030911805371489076
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.97895651e-14,  3.59158261e-13,  1.00000000e+00,  3.22486640e-26,
        1.00000000e+00, -3.59158261e-13, -1.00000000e+00,  0.00000000e+00,
       -8.97895651e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667736, -0.08270435,  0.06199453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.84513301e-04, 1.21304114e-01, 6.34987464e-02, 2.03211309e-02,
 -2.65197986e-05,-3.20893439e-05, 1.00467612e-05,-2.07706430e-05,
 -2.67590914e-05, 4.73216523e-05,-1.44650619e-05,-2.17444035e-04,
  1.96192099e-03,-1.99759093e-04,-4.90541510e+00, 1.10901496e-03,
  1.18641991e-02,-5.03819224e-04]


--- Step 1450 ---
qpos:
[ 1.85395062e-02, 3.00170882e-02,-9.44616785e-03,-2.52615196e-02,
  7.04174665e-04, 3.22569449e-01,-9.21950571e-02, 3.52293335e-01,
  1.15969333e-02, 2.77938167e-02,-8.23729117e-03, 2.64576679e-02,
  1.33651623e+00, 7.59266202e-03, 1.21121150e+00, 4.48213278e-02,
  5.05525116e-02,-7.92294228e-02, 1.73393131e-01, 9.98639891e-01,
  1.95384459e-02,-3.63169325e-02,-3.19013614e-02]

qacc:
[ 4.60114102e+00,-7.01272049e-03, 1.93420017e+00,-9.85724722e+00,
  1.01931836e+01,-1.40378842e+01, 6.87459048e+01,-3.66739886e+02,
 -5.63980298e+00, 5.61339175e-01,-6.02947985e-01,-3.52774663e+00,
 -3.51757088e-01, 3.99799101e-01,-9.98196845e-01, 2.67898110e+00,
 -6.63910119e-01, 1.49371374e-01,-8.14127051e-02,-1.32972344e+00,
 -6.04858511e+00,-3.05579499e+00]

qfrc_actuator:
[ 1.04747899e-04, 8.87032969e-04, 1.42869807e-04,-4.60955404e-05,
 -3.45675275e-03, 3.24639147e-01, 7.34317546e-02, 1.77533845e-01,
 -9.74378718e-05, 7.97469451e-04, 2.64072475e-04, 5.60537258e-05,
  4.81393555e-03,-1.53838901e-03, 0.00000000e+00,-1.53207651e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006867662978361932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99562652, -0.03050255, -0.0883031 , -0.03038329,  0.99953469,
       -0.00269472,  0.0883442 ,  0.        , -0.99609001])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08694072, -0.08032826,  0.21883451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003101197814331519
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.78999066e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.78999066e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667766, -0.08270549,  0.06199452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.13869402e-04, 1.20478198e-01, 6.44158560e-02, 2.18981286e-02,
 -3.39976617e-05, 7.04115879e-06,-1.71577362e-05,-1.36008353e-05,
 -4.27242387e-05,-4.66236740e-06,-3.53067736e-05, 2.86051617e-06,
  2.00072414e-03,-2.06928178e-04,-4.90541900e+00, 1.12704266e-03,
  1.18662893e-02,-5.00596402e-04]


--- Step 1451 ---
qpos:
[ 1.85405199e-02, 3.00168159e-02,-9.44583824e-03,-2.52607105e-02,
  6.63873418e-04, 3.26364692e-01,-9.21398800e-02, 3.55336600e-01,
  1.15960819e-02, 2.77927410e-02,-8.23678936e-03, 2.64574391e-02,
  1.33668470e+00, 7.59268109e-03, 1.21136479e+00, 4.48240500e-02,
  5.02959368e-02,-7.92040801e-02, 1.73445737e-01, 9.98583826e-01,
  1.93211632e-02,-3.75022232e-02,-3.24132564e-02]

qacc:
[ 2.76068836e+00, 1.48436636e+00,-9.27357493e+00, 2.31262904e+01,
  1.04054214e+01, 3.50022879e+00, 1.59456554e+01,-3.22066761e+02,
 -3.39219247e+00, 2.05731967e+00,-6.52586431e+00, 5.55922407e+00,
 -1.39592141e-01, 3.23135448e-02,-5.03997966e+00, 1.68342840e+01,
 -7.07668592e-01, 1.36576740e-01,-4.42167401e-02,-1.28725592e+00,
 -6.47738686e+00,-3.46447657e+00]

qfrc_actuator:
[ 1.20488961e-04, 8.63401028e-04, 1.35853221e-04,-6.56677479e-06,
 -3.42841973e-03, 3.25079403e-01, 7.33394852e-02, 1.77842234e-01,
 -1.16783130e-04, 7.94390136e-04, 2.21632684e-04, 4.89532276e-05,
  4.78980047e-03,-1.54577431e-03, 0.00000000e+00,-1.45094116e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008311523231169887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99559723, -0.02956214, -0.08895079, -0.02944485,  0.99956294,
       -0.00263073,  0.08898968,  0.        , -0.99603255])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08647578, -0.08031736,  0.21904109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031139688335209137
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.78264954e-13,  1.78264954e-13,  1.00000000e+00,  3.17783940e-26,
        1.00000000e+00, -1.78264954e-13, -1.00000000e+00,  0.00000000e+00,
       -1.78264954e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667802, -0.08270665,  0.0619945 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.08915672e-03, 1.22587183e-01, 6.56419672e-02, 2.33092114e-02,
 -2.03411932e-05,-3.25185029e-06,-4.35682615e-05,-7.65557915e-06,
 -4.80865178e-05,-1.83978915e-05,-1.79870166e-05, 7.62970322e-05,
  2.04451514e-03,-2.14225240e-04,-4.90542345e+00, 1.14750859e-03,
  1.18681467e-02,-4.97297314e-04]


--- Step 1452 ---
qpos:
[ 1.85424040e-02, 3.00162124e-02,-9.44561061e-03,-2.52594429e-02,
  6.29950621e-04, 3.30138341e-01,-9.21207666e-02, 3.58356240e-01,
  1.15950047e-02, 2.77917724e-02,-8.23654595e-03, 2.64570999e-02,
  1.33685268e+00, 7.59312020e-03, 1.21151832e+00, 4.48246735e-02,
  5.00364176e-02,-7.91782448e-02, 1.73498297e-01, 9.98525313e-01,
  1.91012049e-02,-3.87007340e-02,-3.29332112e-02]

qacc:
[ 7.47149569e+00, 7.77129841e-01,-5.36148060e+00, 1.37184941e+01,
  1.02970889e+01, 2.59695417e+01,-3.92463021e+01,-2.84314995e+02,
 -1.93471148e+00, 6.40193035e-01,-1.60444672e+00, 2.03261950e-02,
 -8.45070308e-01, 1.15810711e+00, 6.79967866e+00,-2.30551547e+01,
 -7.36114484e-01, 1.23169848e-01,-1.16931567e-02,-1.24913630e+00,
 -6.76782116e+00,-3.88590964e+00]

qfrc_actuator:
[ 1.64840507e-04, 8.49556766e-04, 1.31596781e-04, 1.63637893e-05,
 -3.39908363e-03, 3.26277265e-01, 7.32461631e-02, 1.78439218e-01,
 -1.27812783e-04, 8.10630639e-04, 2.14167914e-04, 4.48547705e-05,
  4.77460060e-03,-1.51468527e-03, 0.00000000e+00,-1.56401248e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009637007489073958
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9955509 , -0.0285989 , -0.08978034, -0.02848331,  0.99959097,
       -0.00256867,  0.08981708,  0.        , -0.99595828])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08601487, -0.08030616,  0.21924521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003128219951047534
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.87264197e-14,  1.77452839e-13,  1.00000000e+00,  1.57447551e-26,
        1.00000000e+00, -1.77452839e-13, -1.00000000e+00,  0.00000000e+00,
       -8.87264197e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0266784 , -0.08270782,  0.06199448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.37634987e-03, 1.25288711e-01, 6.71340523e-02, 2.50408035e-02,
 -1.16281642e-05, 5.11811054e-06,-1.37605108e-05,-5.89183053e-06,
 -4.46771040e-05, 1.47235995e-05,-2.36783628e-06,-1.11716406e-04,
  2.09233309e-03,-2.21571603e-04,-4.90542822e+00, 1.17030386e-03,
  1.18697364e-02,-4.93929479e-04]


--- Step 1453 ---
qpos:
[ 1.85444607e-02, 3.00153831e-02,-9.44544538e-03,-2.52586175e-02,
  6.02286392e-04, 3.33883304e-01,-9.21333732e-02, 3.61353853e-01,
  1.15934584e-02, 2.77912278e-02,-8.23658030e-03, 2.64566739e-02,
  1.33702022e+00, 7.59391675e-03, 1.21167216e+00, 4.48212600e-02,
  4.97737370e-02,-7.91519648e-02, 1.73550907e-01, 9.98464223e-01,
  1.88786708e-02,-3.99134759e-02,-3.34619998e-02]

qacc:
[ 1.48185439e+00,-1.03762926e+00, 5.12402440e+00,-1.24955401e+01,
  9.96875803e+00, 7.99320919e+00, 4.13110048e+00,-2.99682130e+02,
 -4.01456229e+00, 1.16601862e+00,-2.96431532e+00, 1.57958667e+00,
 -8.99634195e-01, 1.20561907e+00, 1.27524374e+01,-4.37440530e+01,
 -7.90351091e-01, 1.11149952e-01, 1.27399874e-02,-1.19796679e+00,
 -7.28169962e+00,-4.26709356e+00]

qfrc_actuator:
[ 1.72422831e-04, 8.41690356e-04, 1.29013047e-04,-6.16522405e-06,
 -3.37173992e-03, 3.26901937e-01, 7.32041627e-02, 1.78651133e-01,
 -1.51616856e-04, 8.56203383e-04, 2.09746720e-04, 4.25976282e-05,
  4.75413443e-03,-1.49645951e-03, 0.00000000e+00,-1.77286658e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010852896611977284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95487904e-01, -2.76126258e-02, -9.07820223e-02, -2.74985202e-02,
        9.99618699e-01, -2.50768619e-03,  9.08166508e-02,  4.33680869e-19,
       -9.95867630e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08555717, -0.08029465,  0.21944731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031427170006943783
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.83171333e-14,  3.53268533e-13,  1.00000000e+00,  3.11996641e-26,
        1.00000000e+00, -3.53268533e-13, -1.00000000e+00,  0.00000000e+00,
       -8.83171333e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667878, -0.08270903,  0.06199445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.66910472e-03, 1.26856909e-01, 6.88468666e-02, 2.64213964e-02,
 -2.41453758e-05, 4.53654134e-05,-5.25411464e-06,-2.62595268e-06,
 -4.06526945e-05, 1.20817734e-05,-1.80913105e-05,-2.16409148e-04,
  2.14351528e-03,-2.28920235e-04,-4.90543314e+00, 1.19533741e-03,
  1.18710362e-02,-4.90499828e-04]


--- Step 1454 ---
qpos:
[ 1.85459033e-02, 3.00144450e-02,-9.44512482e-03,-2.52577536e-02,
  5.80660145e-04, 3.37590636e-01,-9.21714665e-02, 3.64331494e-01,
  1.15923280e-02, 2.77909698e-02,-8.23663394e-03, 2.64558781e-02,
  1.33718761e+00, 7.59441711e-03, 1.21182560e+00, 4.48176957e-02,
  4.95076726e-02,-7.91252873e-02, 1.73603638e-01, 9.98400418e-01,
  1.86536664e-02,-4.11414759e-02,-3.40003757e-02]

qacc:
[-5.26247228e+00,-4.88560553e-01, 1.38816753e+00,-9.08728821e-01,
  9.50626083e+00,-1.66487152e+01, 6.56038439e+01,-3.25878255e+02,
  3.53899272e+00,-3.35827484e-01, 3.29654744e+00,-9.86532098e+00,
  9.19002914e-02,-3.48012078e-01,-1.49216739e-01,-3.71322017e-01,
 -8.45937203e-01, 9.93949179e-02, 3.00217259e-02,-1.14370446e+00,
 -7.80335615e+00,-4.63838608e+00]

qfrc_actuator:
[ 1.40540773e-04, 8.55190248e-04, 1.45186797e-04,-1.99487225e-06,
 -3.36577578e-03, 3.26825619e-01, 7.32207897e-02, 1.78622105e-01,
 -1.29494095e-04, 8.65757774e-04, 2.07274398e-04, 2.37131557e-05,
  4.74117220e-03,-1.52156241e-03, 0.00000000e+00,-1.77012297e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011951821968319018
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99540675, -0.02660227, -0.09196583, -0.02648945,  0.9996461 ,
       -0.00244737,  0.09199839,  0.        , -0.99575916])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0851029, -0.0802828,  0.219647 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003156744639810499
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.51698712e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.51698712e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667916, -0.08271027,  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:
[-3.16314410e-05,-9.01688694e-06, 6.80721912e-06, 1.81262500e-06,
 -1.97723494e-03, 1.28080322e-01, 7.04019100e-02, 2.74813849e-02,
  2.14289841e-05, 3.37329477e-05, 6.16766957e-06,-1.71703387e-05,
 -3.22567867e-05,-3.07708628e-05,-3.65766050e-05,-1.25646808e-05,
  2.19941187e-03,-2.36380336e-04,-4.90543842e+00, 1.22287830e-03,
  1.18720854e-02,-4.87007975e-04]


--- Step 1455 ---
qpos:
[ 1.85472969e-02, 3.00138117e-02,-9.44483570e-03,-2.52565425e-02,
  5.64768763e-04, 3.41261216e-01,-9.22315555e-02, 3.67290246e-01,
  1.15914715e-02, 2.77906723e-02,-8.23631255e-03, 2.64552223e-02,
  1.33735505e+00, 7.59409367e-03, 1.21197857e+00, 4.48161373e-02,
  4.92381337e-02,-7.90982658e-02, 1.73656549e-01, 9.98333774e-01,
  1.84262984e-02,-4.23851754e-02,-3.45491597e-02]

qacc:
[-4.25910588e-01, 1.20691059e+00,-5.17892895e+00, 1.10034987e+01,
  8.89536637e+00,-2.28988220e+01, 8.47615215e+01,-3.31307592e+02,
  2.34826995e+00,-8.16585610e-01, 2.23660570e+00,-3.74259931e-01,
  7.68053153e-01,-1.45590802e+00,-6.86513854e+00, 2.27783559e+01,
 -8.68643456e-01, 8.59908715e-02, 4.51177507e-02,-1.10062759e+00,
 -8.03284363e+00,-5.04899053e+00]

qfrc_actuator:
[ 1.38955621e-04, 8.99236082e-04, 1.54669614e-04, 1.78912783e-05,
 -3.39267485e-03, 3.26295869e-01, 7.32790478e-02, 1.79023352e-01,
 -1.16017705e-04, 8.53669119e-04, 2.23576677e-04, 3.06753765e-05,
  4.73802866e-03,-1.57215184e-03, 0.00000000e+00,-1.66044478e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012925619557515766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99530575, -0.02556682, -0.09334237, -0.02545513,  0.99967312,
       -0.00238725,  0.0933729 ,  0.        , -0.99563121])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08465233, -0.0802706 ,  0.21984386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031698585833038473
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.75609270e-14,  1.75121854e-13,  1.00000000e+00,  1.53338319e-26,
        1.00000000e+00, -1.75121854e-13, -1.00000000e+00,  0.00000000e+00,
       -8.75609270e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667951, -0.08271154,  0.06199441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50788152e-06, 4.04999014e-05, 8.52671563e-06, 1.97713923e-05,
 -2.30716599e-03, 1.29299292e-01, 7.16877263e-02, 2.88692670e-02,
  1.41159920e-05, 7.32887649e-06, 2.34392764e-05, 8.28841484e-06,
 -2.79236709e-05,-6.64130127e-05,-1.99014926e-05, 1.03907531e-04,
  2.26020644e-03,-2.43970805e-04,-4.90544403e+00, 1.25299059e-03,
  1.18728915e-02,-4.83458606e-04]


--- Step 1456 ---
qpos:
[ 1.85486604e-02, 3.00134904e-02,-9.44472037e-03,-2.52554396e-02,
  5.54274736e-04, 3.44903351e-01,-9.23117893e-02, 3.70230483e-01,
  1.15900941e-02, 2.77905458e-02,-8.23615356e-03, 2.64550107e-02,
  1.33752243e+00, 7.59313618e-03, 1.21213167e+00, 4.48135176e-02,
  4.89650784e-02,-7.90709479e-02, 1.73709678e-01, 9.98264177e-01,
  1.81966678e-02,-4.36447879e-02,-3.51090787e-02]

qacc:
[-2.68889302e-01, 6.75765518e-01,-1.35468501e+00,-4.67760561e-01,
  8.22744570e+00,-1.63723373e+01, 7.58011881e+01,-3.24987201e+02,
 -4.44860747e+00, 1.60314552e+00,-7.24853473e+00, 1.50535921e+01,
  2.94436901e-01,-7.81045582e-01, 3.38267101e+00,-1.16172768e+01,
 -8.79086081e-01, 7.40952438e-02, 5.43902986e-02,-1.06331736e+00,
 -8.14750575e+00,-5.41461081e+00]

qfrc_actuator:
[ 1.37476461e-04, 9.07981296e-04, 1.42509890e-04, 1.13776175e-05,
 -3.40589865e-03, 3.26147327e-01, 7.33334832e-02, 1.79387875e-01,
 -1.43258956e-04, 8.64311209e-04, 2.15251828e-04, 5.27836299e-05,
  4.73543821e-03,-1.60188185e-03, 0.00000000e+00,-1.71948650e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013776638914308513
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95184339e-01, -2.45058380e-02, -9.49083566e-02, -2.43951524e-02,
        9.99699687e-01, -2.32650749e-03,  9.49368674e-02, -4.33680869e-19,
       -9.95483295e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08420516, -0.08025804,  0.22003798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031814141965415266
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.74485772e-13,  3.48971544e-13,  1.00000000e+00,  6.08905693e-26,
        1.00000000e+00, -3.48971544e-13, -1.00000000e+00,  0.00000000e+00,
       -1.74485772e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667983, -0.08271284,  0.06199439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.60820357e-03, 1.30857298e-01, 7.27959843e-02, 3.01663499e-02,
 -2.68267770e-05, 1.99480473e-05,-3.63742113e-06, 2.33953061e-05,
 -3.29516853e-05,-5.47894637e-05, 7.86333124e-07,-5.61866242e-05,
  2.32437311e-03,-2.51567333e-04,-4.90544964e+00, 1.28544700e-03,
  1.18734059e-02,-4.79862417e-04]


--- Step 1457 ---
qpos:
[ 1.85499957e-02, 3.00132409e-02,-9.44462559e-03,-2.52547478e-02,
  5.48807538e-04, 3.48520824e-01,-9.24084547e-02, 3.73153058e-01,
  1.15887458e-02, 2.77902372e-02,-8.23595170e-03, 2.64554426e-02,
  1.33768955e+00, 7.59203576e-03, 1.21228476e+00, 4.48102124e-02,
  4.86884099e-02,-7.90433691e-02, 1.73763034e-01, 9.98191503e-01,
  1.79648710e-02,-4.49207590e-02,-3.56807009e-02]

qacc:
[-2.43599534e-01,-6.94173055e-01, 4.34548277e+00,-1.14738805e+01,
  7.54991412e+00,-1.98619447e+01, 9.15803002e+01,-3.33348686e+02,
  2.52710748e-01, 9.63741690e-01,-6.50360628e+00, 1.77077603e+01,
 -1.56546948e-01, 2.43409335e-02, 2.05816622e+00,-7.21315410e+00,
 -9.03304763e-01, 6.52302336e-02, 5.68766749e-02,-1.02143690e+00,
 -8.37679910e+00,-5.69940817e+00]

qfrc_actuator:
[ 1.36061625e-04, 8.95417204e-04, 1.35272202e-04,-1.06595063e-05,
 -3.39512111e-03, 3.26145142e-01, 7.33748194e-02, 1.79311483e-01,
 -1.40987563e-04, 8.35139173e-04, 2.10290771e-04, 8.36193365e-05,
  4.72786127e-03,-1.60120379e-03, 0.00000000e+00,-1.75322692e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014514618725404477
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95042749e-01, -2.34193451e-02, -9.66512341e-02, -2.33096426e-02,
        9.99725730e-01, -2.26412958e-03,  9.66777499e-02, -4.33680869e-19,
       -9.95315735e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08376058, -0.08024511,  0.22022988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003190886686316591
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.73967792e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.73967792e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02668012, -0.08271419,  0.06199438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.86829248e-03, 1.32147827e-01, 7.37993305e-02, 3.10039764e-02,
  1.49054165e-06,-1.77762506e-05,-4.79254972e-07, 3.20212628e-05,
 -3.79349777e-05,-2.22370233e-05,-9.59324407e-06,-3.76145598e-05,
  2.39118686e-03,-2.59161608e-04,-4.90545511e+00, 1.31996662e-03,
  1.18736434e-02,-4.76231292e-04]


--- Step 1458 ---
qpos:
[ 1.85516482e-02, 3.00133694e-02,-9.44447792e-03,-2.52543701e-02,
  5.47944725e-04, 3.52112179e-01,-9.25164928e-02, 3.76059280e-01,
  1.15881243e-02, 2.77895667e-02,-8.23566944e-03, 2.64559166e-02,
  1.33785623e+00, 7.59141405e-03, 1.21243764e+00, 4.48075162e-02,
  4.84080339e-02,-7.90155607e-02, 1.73816617e-01, 9.98115627e-01,
  1.77310038e-02,-4.62135172e-02,-3.62645383e-02]

qacc:
[ 2.71575390e+00,-3.00523392e-01, 3.10909431e+00,-8.88843013e+00,
  6.83413139e+00,-3.29557441e+01, 1.29432858e+02,-3.53067064e+02,
  6.20526351e+00,-6.28437199e-01, 1.34815753e+00,-4.59217826e-01,
 -6.18566572e-01, 9.28249239e-01,-2.07528783e+00, 6.97676422e+00,
 -9.26861110e-01, 5.74026609e-02, 5.66555137e-02,-9.79454801e-01,
 -8.59693551e+00,-5.95632790e+00]

qfrc_actuator:
[ 1.52448107e-04, 9.41193271e-04, 1.48656638e-04,-2.39117531e-05,
 -3.38948380e-03, 3.25617023e-01, 7.34481463e-02, 1.79172372e-01,
 -1.03597594e-04, 8.00116094e-04, 2.07207667e-04, 8.38092398e-05,
  4.71731247e-03,-1.56476576e-03, 0.00000000e+00,-1.71847986e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015144798520225083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.94880651e-01, -2.23072923e-02, -9.85640626e-02, -2.21986174e-02,
        9.99751161e-01, -2.19924461e-03,  9.85885952e-02, -4.33680869e-19,
       -9.95128278e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08331807, -0.08023179,  0.22041986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031981178955584055
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.67872184e-14,  1.73574437e-13,  1.00000000e+00,  1.50640425e-26,
        1.00000000e+00, -1.73574437e-13, -1.00000000e+00,  0.00000000e+00,
       -8.67872184e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02668036, -0.08271559,  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:
[ 1.63478052e-05, 4.80387627e-05, 1.38004070e-05,-1.34277883e-05,
 -3.11492454e-03, 1.32724583e-01, 7.46496409e-02, 3.17362907e-02,
  3.74254792e-05,-4.36863370e-05,-5.70727013e-06, 3.36742890e-08,
 -3.58838811e-05, 2.15174638e-05,-1.19866559e-05, 3.06618956e-05,
  2.46123542e-03,-2.66856817e-04,-4.90546051e+00, 1.35649334e-03,
  1.18736617e-02,-4.72572178e-04]


--- Step 1459 ---
qpos:
[ 1.85527948e-02, 3.00139205e-02,-9.44422423e-03,-2.52541645e-02,
  5.51239239e-04, 3.55679172e-01,-9.26316248e-02, 3.78950125e-01,
  1.15876111e-02, 2.77890149e-02,-8.23615804e-03, 2.64560417e-02,
  1.33802257e+00, 7.59119557e-03, 1.21259055e+00, 4.48042265e-02,
  4.81239080e-02,-7.89875511e-02, 1.73870416e-01, 9.98036433e-01,
  1.74951579e-02,-4.75232560e-02,-3.68610524e-02]

qacc:
[-4.34406342e+00,-8.38527536e-02, 1.84869870e+00,-5.31931568e+00,
  6.09357052e+00,-4.03791895e+01, 1.54708674e+02,-3.67602358e+02,
  8.97098355e-01, 1.59133115e+00,-3.97569582e+00,-9.16314317e-01,
 -5.86710601e-01, 8.74074308e-01, 1.88895039e+00,-6.41846824e+00,
 -9.37478682e-01, 5.03113631e-02, 5.40820493e-02,-9.43074519e-01,
 -8.69922348e+00,-6.19035857e+00]

qfrc_actuator:
[ 1.25923498e-04, 9.68380788e-04, 1.56596501e-04,-3.18257996e-05,
 -3.38851892e-03, 3.24873428e-01, 7.35776866e-02, 1.79090149e-01,
 -9.91037813e-05, 8.15092817e-04, 1.69691394e-04, 6.59556954e-05,
  4.70500695e-03,-1.54294150e-03, 0.00000000e+00,-1.75017645e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015667724124079879
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99469715, -0.02116946, -0.10064509, -0.02106193,  0.9997759 ,
       -0.00213108,  0.10066765,  0.        , -0.99492011])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08287743, -0.0802181 ,  0.22060796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003203037974861406
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.66539074e-14,  1.73307815e-13,  1.00000000e+00,  1.50177993e-26,
        1.00000000e+00, -1.73307815e-13, -1.00000000e+00,  0.00000000e+00,
       -8.66539074e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02668057, -0.08271703,  0.06199437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60321384e-05, 5.63188391e-05, 1.90901503e-05,-5.64376928e-06,
 -3.34503007e-03, 1.33159907e-01, 7.53037699e-02, 3.24601764e-02,
  5.57456993e-06,-1.05994631e-05,-4.72407865e-05,-1.99243717e-05,
 -2.60537170e-05, 1.95634880e-05,-5.32455309e-06,-3.22362179e-05,
  2.53448545e-03,-2.74675647e-04,-4.90546580e+00, 1.39496778e-03,
  1.18734771e-02,-4.68891883e-04]


--- Step 1460 ---
qpos:
[ 1.85522361e-02, 3.00143779e-02,-9.44363778e-03,-2.52540044e-02,
  5.58233917e-04, 3.59242159e-01,-9.27552375e-02, 3.81824564e-01,
  1.15868113e-02, 2.77887600e-02,-8.23699033e-03, 2.64562441e-02,
  1.33818867e+00, 7.59103036e-03, 1.21274349e+00, 4.47999017e-02,
  4.78361373e-02,-7.89593726e-02, 1.73924417e-01, 9.97953832e-01,
  1.72574217e-02,-4.88495132e-02,-3.74707255e-02]

qacc:
[-1.46188302e+01,-1.11921297e+00, 4.05094616e+00,-5.35185756e+00,
  5.29651607e+00,-1.20197383e+01, 9.72249987e+01,-3.42778199e+02,
 -2.45929289e+00, 1.51707891e+00,-5.15832086e+00, 6.81925583e+00,
 -3.02703965e-01, 3.34157535e-01, 3.19320028e+00,-1.10548717e+01,
 -9.11230684e-01, 4.21950828e-02, 5.05564775e-02,-9.21728452e-01,
 -8.47391606e+00,-6.43996075e+00]

qfrc_actuator:
[ 3.88430819e-05, 9.30961342e-04, 1.61195323e-04,-3.65531904e-05,
 -3.40950482e-03, 3.25251922e-01, 7.37412252e-02, 1.79402677e-01,
 -1.14019788e-04, 8.59733554e-04, 1.65592218e-04, 7.31555479e-05,
  4.68632816e-03,-1.54775410e-03, 0.00000000e+00,-1.80302766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016087467920961596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99449176, -0.02000588, -0.10288784, -0.01989967,  0.99979986,
       -0.00205877,  0.10290844,  0.        , -0.99469083])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08243829, -0.08020404,  0.22079441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032055578690137754
  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([ 0.02668073, -0.08271852,  0.06199436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.57465192e-03, 1.34630707e-01, 7.57784613e-02, 3.35301287e-02,
 -1.47557203e-05, 2.81270541e-05,-1.27855634e-05, 4.72499866e-06,
 -2.78917764e-05,-5.26031075e-06,-9.75984497e-06,-5.61594521e-05,
  2.61020296e-03,-2.82594144e-04,-4.90547083e+00, 1.43515513e-03,
  1.18730936e-02,-4.65200941e-04]


--- Step 1461 ---
qpos:
[ 1.85509825e-02, 3.00143452e-02,-9.44273638e-03,-2.52541940e-02,
  5.68435263e-04, 3.62813403e-01,-9.28877168e-02, 3.84682018e-01,
  1.15865282e-02, 2.77883986e-02,-8.23716611e-03, 2.64561673e-02,
  1.33835458e+00, 7.59061206e-03, 1.21289630e+00, 4.47952950e-02,
  4.75447937e-02,-7.89310524e-02, 1.73978600e-01, 9.97867730e-01,
  1.70178833e-02,-5.01919685e-02,-3.80939700e-02]

qacc:
[-5.94517960e+00,-2.23705741e+00, 8.52836285e+00,-1.47361149e+01,
  4.49262263e+00, 3.94889232e+00, 6.62716712e+01,-3.31045160e+02,
  4.42792923e+00,-2.55931547e+00, 1.00848798e+01,-1.58719409e+01,
  1.22246814e-02,-2.31048325e-01, 6.63855569e-01,-2.60304966e+00,
 -8.93201496e-01, 3.54518353e-02, 4.54233050e-02,-8.97027889e-01,
 -8.31885513e+00,-6.65363758e+00]

qfrc_actuator:
[ 5.59405634e-06, 8.72877676e-04, 1.63520380e-04,-5.71789969e-05,
 -3.42711434e-03, 3.26115533e-01, 7.38938819e-02, 1.79692948e-01,
 -8.69721840e-05, 8.50936589e-04, 1.99177113e-04, 5.95954146e-05,
  4.66915424e-03,-1.56836019e-03, 0.00000000e+00,-1.81463481e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001642580832076841
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99426621, -0.01881733, -0.10526451, -0.01871275,  0.99982294,
       -0.00198115,  0.10528315,  0.        , -0.99444228])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08199915, -0.0801896 ,  0.22098044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003205342128455857
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.73183233e-13,  1.73183233e-13,  1.00000000e+00,  2.99924322e-26,
        1.00000000e+00, -1.73183233e-13, -1.00000000e+00,  0.00000000e+00,
       -1.73183233e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02668085, -0.08272006,  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:
[-3.58115867e-05,-5.56812290e-05, 4.05163875e-06,-2.01201856e-05,
 -3.77796073e-03, 1.35569422e-01, 7.63119908e-02, 3.46292289e-02,
  2.66233958e-05, 4.50414901e-06, 3.79956784e-05,-1.27027785e-05,
 -3.33545900e-05,-2.83811502e-05,-1.41785985e-05,-1.67565695e-05,
  2.68633809e-03,-2.90471228e-04,-4.90547525e+00, 1.47657805e-03,
  1.18724691e-02,-4.61514389e-04]


--- Step 1462 ---
qpos:
[ 1.85500286e-02, 3.00138485e-02,-9.44206733e-03,-2.52542482e-02,
  5.81313547e-04, 3.66390520e-01,-9.30260676e-02, 3.87523167e-01,
  1.15869167e-02, 2.77873554e-02,-8.23662514e-03, 2.64559991e-02,
  1.33852021e+00, 7.58978580e-03, 1.21304871e+00, 4.47929027e-02,
  4.72498861e-02,-7.89026102e-02, 1.74032936e-01, 9.97778023e-01,
  1.67766310e-02,-5.15505770e-02,-3.87311157e-02]

qacc:
[ 2.57191568e+00, 3.10338162e-01,-2.57457389e+00, 5.63636111e+00,
  3.70501524e+00,-5.94259928e+00, 9.36391587e+01,-3.47649575e+02,
  5.75789118e+00,-3.10382764e+00, 1.01259875e+01,-1.23308407e+01,
  2.36468662e-01,-6.37686352e-01,-7.31666686e+00, 2.46665241e+01,
 -8.90981310e-01, 3.04833900e-02, 3.81056749e-02,-8.65675194e-01,
 -8.30083559e+00,-6.82397384e+00]

qfrc_actuator:
[ 2.20683466e-05, 8.38334665e-04, 1.46613255e-04,-5.15161694e-05,
 -3.44368458e-03, 3.26407426e-01, 7.40082823e-02, 1.79799476e-01,
 -5.31878845e-05, 7.74856405e-04, 2.19004450e-04, 5.16575985e-05,
  4.64223523e-03,-1.59815729e-03, 0.00000000e+00,-1.69531885e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016696025656152311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.94021324e-01, -1.76041721e-02, -1.07757602e-01, -1.75016346e-02,
        9.99845035e-01, -1.89727737e-03,  1.07774303e-01,  2.16840434e-19,
       -9.94175387e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08155911, -0.08017478,  0.22116679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003202186504647764
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.73353898e-13,  1.73353898e-13,  1.00000000e+00,  3.00515739e-26,
        1.00000000e+00, -1.73353898e-13, -1.00000000e+00,  0.00000000e+00,
       -1.73353898e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02668093, -0.08272166,  0.06199438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.95547630e-03, 1.35323417e-01, 7.68267677e-02, 3.55733640e-02,
  3.45642555e-05,-6.62335394e-05, 2.50032273e-05,-6.67712325e-06,
 -5.13457959e-05,-4.53669907e-05,-1.12925757e-05, 1.15914134e-04,
  2.76323849e-03,-2.98360815e-04,-4.90547909e+00, 1.51922928e-03,
  1.18716281e-02,-4.57836538e-04]


--- Step 1463 ---
qpos:
[ 1.85492791e-02, 3.00130679e-02,-9.44169026e-03,-2.52542529e-02,
  5.96326553e-04, 3.69971149e-01,-9.31669361e-02, 3.90348728e-01,
  1.15877076e-02, 2.77855645e-02,-8.23544291e-03, 2.64557520e-02,
  1.33868532e+00, 7.58891874e-03, 1.21320103e+00, 4.47919288e-02,
  4.69514365e-02,-7.88740633e-02, 1.74087384e-01, 9.97684608e-01,
  1.65337520e-02,-5.29252327e-02,-3.93824488e-02]

qacc:
[ 1.74997637e+00, 5.39286017e-01,-2.68046327e+00, 4.21489949e+00,
  2.92322090e+00,-1.66918199e+01, 1.23871267e+02,-3.66720189e+02,
  3.46251644e+00,-2.94966440e+00, 9.40440324e+00,-1.12306643e+01,
 -2.71894603e-01, 1.50270048e-01,-4.41729628e+00, 1.52849790e+01,
 -8.85532446e-01, 2.61864173e-02, 2.80984228e-02,-8.35329119e-01,
 -8.25180516e+00,-6.97320536e+00]

qfrc_actuator:
[ 3.21546892e-05, 8.35838518e-04, 1.36340778e-04,-4.81780833e-05,
 -3.47813684e-03, 3.26355371e-01, 7.41180330e-02, 1.79784122e-01,
 -3.34755841e-05, 7.30034600e-04, 2.48007044e-04, 4.70170766e-05,
  4.61481074e-03,-1.59770764e-03, 0.00000000e+00,-1.62410101e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016897351797861945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99375625, -0.01636622, -0.11036603, -0.01626621,  0.99986606,
       -0.00180652,  0.11038081,  0.        , -0.99388937])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08111822, -0.08015961,  0.22135345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031960918687488904
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.68422334e-14, -1.73684467e-13,  1.00000000e+00, -1.50831470e-26,
        1.00000000e+00,  1.73684467e-13, -1.00000000e+00,  0.00000000e+00,
       -8.68422334e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02668096, -0.08272332,  0.06199439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.12429752e-03, 1.34852755e-01, 7.71872495e-02, 3.63618228e-02,
  2.06992933e-05,-7.69363197e-05, 1.81749540e-05,-6.74357836e-06,
 -6.47193532e-05,-2.43504732e-05, 5.16859354e-06, 7.56638236e-05,
  2.84169723e-03,-3.06353398e-04,-4.90548247e+00, 1.56319910e-03,
  1.18706088e-02,-4.54169884e-04]


--- Step 1464 ---
qpos:
[ 1.85486561e-02, 3.00125022e-02,-9.44194434e-03,-2.52549495e-02,
  6.12967260e-04, 3.73554565e-01,-9.33076597e-02, 3.93159200e-01,
  1.15887284e-02, 2.77837502e-02,-8.23445978e-03, 2.64550708e-02,
  1.33884995e+00, 7.58803321e-03, 1.21335355e+00, 4.47901404e-02,
  4.66495222e-02,-7.88454217e-02, 1.74141901e-01, 9.97587401e-01,
  1.62893215e-02,-5.43155767e-02,-4.00481465e-02]

qacc:
[ 1.06259438e+00, 6.20666664e-01, 1.11033622e+00,-1.22170604e+01,
  2.20471917e+00,-2.38545017e+01, 1.45462280e+02,-3.81504020e+02,
  1.95492598e+00,-3.71829420e-01, 3.10702582e+00,-1.02766709e+01,
 -4.50992205e-01, 3.93424101e-01, 2.79136815e+00,-9.25420115e+00,
 -8.66146973e-01, 2.36590052e-02, 1.74086214e-02,-8.13821464e-01,
 -8.07566750e+00,-7.06965207e+00]

qfrc_actuator:
[ 3.83836196e-05, 8.70328654e-04, 1.12449013e-04,-8.17082580e-05,
 -3.48834160e-03, 3.25990443e-01, 7.42772469e-02, 1.79914475e-01,
 -2.22059807e-05, 7.57564395e-04, 2.46798323e-04, 2.66262957e-05,
  4.59243987e-03,-1.59706654e-03, 0.00000000e+00,-1.67059485e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017029421065420406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93470180e-01, -1.51033724e-02, -1.13087977e-01, -1.50064617e-02,
        9.99885938e-01, -1.70820467e-03,  1.13100878e-01,  2.16840434e-19,
       -9.93583510e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08067649, -0.0801441 ,  0.22154039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003187139980330017
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.22516911e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.22516911e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02668095, -0.08272504,  0.06199441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.52281933e-06, 3.70329684e-06,-3.65545774e-05,-3.64078413e-05,
 -4.24166498e-03, 1.34187418e-01, 7.74296128e-02, 3.72601362e-02,
  1.18448297e-05,-1.19669258e-05,-1.50881243e-05,-2.31889831e-05,
 -6.14549946e-05,-2.15032894e-05, 6.80440849e-06,-4.24990482e-05,
  2.92146114e-03,-3.14454104e-04,-4.90548533e+00, 1.60836216e-03,
  1.18694219e-02,-4.50521850e-04]


--- Step 1465 ---
qpos:
[ 1.85477683e-02, 3.00119671e-02,-9.44252230e-03,-2.52553498e-02,
  6.30760062e-04, 3.77142135e-01,-9.34466937e-02, 3.95954750e-01,
  1.15895315e-02, 2.77825425e-02,-8.23415770e-03, 2.64547927e-02,
  1.33901395e+00, 7.58764180e-03, 1.21350599e+00, 4.47884888e-02,
  4.63442920e-02,-7.88166913e-02, 1.74196442e-01, 9.97486337e-01,
  1.60434044e-02,-5.57209311e-02,-4.07283054e-02]

qacc:
[-2.28339592e+00, 1.56064951e+00,-6.74461990e+00, 1.23500763e+01,
  1.53953201e+00,-2.58895457e+01, 1.54288414e+02,-3.89653951e+02,
 -1.88744431e+00, 3.53856039e+00,-1.31487018e+01, 2.07580284e+01,
 -8.08267205e-01, 1.11830205e+00,-4.37300272e-01, 1.56685070e+00,
 -8.28993552e-01, 2.22255228e-02, 5.76782883e-03,-8.02295209e-01,
 -7.73942064e+00,-7.12770244e+00]

qfrc_actuator:
[ 2.45415729e-05, 8.73367556e-04, 9.85942732e-05,-6.56273572e-05,
 -3.48434472e-03, 3.25348346e-01, 7.44112250e-02, 1.80208999e-01,
 -3.37431941e-05, 8.28079898e-04, 2.28046665e-04, 5.04299812e-05,
  4.57311758e-03,-1.56081134e-03, 0.00000000e+00,-1.66178187e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017093884290812344
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93162607e-01, -1.38157307e-02, -1.15918772e-01, -1.37225768e-02,
        9.99904558e-01, -1.60165540e-03,  1.15929836e-01, -2.16840434e-19,
       -9.93257405e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08023389, -0.08012825,  0.2217277 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000317533793234126
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.74819665e-13,  1.74819665e-13,  1.00000000e+00,  3.05619151e-26,
        1.00000000e+00, -1.74819665e-13, -1.00000000e+00,  0.00000000e+00,
       -1.74819665e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0266809 , -0.08272681,  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:
[-1.36455149e-05,-3.96953133e-06,-1.88400946e-05, 1.42690022e-05,
 -4.31938904e-03, 1.33281234e-01, 7.75136886e-02, 3.82978258e-02,
 -1.11973353e-05, 5.97761672e-05,-2.38725591e-05, 2.23205756e-05,
 -5.63734854e-05, 1.58378193e-05,-6.25117790e-06, 6.28360104e-06,
  3.00149222e-03,-3.22651309e-04,-4.90548752e+00, 1.65426221e-03,
  1.18680874e-02,-4.46907048e-04]


--- Step 1466 ---
qpos:
[ 1.85470658e-02, 3.00118485e-02,-9.44317311e-03,-2.52559676e-02,
  6.48650580e-04, 3.80722542e-01,-9.35923117e-02, 3.98736187e-01,
  1.15901904e-02, 2.77813321e-02,-8.23388420e-03, 2.64548344e-02,
  1.33917754e+00, 7.58781952e-03, 1.21365833e+00, 4.47872748e-02,
  4.60356576e-02,-7.87878610e-02, 1.74250962e-01, 9.97381301e-01,
  1.57960637e-02,-5.71416630e-02,-4.14228755e-02]

qacc:
[ 1.58119261e+00, 3.03011127e-01, 6.29059963e-01,-4.57274285e+00,
  1.16687527e-01,-1.69188260e+01, 9.90897103e+01,-3.05901682e+02,
 -1.22931396e+00, 7.37263522e-01,-3.98047082e+00, 9.56005898e+00,
 -6.65664103e-01, 1.05469615e+00,-1.41961135e+00, 4.88748792e+00,
 -8.51059376e-01, 2.49631073e-02,-5.00132196e-03,-7.66479246e-01,
 -7.92468715e+00,-7.10538365e+00]

qfrc_actuator:
[ 3.45030789e-05, 9.28644405e-04, 1.08459574e-04,-7.37490628e-05,
 -3.47200235e-03, 3.25034542e-01, 7.45107064e-02, 1.80235088e-01,
 -4.08560679e-05, 7.99497828e-04, 2.17083469e-04, 6.45816538e-05,
  4.57163090e-03,-1.52144548e-03, 0.00000000e+00,-1.63816298e-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, -0.03653182, -0.42912115, -0.03653182,  0.8486159 ,
       -0.03558016, -0.42912115, -0.03558016,  0.43370236,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017094793368369443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99283344, -0.0125036 , -0.11885045, -0.01241496,  0.99992183,
       -0.00148617,  0.11885974,  0.        , -0.99291105])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0797903 , -0.08011209,  0.22191558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031606106954529256
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.26902772e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.26902772e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02668082, -0.08272866,  0.06199446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.36490168e-03, 1.32635143e-01, 7.74861031e-02, 3.90586964e-02,
 -7.42393170e-06, 9.09920348e-07,-7.71143399e-07, 1.63249717e-05,
 -2.71339616e-05, 3.06481374e-05,-6.09892343e-06, 2.23053369e-05,
  3.08051325e-03,-3.30903620e-04,-4.90548889e+00, 1.70040576e-03,
  1.18666111e-02,-4.43340021e-04]


--- Step 1467 ---
qpos:
[ 1.85468327e-02, 3.00122073e-02,-9.44377816e-03,-2.52566950e-02,
  6.65737895e-04, 3.84286051e-01,-9.37489258e-02, 4.01504913e-01,
  1.15904145e-02, 2.77797041e-02,-8.23349861e-03, 2.64547448e-02,
  1.33934111e+00, 7.58789307e-03, 1.21381062e+00, 4.47860004e-02,
  4.57234153e-02,-7.87589074e-02, 1.74305417e-01, 9.97272151e-01,
  1.55473558e-02,-5.85786445e-02,-4.21316847e-02]

qacc:
[ 4.02084761e+00, 2.69428961e-01, 4.02226873e-01,-2.70492099e+00,
 -1.05725745e+00,-1.51976094e+01, 6.98311221e+01,-2.43139948e+02,
 -3.69739348e+00,-1.12825329e+00, 3.78891002e+00,-5.94628049e+00,
  4.16926368e-02,-1.27247188e-01, 1.23569863e-01,-5.23031428e-01,
 -9.01962188e-01, 3.08179293e-02,-1.64656568e-02,-7.19563144e-01,
 -8.36181359e+00,-7.01871964e+00]

qfrc_actuator:
[ 5.84023784e-05, 9.61608016e-04, 1.14682789e-04,-7.82444528e-05,
 -3.45405912e-03, 3.25211411e-01, 7.46680982e-02, 1.79998761e-01,
 -6.30535300e-05, 7.47329141e-04, 2.10413306e-04, 5.51113949e-05,
  4.57019724e-03,-1.53374380e-03, 0.00000000e+00,-1.64152110e-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, -0.03557023, -0.42920193, -0.03557023,  0.4879222 ,
       -0.00474451, -0.42920193, -0.00474451,  0.43106656,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017014824573771945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99247961, -0.0111665 , -0.12189967, -0.01108322,  0.99993765,
       -0.00136128,  0.12190727,  0.        , -0.99254149])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0793469 , -0.08009566,  0.22210296])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003143264693065001
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.76603489e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.76603489e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0266807 , -0.08273056,  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:
[ 2.41966100e-05, 6.19544283e-05, 1.71109962e-05,-2.27868652e-06,
 -4.35187918e-03, 1.33045985e-01, 7.79302493e-02, 3.95170200e-02,
 -2.24190404e-05,-5.10795258e-05,-6.00049442e-06,-9.13780090e-06,
 -8.42343550e-06,-9.96673627e-06,-3.82708663e-06,-3.67905072e-06,
  3.16187923e-03,-3.39509242e-04,-4.90548990e+00, 1.74747773e-03,
  1.18650985e-02,-4.39809216e-04]


--- Step 1468 ---
qpos:
[ 1.85468888e-02, 3.00121077e-02,-9.44363835e-03,-2.52567077e-02,
  6.81323749e-04, 3.87823391e-01,-9.39165785e-02, 4.04262821e-01,
  1.15903702e-02, 2.77779957e-02,-8.23305557e-03, 2.64548487e-02,
  1.33950449e+00, 7.58790921e-03, 1.21396287e+00, 4.47846850e-02,
  4.54073652e-02,-7.87298039e-02, 1.74359765e-01, 9.97158740e-01,
  1.52973328e-02,-6.00327293e-02,-4.28545256e-02]

qacc:
[ 2.51176489e+00,-1.22029253e+00, 4.51933332e-01, 1.10610438e+01,
 -1.92519685e+00,-2.37252091e+01, 7.52335749e+01,-2.10879337e+02,
 -2.28473618e+00, 1.35879399e-01,-1.44774624e+00, 4.75478486e+00,
 -1.02094314e-01, 3.50647759e-02, 5.63698132e-02,-2.89213311e-01,
 -9.51939870e-01, 3.74852542e-02,-2.66307727e-02,-6.73345208e-01,
 -8.78994787e+00,-6.91500101e+00]

qfrc_actuator:
[ 7.25535382e-05, 8.92193137e-04, 1.36383919e-04,-4.50797322e-05,
 -3.44964619e-03, 3.25038434e-01, 7.48672818e-02, 1.79857765e-01,
 -7.62006953e-05, 7.70187535e-04, 2.23942340e-04, 6.72964627e-05,
  4.55279900e-03,-1.54108971e-03, 0.00000000e+00,-1.64299007e-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, -0.03450592, -0.42928881, -0.03450592,  0.36821711,
        0.00502019, -0.42928881,  0.00502019,  0.43026984,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016839190179954325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92098147e-01, -9.80434601e-03, -1.25080542e-01, -9.72734104e-03,
        9.99951936e-01, -1.22639185e-03,  1.25086554e-01,  2.16840434e-19,
       -9.92145833e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07890449, -0.080079  ,  0.22228896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031238124655508237
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.88516066e-14,  3.55406426e-13,  1.00000000e+00,  3.15784320e-26,
        1.00000000e+00, -3.55406426e-13, -1.00000000e+00,  0.00000000e+00,
       -8.88516066e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02668056, -0.08273253,  0.06199453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.30715484e-03, 1.33594443e-01, 7.86371284e-02, 4.00008785e-02,
 -1.38265524e-05,-7.28918680e-06, 1.93841251e-06, 9.61459260e-06,
 -2.43813069e-05,-1.19555097e-05,-5.31207057e-06,-2.88783405e-06,
  3.24721123e-03,-3.48644011e-04,-4.90549079e+00, 1.79574453e-03,
  1.18636254e-02,-4.36313624e-04]


--- Step 1469 ---
qpos:
[ 1.85467697e-02, 3.00117183e-02,-9.44349693e-03,-2.52559465e-02,
  6.93495379e-04, 3.91303997e-01,-9.41233960e-02, 4.07012365e-01,
  1.15901686e-02, 2.77757102e-02,-8.23226026e-03, 2.64554864e-02,
  1.33966754e+00, 7.58814139e-03, 1.21411494e+00, 4.47843541e-02,
  4.50870246e-02,-7.87005157e-02, 1.74414028e-01, 9.97040837e-01,
  1.50460577e-02,-6.15060334e-02,-4.35912138e-02]

qacc:
[-1.49826456e+00, 1.20970386e+00,-8.12291879e+00, 2.17044432e+01,
 -4.37037306e+00, 1.63656196e+01,-1.29471763e+02, 7.72892277e+01,
 -1.32000627e+00,-6.45904106e-01,-1.05284713e+00, 1.01475618e+01,
 -3.24232562e-01, 4.33562208e-01,-3.21530391e+00, 1.09301901e+01,
 -1.07264585e+00, 4.61645431e-02,-2.13320512e-02,-5.93739163e-01,
 -9.84995184e+00,-6.81564285e+00]

qfrc_actuator:
[ 6.30956835e-05, 8.68611680e-04, 1.31149124e-04,-7.85203324e-06,
 -3.48783716e-03, 3.25008883e-01, 7.50604762e-02, 1.80842315e-01,
 -8.39102541e-05, 7.13623649e-04, 2.31848080e-04, 9.22025107e-05,
  4.53648778e-03,-1.52771664e-03, 0.00000000e+00,-1.59006280e-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, -0.03184265, -0.42949457, -0.03184265,  0.1847262 ,
        0.01823448, -0.42949457,  0.01823448,  0.42932145,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001655630466195745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99168635, -0.00841737, -0.128403  , -0.00834768,  0.99996457,
       -0.00108085,  0.12840755,  0.        , -0.99172148])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07846366, -0.08006214,  0.22247291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003102681542553193
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.78913467e-13,  1.78913467e-13,  1.00000000e+00,  3.20100287e-26,
        1.00000000e+00, -1.78913467e-13, -1.00000000e+00,  0.00000000e+00,
       -1.78913467e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0266804 , -0.08273456,  0.06199457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.26997681e-03, 1.34751141e-01, 7.93406013e-02, 4.15158143e-02,
 -8.12296988e-06,-5.97761432e-05, 6.98655477e-06, 2.48510219e-05,
 -3.20251973e-05, 4.43501450e-06,-6.05905048e-06, 5.13366935e-05,
  3.33647308e-03,-3.58334163e-04,-4.90549149e+00, 1.84515429e-03,
  1.18622108e-02,-4.32859429e-04]


--- Step 1470 ---
qpos:
[ 1.85465375e-02, 3.00118710e-02,-9.44375671e-03,-2.52551697e-02,
  7.01293739e-04, 3.94711313e-01,-9.43791150e-02, 4.09756891e-01,
  1.15902205e-02, 2.77728803e-02,-8.23132335e-03, 2.64564287e-02,
  1.33983031e+00, 7.58874858e-03, 1.21426706e+00, 4.47836371e-02,
  4.47619287e-02,-7.86710061e-02, 1.74468223e-01, 9.96918203e-01,
  1.47935908e-02,-6.30005878e-02,-4.43415449e-02]

qacc:
[-9.90601741e-01, 1.87194057e+00,-5.69597339e+00, 6.20163517e+00,
 -5.52163303e+00, 2.69139856e+01,-2.09016912e+02, 2.29060883e+02,
  2.17488533e+00,-4.92362134e-01,-5.82421504e-01, 6.03831233e+00,
 -5.13522047e-01, 7.80463717e-01, 1.29993812e+00,-4.30855207e+00,
 -1.18880078e+00, 5.53631220e-02,-1.70278549e-02,-5.14966745e-01,
 -1.08677956e+01,-6.70792720e+00]

qfrc_actuator:
[ 5.75737839e-05, 9.43555627e-04, 1.27950710e-04,-4.03689011e-06,
 -3.54907713e-03, 3.25514729e-01, 7.52826188e-02, 1.82060252e-01,
 -7.06083819e-05, 6.80945759e-04, 2.36062039e-04, 1.06570842e-04,
  4.53150066e-03,-1.50216265e-03, 0.00000000e+00,-1.61202265e-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, -0.0294051 , -0.42966834, -0.0294051 ,  0.14397843,
        0.01962046, -0.42966834,  0.01962046,  0.42933059,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016114677610963705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91235783e-01, -7.00448694e-03, -1.31918762e-01, -6.94326842e-03,
        9.99975468e-01, -9.24045911e-04,  1.31921998e-01, -1.08420217e-19,
       -9.91260100e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07802768, -0.08004515,  0.22265156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030801179045700233
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.80224111e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.80224111e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02668024, -0.08273666,  0.06199461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.79680658e-06, 5.74544909e-05,-9.22707049e-06, 2.97605571e-06,
 -4.15981307e-03, 1.37973537e-01, 8.14801536e-02, 4.31422378e-02,
  1.30352193e-05,-6.35284302e-05,-6.39715423e-06, 1.25342673e-05,
 -2.06157503e-05, 1.93294382e-05,-3.02519515e-07,-2.06027654e-05,
  3.43442235e-03,-3.68911587e-04,-4.90549254e+00, 1.89713559e-03,
  1.18609289e-02,-4.29420268e-04]


--- Step 1471 ---
qpos:
[ 1.85465853e-02, 3.00127711e-02,-9.44389164e-03,-2.52554536e-02,
  7.05079245e-04, 3.98061134e-01,-9.46623629e-02, 4.12499183e-01,
  1.15897416e-02, 2.77701566e-02,-8.23089664e-03, 2.64574973e-02,
  1.33999297e+00, 7.58916431e-03, 1.21441919e+00, 4.47823230e-02,
  4.44318981e-02,-7.86412400e-02, 1.74522310e-01, 9.96790673e-01,
  1.45399739e-02,-6.45171471e-02,-4.51052264e-02]

qacc:
[ 2.39256949e+00,-1.55104214e+00, 1.14219157e+01,-3.04957001e+01,
 -4.96650951e+00,-4.89413416e+00,-7.99623774e+01, 1.14728651e+02,
 -4.54333966e+00, 1.83522357e+00,-6.85746624e+00, 9.76298439e+00,
  4.61506198e-03,-1.57100743e-01, 1.80905470e+00,-6.32800372e+00,
 -1.23370359e+00, 6.41016291e-02,-2.69542416e-02,-4.69641936e-01,
 -1.12470433e+01,-6.56414514e+00]

qfrc_actuator:
[ 7.21739059e-05, 1.00588826e-03, 1.44128928e-04,-5.53257409e-05,
 -3.60406912e-03, 3.26026011e-01, 7.55120275e-02, 1.82477330e-01,
 -9.83054055e-05, 7.16055574e-04, 2.20378053e-04, 1.14632094e-04,
  4.51733877e-03,-1.52280341e-03, 0.00000000e+00,-1.64243271e-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, -0.02827297, -0.42974432, -0.02827297,  0.1541932 ,
        0.01818969, -0.42974432,  0.01818969,  0.42947665,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015487920732448674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90740999e-01, -5.56602240e-03, -1.35651363e-01, -5.51457202e-03,
        9.99984510e-01, -7.55050220e-04,  1.35653464e-01,  0.00000000e+00,
       -9.90756346e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07759796, -0.0800281 ,  0.22282325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003056316386284563
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.08138167e-14,  1.81627633e-13,  1.00000000e+00,  1.64942986e-26,
        1.00000000e+00, -1.81627633e-13, -1.00000000e+00,  0.00000000e+00,
       -9.08138167e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02668007, -0.08273882,  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:
[ 1.44511203e-05, 9.26767404e-05, 2.70110258e-05,-4.90914522e-05,
 -3.99527603e-03, 1.42032180e-01, 8.41150905e-02, 4.38010026e-02,
 -2.73450050e-05,-1.10590033e-06,-2.91413934e-05, 5.36298215e-06,
 -2.04987436e-05,-1.99295986e-05,-6.26726499e-06,-3.24627694e-05,
  3.54100502e-03,-3.80399344e-04,-4.90549383e+00, 1.95167151e-03,
  1.18597989e-02,-4.26004108e-04]


--- Step 1472 ---
qpos:
[ 1.85468081e-02, 3.00140396e-02,-9.44426900e-03,-2.52559304e-02,
  7.04801116e-04, 4.01362638e-01,-9.49651067e-02, 4.15241438e-01,
  1.15882447e-02, 2.77677790e-02,-8.23083669e-03, 2.64586124e-02,
  1.34015550e+00, 7.58937334e-03, 1.21457092e+00, 4.47833204e-02,
  4.40967529e-02,-7.86111778e-02, 1.74576251e-01, 9.96658079e-01,
  1.42852426e-02,-6.60564633e-02,-4.58819125e-02]

qacc:
[ 1.48736852e+00, 7.64333167e-01,-1.21133272e+00,-2.00068583e+00,
 -4.96126485e+00,-1.05947761e+01,-5.15393911e+01, 1.06493645e+02,
 -8.69573166e+00, 1.59538674e+00,-5.19166522e+00, 6.29658064e+00,
  2.26543888e-01,-4.51949877e-01,-7.60359164e+00, 2.56851990e+01,
 -1.27861823e+00, 7.40460400e-02,-3.63534287e-02,-4.24949529e-01,
 -1.16249824e+01,-6.39424232e+00]

qfrc_actuator:
[ 8.07468954e-05, 9.89221426e-04, 1.18309657e-04,-6.75963880e-05,
 -3.63617081e-03, 3.26057001e-01, 7.57439840e-02, 1.82910190e-01,
 -1.49918788e-04, 7.55899835e-04, 2.11103101e-04, 1.18965651e-04,
  4.50831697e-03,-1.53523928e-03, 0.00000000e+00,-1.51777380e-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, -0.0269531 , -0.42982912, -0.0269531 ,  0.14684065,
        0.01779817, -0.42982912,  0.01779817,  0.42955729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014702392755314498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90203948e-01, -4.10419321e-03, -1.39568250e-01, -4.06402255e-03,
        9.99991578e-01, -5.72819888e-04,  1.39569425e-01,  0.00000000e+00,
       -9.90212288e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07717223, -0.08001094,  0.22298978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000303152902018225
  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([ 0.02667991, -0.08274105,  0.0619947 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.82597105e-03, 1.44823538e-01, 8.56851986e-02, 4.43362130e-02,
 -5.24226649e-05, 3.35162581e-05,-1.28820875e-05, 3.38600497e-06,
 -2.47203823e-05,-2.26532368e-05,-9.76263639e-06, 1.21298568e-04,
  3.65154742e-03,-3.92531330e-04,-4.90549473e+00, 2.00726125e-03,
  1.18587895e-02,-4.22651417e-04]


--- Step 1473 ---
qpos:
[ 1.85467874e-02, 3.00154978e-02,-9.44459840e-03,-2.52562016e-02,
  7.00389744e-04, 4.04616437e-01,-9.52832116e-02, 4.17986192e-01,
  1.15868292e-02, 2.77659613e-02,-8.23098262e-03, 2.64586953e-02,
  1.34031779e+00, 7.58967207e-03, 1.21472264e+00, 4.47851047e-02,
  4.37562954e-02,-7.85807712e-02, 1.74630014e-01, 9.96520245e-01,
  1.40294208e-02,-6.76193650e-02,-4.66711656e-02]

qacc:
[-2.09043431e+00, 5.44305631e-01,-2.43596992e+00, 5.76644811e+00,
 -4.97720972e+00,-1.63815901e+01,-3.97774054e+01, 1.30249666e+02,
  6.77471755e-01,-8.11224623e-01, 8.32234127e+00,-2.62691482e+01,
 -1.82844466e-01, 2.11315460e-01,-2.38338323e+00, 8.34755799e+00,
 -1.32810297e+00, 8.61029263e-02,-4.45772516e-02,-3.79938266e-01,
 -1.20412039e+01,-6.17827214e+00]

qfrc_actuator:
[ 6.79439808e-05, 9.96245558e-04, 1.20867129e-04,-5.68997342e-05,
 -3.61737712e-03, 3.25582852e-01, 7.60159530e-02, 1.83475484e-01,
 -1.44172033e-04, 7.98302347e-04, 2.05734206e-04, 6.78339060e-05,
  4.50238607e-03,-1.52490777e-03, 0.00000000e+00,-1.48026956e-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, -0.02521494, -0.42993458, -0.02521494,  0.13422738,
        0.01738606, -0.42993458,  0.01738606,  0.42965369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013770224466310586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89624847e-01, -2.62070674e-03, -1.43651641e-01, -2.59352542e-03,
        9.99996566e-01, -3.76470118e-04,  1.43652134e-01, -5.42101086e-20,
       -9.89628245e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07674933, -0.07999369,  0.223152  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030059577132401927
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.84670433e-13,  1.84670433e-13,  1.00000000e+00,  3.41031688e-26,
        1.00000000e+00, -1.84670433e-13, -1.00000000e+00,  0.00000000e+00,
       -1.84670433e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667974, -0.08274335,  0.06199475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.60324083e-03, 1.46653003e-01, 8.68946006e-02, 4.48940625e-02,
  4.21432871e-06, 5.86890251e-05, 1.10043508e-07,-5.00706994e-05,
 -2.40453987e-05,-1.83947654e-06, 6.66003282e-06, 4.24681818e-05,
  3.76603690e-03,-4.05348503e-04,-4.90549520e+00, 2.06379654e-03,
  1.18579253e-02,-4.19369366e-04]


--- Step 1474 ---
qpos:
[ 1.85462686e-02, 3.00172557e-02,-9.44493920e-03,-2.52563528e-02,
  6.92085213e-04, 4.07833588e-01,-9.56057310e-02, 4.20735456e-01,
  1.15854933e-02, 2.77643815e-02,-8.23138999e-03, 2.64585556e-02,
  1.34047968e+00, 7.59017231e-03, 1.21487466e+00, 4.47849848e-02,
  4.34104295e-02,-7.85499742e-02, 1.74683548e-01, 9.96377024e-01,
  1.37725290e-02,-6.92062262e-02,-4.74725367e-02]

qacc:
[-4.27916610e+00, 6.83680437e-01,-2.35377294e+00, 4.21026575e+00,
 -4.61928966e+00,-2.77722527e+01, 1.25252278e+01, 9.19119528e+01,
  6.66087676e-01, 5.85798700e-01,-6.94949563e-01,-2.91158511e+00,
 -6.24765370e-01, 7.69281647e-01, 6.25753026e+00,-2.11133060e+01,
 -1.35209562e+00, 9.75696855e-02,-5.74164678e-02,-3.45952269e-01,
 -1.22301931e+01,-5.95935119e+00]

qfrc_actuator:
[ 4.26639556e-05, 1.01751560e-03, 1.22504591e-04,-5.04966431e-05,
 -3.60185642e-03, 3.25143883e-01, 7.63510982e-02, 1.83780417e-01,
 -1.40206593e-04, 7.88629784e-04, 1.84942135e-04, 5.54937342e-05,
  4.47169399e-03,-1.51888217e-03, 0.00000000e+00,-1.58322130e-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, -0.02394874, -0.43000697, -0.02394874,  0.13087246,
        0.01669706, -0.43000697,  0.01669706,  0.42974343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012692646466345597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89002491e-01, -1.11712222e-03, -1.47894641e-01, -1.10483735e-03,
        9.99999376e-01, -1.65216493e-04,  1.47894733e-01,  0.00000000e+00,
       -9.89003108e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07632891, -0.07997634,  0.22331005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029797538957931913
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.86294416e-13, -1.86294416e-13,  1.00000000e+00, -3.47056095e-26,
        1.00000000e+00,  1.86294416e-13, -1.00000000e+00,  0.00000000e+00,
       -1.86294416e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667958, -0.08274572,  0.0619948 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.38030510e-03, 1.48489168e-01, 8.79612332e-02, 4.50648337e-02,
  4.10566490e-06, 2.10880526e-05,-1.03667695e-05,-1.07920192e-05,
 -4.35063311e-05,-1.55886532e-07, 4.01431627e-06,-1.00594172e-04,
  3.88469161e-03,-4.18929993e-04,-4.90549524e+00, 2.12115771e-03,
  1.18572488e-02,-4.16165289e-04]


--- Step 1475 ---
qpos:
[ 1.85451059e-02, 3.00191293e-02,-9.44571107e-03,-2.52567181e-02,
  6.80201809e-04, 4.11032661e-01,-9.59204992e-02, 4.23490390e-01,
  1.15838708e-02, 2.77627249e-02,-8.23190086e-03, 2.64582994e-02,
  1.34064101e+00, 7.59107230e-03, 1.21502684e+00, 4.47823031e-02,
  4.30591565e-02,-7.85187460e-02, 1.74736784e-01, 9.96228293e-01,
  1.35145877e-02,-7.08169891e-02,-4.82855945e-02]

qacc:
[-5.53882284e+00, 9.27234004e-01,-2.16234576e+00,-9.58936885e-01,
 -4.19092224e+00,-3.41706990e+01, 6.43709781e+01, 3.37292856e+01,
 -2.44487355e+00,-4.73849551e-02, 5.21587682e-01,-2.32444098e+00,
 -9.02646341e-01, 1.19610396e+00, 8.09400962e+00,-2.77339101e+01,
 -1.35176499e+00, 1.07830359e-01,-7.43234275e-02,-3.21974571e-01,
 -1.22036312e+01,-5.75210304e+00]

qfrc_actuator:
[ 1.02497180e-05, 9.93889317e-04, 8.81249721e-05,-6.44189599e-05,
 -3.60463892e-03, 3.24787303e-01, 7.66838418e-02, 1.83766350e-01,
 -1.55093297e-04, 7.65562744e-04, 1.72786711e-04, 4.82790319e-05,
  4.44214764e-03,-1.49783517e-03, 0.00000000e+00,-1.71481242e-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, -0.02320851, -0.43004756, -0.02320851,  0.13033153,
        0.01620864, -0.43004756,  0.01620864,  0.42979862,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001148586609674161
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.88338030e-01,  4.04668129e-04, -1.52275325e-01,  3.99948935e-04,
        9.99999918e-01,  6.16209758e-05,  1.52275337e-01,  0.00000000e+00,
       -9.88338111e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07590957, -0.07995889,  0.22346506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029530708069526457
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.39888592e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.39888592e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667944, -0.08274816,  0.06199485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.18772723e-03, 1.49856399e-01, 8.84787908e-02, 4.48160507e-02,
 -1.47635438e-05,-1.38188813e-05,-9.42765049e-06,-6.87541101e-06,
 -5.24771627e-05, 1.09471872e-05,-1.40275088e-05,-1.37733732e-04,
  4.00580052e-03,-4.33175112e-04,-4.90549462e+00, 2.17879294e-03,
  1.18567419e-02,-4.13055577e-04]


--- Step 1476 ---
qpos:
[ 1.85439086e-02, 3.00204416e-02,-9.44659606e-03,-2.52568356e-02,
  6.65065533e-04, 4.14230493e-01,-9.62165735e-02, 4.26251783e-01,
  1.15813932e-02, 2.77607017e-02,-8.23211340e-03, 2.64576235e-02,
  1.34080186e+00, 7.59224580e-03, 1.21517861e+00, 4.47807275e-02,
  4.27025352e-02,-7.84870463e-02, 1.74789647e-01, 9.96073948e-01,
  1.32556139e-02,-7.24513412e-02,-4.91098915e-02]

qacc:
[-2.91858607e-01, 8.56460299e-02,-2.42456960e+00, 7.30200376e+00,
 -3.75902713e+00,-4.01958651e+01, 1.13101893e+02,-2.45742721e+01,
 -7.27538950e+00,-2.16822920e+00, 8.82475111e+00,-1.63225726e+01,
 -4.57676995e-01, 5.87364789e-01,-3.92598063e+00, 1.29295477e+01,
 -1.33708281e+00, 1.17875118e-01,-9.32111269e-02,-3.04856998e-01,
 -1.20497848e+01,-5.53796583e+00]

qfrc_actuator:
[ 9.40512303e-06, 9.25636820e-04, 6.80645861e-05,-5.47450266e-05,
 -3.59940773e-03, 3.24227709e-01, 7.69869918e-02, 1.83522413e-01,
 -1.98709664e-04, 7.34678675e-04, 1.83512533e-04, 2.63699338e-05,
  4.41864132e-03,-1.48580682e-03, 0.00000000e+00,-1.64913624e-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, -0.02266249, -0.43007668, -0.02266249,  0.12913342,
        0.01588936, -0.43007668,  0.01588936,  0.42983608,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010174822731105117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.87634216e-01,  1.94280548e-03, -1.56763776e-01,  1.91878479e-03,
        9.99998113e-01,  3.04562098e-04,  1.56764072e-01,  0.00000000e+00,
       -9.87636080e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07548939, -0.07994131,  0.22361878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029260648302022185
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48563249e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.48563249e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0266793 , -0.08275067,  0.0619949 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.00289765e-03, 1.50093160e-01, 8.83588414e-02, 4.42791105e-02,
 -4.40592595e-05,-4.07975055e-05, 6.49708188e-06,-2.29555998e-05,
 -4.88365614e-05, 3.10513394e-06,-2.59116441e-05, 5.52890552e-05,
  4.12769606e-03,-4.47967092e-04,-4.90549311e+00, 2.23621329e-03,
  1.18563736e-02,-4.10054220e-04]


--- Step 1477 ---
qpos:
[ 1.85433997e-02, 3.00209354e-02,-9.44757886e-03,-2.52564576e-02,
  6.46491246e-04, 4.17431123e-01,-9.64984463e-02, 4.29020549e-01,
  1.15787563e-02, 2.77580446e-02,-8.23149101e-03, 2.64566878e-02,
  1.34096243e+00, 7.59329618e-03, 1.21533012e+00, 4.47805705e-02,
  4.23405288e-02,-7.84548325e-02, 1.74842082e-01, 9.95913856e-01,
  1.29956286e-02,-7.41093959e-02,-4.99450008e-02]

qacc:
[ 5.91744686e+00, 2.00608349e-01,-4.39044225e+00, 1.37315421e+01,
 -3.95447007e+00,-2.13255217e+01, 5.16761393e+01, 4.95933654e+01,
 -1.32205678e+00,-3.70367588e+00, 1.30910029e+01,-1.84589081e+01,
 -1.94645441e-02,-1.40537144e-01,-4.68070551e+00, 1.58043058e+01,
 -1.34625252e+00, 1.28509113e-01,-1.07174072e-01,-2.75301503e-01,
 -1.21095101e+01,-5.33237537e+00]

qfrc_actuator:
[ 4.49033975e-05, 8.66744580e-04, 5.64502170e-05,-3.12898337e-05,
 -3.58826279e-03, 3.23802991e-01, 7.72760953e-02, 1.83599065e-01,
 -2.05622777e-04, 6.99424783e-04, 2.25359303e-04, 1.37466873e-05,
  4.40409870e-03,-1.49697596e-03, 0.00000000e+00,-1.57425875e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41762572, -0.02106703, -0.41709403, -0.02106703,  0.11271892,
        0.01540056, -0.41709403,  0.01540056,  0.41684786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008782749225817049
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86893833e-01,  3.49565370e-03, -1.61333018e-01,  3.44986016e-03,
        9.99993890e-01,  5.63967806e-04,  1.61334004e-01, -1.08420217e-19,
       -9.86899863e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07506662, -0.0799236 ,  0.22377284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002898882938079661
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.57457621e-14,  1.91491524e-13,  1.00000000e+00,  1.83345019e-26,
        1.00000000e+00, -1.91491524e-13, -1.00000000e+00,  0.00000000e+00,
       -9.57457621e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667917, -0.08275326,  0.06199495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.82849237e-03, 1.49623271e-01, 8.76777653e-02, 4.40230901e-02,
 -8.22536579e-06,-5.76557704e-05, 3.34523040e-05,-1.45856884e-05,
 -3.94566421e-05,-2.16219960e-05,-8.16317148e-06, 7.41089598e-05,
  4.24925747e-03,-4.63243853e-04,-4.90549059e+00, 2.29302568e-03,
  1.18561322e-02,-4.07172369e-04]


--- Step 1478 ---
qpos:
[ 1.85429752e-02, 3.00211637e-02,-9.44891221e-03,-2.52562005e-02,
  6.23860878e-04, 4.20620689e-01,-9.67891052e-02, 4.31798769e-01,
  1.15767457e-02, 2.77548378e-02,-8.23009314e-03, 2.64559466e-02,
  1.34112291e+00, 7.59390731e-03, 1.21548179e+00, 4.47792796e-02,
  4.19728757e-02,-7.84220633e-02, 1.74894073e-01, 9.95747792e-01,
  1.27346628e-02,-7.57922753e-02,-5.07906964e-02]

qacc:
[ 7.17761051e-01, 3.78556845e-01,-1.35145016e+00, 1.89781978e-02,
 -4.66783362e+00, 2.57941874e+01,-1.44579165e+02, 3.02562678e+02,
  5.37192907e+00,-2.50409644e+00, 7.03473388e+00,-4.48318595e+00,
  1.27262512e-01,-4.61496670e-01, 3.65002953e+00,-1.24664610e+01,
 -1.41171284e+00, 1.38855111e-01,-1.11063189e-01,-2.21796511e-01,
 -1.26761712e+01,-5.22295858e+00]

qfrc_actuator:
[ 4.82402418e-05, 8.84960710e-04, 4.99334132e-05,-3.54177451e-05,
 -3.58983593e-03, 3.24059245e-01, 7.75537856e-02, 1.84574679e-01,
 -1.73115083e-04, 6.79715644e-04, 2.67470092e-04, 2.44555150e-05,
  4.40025936e-03,-1.52177634e-03, 0.00000000e+00,-1.63663641e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.37333053, -0.01711421, -0.37293805, -0.01711421,  0.08731696,
        0.01312523, -0.37293805,  0.01312523,  0.37272821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007309219369942205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86120342e-01,  3.80478281e-03, -1.65988538e-01,  3.75200089e-03,
        9.99992762e-01,  6.31554908e-04,  1.65989739e-01,  1.08420217e-19,
       -9.86127480e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07464103, -0.07992053,  0.22392719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000287160796096822
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.9331034e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.9331034e-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([ 0.02667906, -0.08275593,  0.061995  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.65750185e-03, 1.49632273e-01, 8.72097872e-02, 4.46203515e-02,
  3.22376918e-05,-4.55858474e-05, 3.38403036e-05, 9.11811598e-06,
 -2.94235140e-05,-4.01398160e-05, 1.59096316e-06,-5.99508235e-05,
  4.37219742e-03,-4.79128920e-04,-4.90548722e+00, 2.34973852e-03,
  1.18560377e-02,-4.04400699e-04]


--- Step 1479 ---
qpos:
[ 1.85425941e-02, 3.00213613e-02,-9.45020877e-03,-2.52560532e-02,
  5.97476828e-04, 4.23797918e-01,-9.70857452e-02, 4.34589549e-01,
  1.15751401e-02, 2.77514286e-02,-8.22887880e-03, 2.64557067e-02,
  1.34128335e+00, 7.59371433e-03, 1.21563344e+00, 4.47772528e-02,
  4.15994111e-02,-7.83886997e-02, 1.74945584e-01, 9.95575557e-01,
  1.24727406e-02,-7.75006685e-02,-5.16467499e-02]

qacc:
[ 3.73907575e-01,-3.70011391e-01, 1.72115884e+00,-3.65200246e+00,
 -4.26510862e+00, 2.20854660e+01,-1.45429582e+02, 3.49692524e+02,
  3.45126507e+00, 1.27067517e+00,-7.04695546e+00, 1.61774460e+01,
  4.51672527e-01,-1.07580242e+00, 2.14060455e+00,-7.66317232e+00,
 -1.45284341e+00, 1.48600221e-01,-1.19788641e-01,-1.81447024e-01,
 -1.30267585e+01,-5.11495021e+00]

qfrc_actuator:
[ 5.03615113e-05, 9.13710996e-04, 6.45196200e-05,-3.79248271e-05,
 -3.57929402e-03, 3.24541547e-01, 7.78596876e-02, 1.85445545e-01,
 -1.53181930e-04, 6.69502721e-04, 2.56206860e-04, 4.88132281e-05,
  4.38685768e-03,-1.57214275e-03, 0.00000000e+00,-1.67286630e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.30940758, -0.01295585, -0.30913621, -0.01295585,  0.07830501,
        0.00968548, -0.30913621,  0.00968548,  0.30900166,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005726966421479975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85308354e-01,  3.82478458e-03, -1.70741964e-01,  3.76861976e-03,
        9.99992685e-01,  6.53056008e-04,  1.70743213e-01,  0.00000000e+00,
       -9.85315561e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0742145 , -0.07992107,  0.22408006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002844214911909282
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75860702e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.75860702e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667896, -0.08275866,  0.06199505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.44339752e-03, 1.50560862e-01, 8.79194858e-02, 4.50091512e-02,
  2.08519472e-05,-2.82176168e-05,-1.61766022e-05, 2.37564879e-05,
 -3.84385037e-05,-6.84096503e-05,-9.73469279e-06,-4.02337509e-05,
  4.50117709e-03,-4.95913571e-04,-4.90548335e+00, 2.40807059e-03,
  1.18560677e-02,-4.01703104e-04]


--- Step 1480 ---
qpos:
[ 1.85425863e-02, 3.00212729e-02,-9.45096053e-03,-2.52559403e-02,
  5.68302214e-04, 4.26990317e-01,-9.73641330e-02, 4.37394711e-01,
  1.15737856e-02, 2.77484248e-02,-8.22834650e-03, 2.64553715e-02,
  1.34144344e+00, 7.59320729e-03, 1.21578505e+00, 4.47744559e-02,
  4.12202461e-02,-7.83547048e-02, 1.74996533e-01, 9.95397053e-01,
  1.22098658e-02,-7.92340381e-02,-5.25128007e-02]

qacc:
[ 3.22426067e+00,-1.97828173e+00, 6.63807413e+00,-7.88021553e+00,
 -3.11169799e+00,-3.79463126e+00,-1.23013720e+01, 2.05819909e+02,
  2.11397612e+00, 2.24193743e+00,-6.82074946e+00, 5.97043599e+00,
 -1.17058410e-01,-1.59221584e-01, 2.28582571e+00,-8.05712571e+00,
 -1.42511887e+00, 1.57820339e-01,-1.40437605e-01,-1.77547439e-01,
 -1.27629368e+01,-4.94579694e+00]

qfrc_actuator:
[ 6.95133132e-05, 8.95395218e-04, 9.15205379e-05,-3.94222114e-05,
 -3.54241041e-03, 3.25165175e-01, 7.81477208e-02, 1.85465559e-01,
 -1.40822794e-04, 7.18118030e-04, 2.31320670e-04, 4.54704249e-05,
  4.36771750e-03,-1.58405030e-03, 0.00000000e+00,-1.71110458e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24806454, -0.00981416, -0.24787033, -0.00981416,  0.07773528,
        0.00674401, -0.24787033,  0.00674401,  0.24779752,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004034219986680053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84456475e-01,  3.84107283e-03, -1.75586715e-01,  3.78139692e-03,
        9.99992623e-01,  6.74446335e-04,  1.75588010e-01,  0.00000000e+00,
       -9.84463738e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0737869 , -0.07992186,  0.2242315 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002816701109305819
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00,  1.970786e-13,  1.000000e+00,  0.000000e+00,
        1.000000e+00, -1.970786e-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([ 0.02667887, -0.08276148,  0.0619951 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92165277e-05,-2.03168197e-05, 2.62124235e-05,-1.72225521e-06,
 -2.21812628e-03, 1.51695031e-01, 8.84713517e-02, 4.43918506e-02,
  1.29507919e-05, 3.06243087e-05,-3.18617118e-05,-4.64517383e-06,
 -5.56377885e-05,-3.99600852e-05,-1.19668594e-05,-4.24197777e-05,
  4.63454522e-03,-5.13507466e-04,-4.90547874e+00, 2.46751020e-03,
  1.18561917e-02,-3.99096009e-04]


--- Step 1481 ---
qpos:
[ 1.85424634e-02, 3.00209167e-02,-9.45105293e-03,-2.52562019e-02,
  5.36855624e-04, 4.30226776e-01,-9.76071086e-02, 4.40214471e-01,
  1.15722452e-02, 2.77459203e-02,-8.22849833e-03, 2.64546411e-02,
  1.34160299e+00, 7.59302427e-03, 1.21593696e+00, 4.47681897e-02,
  4.08355837e-02,-7.83200439e-02, 1.75046826e-01, 9.95212219e-01,
  1.19460523e-02,-8.09914345e-02,-5.33883828e-02]

qacc:
[ -0.96218861, -2.9668409 , 11.64347069,-18.97431123, -2.49915941,
 -11.78347956, 67.24163428, 94.05340262, -1.61511698,  1.76166902,
  -3.64981648, -2.46954692, -0.92713621,  1.17739117, 11.01374549,
 -37.69198923, -1.37432516,  0.16650217, -0.16428589, -0.17527929,
 -12.29168506, -4.72606081]

qfrc_actuator:
[ 6.30309157e-05, 8.84612739e-04, 1.25447537e-04,-5.80977318e-05,
 -3.52468870e-03, 3.25726759e-01, 7.84209446e-02, 1.85074730e-01,
 -1.50768871e-04, 7.48245418e-04, 1.98832627e-04, 2.59033630e-05,
  4.35048860e-03,-1.55529831e-03, 0.00000000e+00,-1.89224039e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21630295, -0.00853827, -0.21613437, -0.00853827,  0.07658728,
        0.00551939, -0.21613437,  0.00551939,  0.21608491,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000226869975579698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83564733e-01,  5.40428841e-03, -1.80474956e-01,  5.31554511e-03,
        9.99985397e-01,  9.75352955e-04,  1.80477591e-01, -1.08420217e-19,
       -9.83579096e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07335532, -0.07990436,  0.22438457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002789154660736426
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99025002e-13,  1.99025002e-13,  1.00000000e+00,  3.96109515e-26,
        1.00000000e+00, -1.99025002e-13, -1.00000000e+00,  0.00000000e+00,
       -1.99025002e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667879, -0.08276437,  0.06199515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.06028526e-03, 1.51391860e-01, 8.77967710e-02, 4.32721045e-02,
 -9.56321118e-06, 4.05756302e-05,-3.02195394e-05,-1.94420740e-05,
 -5.59059867e-05, 4.64690467e-06,-1.36202281e-05,-1.85790979e-04,
  4.76681363e-03,-5.31583501e-04,-4.90547290e+00, 2.52616614e-03,
  1.18563704e-02,-3.96625637e-04]


--- Step 1482 ---
qpos:
[ 1.85419192e-02, 3.00204713e-02,-9.45052298e-03,-2.52563607e-02,
  5.03199740e-04, 4.33510208e-01,-9.78162871e-02, 4.43049330e-01,
  1.15699082e-02, 2.77438648e-02,-8.22935953e-03, 2.64536903e-02,
  1.34176220e+00, 7.59264555e-03, 1.21608849e+00, 4.47621328e-02,
  4.04454976e-02,-7.82846819e-02, 1.75096390e-01, 9.95020951e-01,
  1.16813253e-02,-8.27724875e-02,-5.42730962e-02]

qacc:
[-3.59493916e+00,-1.63842787e+00, 5.24829979e+00,-4.40933019e+00,
 -2.41348188e+00,-2.82356335e+00, 3.97253417e+01, 1.27234851e+02,
 -6.82105232e+00, 2.13544343e+00,-5.79914508e+00, 2.76166098e+00,
 -9.48402559e-02,-1.09537329e-01,-1.18842213e+00, 3.35247785e+00,
 -1.35594731e+00, 1.75296904e-01,-1.82049205e-01,-1.54449408e-01,
 -1.21111095e+01,-4.53725529e+00]

qfrc_actuator:
[ 4.15069802e-05, 8.96199123e-04, 1.63197714e-04,-5.12210142e-05,
 -3.50011385e-03, 3.25754590e-01, 7.86785744e-02, 1.85035019e-01,
 -1.91514020e-04, 7.67024068e-04, 1.62058380e-04, 1.46923538e-05,
  4.32911147e-03,-1.57367358e-03, 0.00000000e+00,-1.87206545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20450673, -0.00792764, -0.20435302, -0.00792764,  0.07002882,
        0.00521692, -0.20435302,  0.00521692,  0.20430435,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.7081184271454986e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98264141,  0.00711524, -0.18537861,  0.00699191,  0.99997469,
        0.00131905,  0.18538331,  0.        , -0.98266629])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07291688, -0.07988504,  0.22454201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027616834434300574
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.01004758e-13,  6.03014274e-13,  1.00000000e+00,  1.21208738e-25,
        1.00000000e+00, -6.03014274e-13, -1.00000000e+00,  0.00000000e+00,
       -2.01004758e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667873, -0.08276733,  0.0619952 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.92153738e-03, 1.49109213e-01, 8.62481073e-02, 4.24922007e-02,
 -4.10176277e-05, 3.44792200e-05,-3.27561110e-05,-1.08885245e-05,
 -5.00923626e-05,-2.97931219e-05,-3.13207008e-05, 7.11801105e-06,
  4.89579618e-03,-5.49982355e-04,-4.90546567e+00, 2.58316842e-03,
  1.18566359e-02,-3.94313504e-04]


--- Step 1483 ---
qpos:
[ 1.85407762e-02, 3.00202245e-02,-9.45019952e-03,-2.52564157e-02,
  4.41677799e-04, 4.37706616e-01,-9.71620941e-02, 4.46539428e-01,
  1.15674452e-02, 2.77421754e-02,-8.23095200e-03, 2.64526250e-02,
  1.34192122e+00, 7.59177353e-03, 1.21623920e+00, 4.47613312e-02,
  4.00594905e-02,-7.82482196e-02, 1.75143666e-01, 9.94827355e-01,
  1.14141484e-02,-8.45346854e-02,-5.51555866e-02]

qacc:
[-5.14641153e+00, 1.06354543e+00,-3.83052091e+00, 5.78892484e+00,
 -2.93462736e+01, 2.68473020e+01,-8.37400964e+02, 9.41028792e+03,
 -1.10250088e+00, 2.29437203e+00,-6.99116667e+00, 5.90460103e+00,
  6.25591850e-01,-1.13815147e+00,-1.71919211e+01, 5.81930848e+01,
  1.01974682e+00, 2.75057094e-01,-5.72101279e-01,-1.62488125e+00,
  9.23070305e+00, 1.03410299e+00]

qfrc_actuator:
[ 1.13105289e-05, 9.03382577e-04, 1.49757168e-04,-4.70931828e-05,
 -3.45282837e-03, 3.25477136e-01, 7.88965454e-02, 1.85714462e-01,
 -1.96795732e-04, 7.78844139e-04, 1.23011303e-04, 8.47833860e-06,
  4.32122329e-03,-1.60218248e-03, 0.00000000e+00,-1.59137382e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002734331123992739
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03015468e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.03015468e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667867, -0.08277037,  0.06199525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.76319856e-03, 1.46373938e-01, 8.47397546e-02, 4.24061687e-02,
 -6.47822619e-06, 2.39331284e-05,-3.63007206e-05,-6.07186022e-06,
 -4.14541350e-05,-4.83697169e-05,-1.57067773e-05, 2.76619683e-04,
  5.02401106e-03,-5.68858536e-04,-4.90545725e+00, 2.63935679e-03,
  1.18570024e-02,-3.92141411e-04]


--- Step 1484 ---
qpos:
[ 1.85396248e-02, 3.00199630e-02,-9.44994448e-03,-2.52564024e-02,
  3.75502890e-04, 4.42606907e-01,-9.62020519e-02, 4.50111472e-01,
  1.15656272e-02, 2.77403006e-02,-8.23307469e-03, 2.64515516e-02,
  1.34208014e+00, 7.59068808e-03, 1.21639013e+00, 4.47608352e-02,
  3.96774721e-02,-7.82106413e-02, 1.75188724e-01, 9.94631498e-01,
  1.11445257e-02,-8.62784704e-02,-5.60357808e-02]

qacc:
[-7.48660295e-02, 3.12619010e-01,-1.43004990e+00, 2.72998474e+00,
 -5.21943024e+00, 2.40215553e+02, 1.48303303e+02, 2.85159878e+02,
  5.48613919e+00, 1.20923746e+00,-4.65104032e+00, 5.51279952e+00,
  6.19530847e-02,-2.45128708e-01,-6.04566127e-01, 2.57006626e+00,
  9.97190839e-01, 2.78983504e-01,-5.54397277e-01,-1.61441647e+00,
  9.00897199e+00, 1.07804877e+00]

qfrc_actuator:
[ 1.17616964e-05, 8.89919579e-04, 1.41687348e-04,-4.46567700e-05,
 -3.36537605e-03, 3.24273742e-01, 7.82298753e-02, 1.85806414e-01,
 -1.63398726e-04, 7.33134303e-04, 8.29061754e-05, 5.24472094e-06,
  4.33207856e-03,-1.60089039e-03, 0.00000000e+00,-1.58556502e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027106854357368537
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.07179600e-13,  2.04786400e-13,  1.00000000e+00,  6.29062045e-26,
        1.00000000e+00, -2.04786400e-13, -1.00000000e+00,  0.00000000e+00,
       -3.07179600e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667865, -0.08277347,  0.06199529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.72048925e-04, 9.94089092e-02, 4.08684010e-02, 9.70279972e-03,
  3.32099157e-05,-4.00128187e-05,-3.98041484e-05,-3.57270392e-06,
 -2.15882968e-05,-2.22412895e-05, 2.22840873e-05, 1.89200674e-05,
  4.93862851e-03,-5.77346147e-04,-4.90543603e+00, 2.60984243e-03,
  1.18582110e-02,-3.91998645e-04]


--- Step 1485 ---
qpos:
[ 1.85391768e-02, 3.00196306e-02,-9.44975260e-03,-2.52563528e-02,
  3.09209102e-04, 4.47953034e-01,-9.50678930e-02, 4.53718367e-01,
  1.15642235e-02, 2.77381800e-02,-8.23516476e-03, 2.64517984e-02,
  1.34223873e+00, 7.59006622e-03, 1.21654127e+00, 4.47594389e-02,
  3.92993531e-02,-7.81719320e-02, 1.75231635e-01, 9.94433447e-01,
  1.08724470e-02,-8.80042831e-02,-5.69135873e-02]

qacc:
[ 6.03532756e+00, 1.46043323e-01,-8.29648700e-01, 1.63219956e+00,
 -3.09031329e-01, 1.74654497e+02, 7.83958836e+01,-4.92672273e+01,
  3.53865862e+00, 2.29521700e+00,-1.42414845e+01, 3.72335705e+01,
 -6.45427204e-01, 9.87437493e-01, 3.10492224e+00,-1.02477468e+01,
  9.74837947e-01, 2.82770448e-01,-5.36762367e-01,-1.60970308e+00,
  8.78775368e+00, 1.13181056e+00]

qfrc_actuator:
[ 4.80033543e-05, 8.81955231e-04, 1.36784495e-04,-4.32412178e-05,
 -3.31914817e-03, 3.22482955e-01, 7.72800994e-02, 1.85431005e-01,
 -1.43020301e-04, 7.42074882e-04, 9.55155762e-05, 7.47493829e-05,
  4.32755110e-03,-1.56404764e-03, 0.00000000e+00,-1.63532263e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026905759110021354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03158493e-13,  4.12633972e-13,  1.00000000e+00,  4.25666987e-26,
        1.00000000e+00, -4.12633972e-13, -1.00000000e+00,  0.00000000e+00,
       -1.03158493e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667865, -0.08277659,  0.06199533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.16298848e-05, 6.22637632e-02, 2.45681773e-02, 5.19813566e-03,
  2.13316769e-05,-2.17091976e-05,-6.36190199e-07, 6.63527385e-05,
 -2.07124921e-05, 2.54432646e-05, 7.85962018e-06,-4.68695037e-05,
  4.85574794e-03,-5.85599534e-04,-4.90541580e+00, 2.58080349e-03,
  1.18593105e-02,-3.91818261e-04]


--- Step 1486 ---
qpos:
[ 1.85391670e-02, 3.00192390e-02,-9.45014045e-03,-2.52569423e-02,
  2.43596465e-04, 4.53569069e-01,-9.38308404e-02, 4.57333680e-01,
  1.15634198e-02, 2.77358989e-02,-8.23685166e-03, 2.64528384e-02,
  1.34239706e+00, 7.58965221e-03, 1.21669246e+00, 4.47571319e-02,
  3.89250447e-02,-7.81320769e-02, 1.75272469e-01, 9.94233264e-01,
  1.05978909e-02,-8.97125622e-02,-5.77888998e-02]

qacc:
[ 3.74163396e+00, 2.17945168e-01, 1.78978934e+00,-1.18570328e+01,
  5.92777368e-01, 9.02586724e+01, 1.46963361e+02,-3.16930065e+02,
  5.13078536e+00, 2.84082697e-01,-4.68687946e+00, 1.79070433e+01,
 -4.15436249e-01, 5.62383875e-01, 2.87180062e+00,-9.83884139e+00,
  9.52659972e-01, 2.86461325e-01,-5.19325953e-01,-1.60948329e+00,
  8.56727868e+00, 1.19315459e+00]

qfrc_actuator:
[ 6.95054119e-05, 8.59599394e-04, 9.82986640e-05,-7.79387990e-05,
 -3.28257523e-03, 3.20227461e-01, 7.61521004e-02, 1.84487702e-01,
 -1.12727743e-04, 7.48434936e-04, 1.21650297e-04, 1.15561275e-04,
  4.30849104e-03,-1.55972402e-03, 0.00000000e+00,-1.68183107e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026738149436512926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667867, -0.08277972,  0.06199536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.65230126e-05, 3.75345383e-02, 1.46660732e-02, 2.48390281e-03,
  3.08989246e-05,-2.96416347e-06, 2.39142588e-05, 4.11585710e-05,
 -2.39388162e-05, 6.74059962e-06,-6.02674348e-06,-4.91068289e-05,
  4.77527562e-03,-5.93663291e-04,-4.90539653e+00, 2.55218905e-03,
  1.18603013e-02,-3.91600575e-04]


--- Step 1487 ---
qpos:
[ 1.85394157e-02, 3.00184163e-02,-9.45058915e-03,-2.52575850e-02,
  1.94278526e-04, 4.59223647e-01,-9.26434576e-02, 4.60891298e-01,
  1.15636749e-02, 2.77333344e-02,-8.23806437e-03, 2.64533344e-02,
  1.34255526e+00, 7.58907778e-03, 1.21684351e+00, 4.47549429e-02,
  3.85528483e-02,-7.80912059e-02, 1.75311451e-01, 9.94030165e-01,
  1.03212703e-02,-9.14109594e-02,-5.86646321e-02]

qacc:
[ 2.22334236e+00,-5.13471069e-01, 1.22061076e+00,-1.71697953e+00,
  1.64778072e+01, 8.17242347e+01,-3.19547599e+00,-8.68845212e+02,
  9.04768663e+00,-2.83777269e+00, 1.18407076e+01,-2.17718400e+01,
  2.14163968e-02,-1.67693593e-01,-5.80618190e-01, 1.70055072e+00,
  5.27982289e-01, 2.53955160e-01,-4.63098422e-01,-1.31511896e+00,
  4.71975334e+00,-2.52781915e-01]

qfrc_actuator:
[ 8.21477240e-05, 8.28625489e-04, 9.34627746e-05,-8.03853777e-05,
 -3.19928985e-03, 3.18631627e-01, 7.49009911e-02, 1.83464691e-01,
 -5.90854069e-05, 7.17754368e-04, 1.37763992e-04, 8.58986165e-05,
  4.29669477e-03,-1.57484160e-03, 0.00000000e+00,-1.67276171e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20501492, -0.01001373, -0.20477022, -0.01001373,  0.32545673,
       -0.00588988, -0.20477022, -0.00588988,  0.20530295,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.666127734460657e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79209475e-01,  1.56819220e-02, -2.02244606e-01,  1.53577751e-02,
        9.99877031e-01,  3.17197418e-03,  2.02269479e-01, -4.33680869e-19,
       -9.79329903e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06994757, -0.07979797,  0.22614937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002660203494608826
  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([ 0.0266787 , -0.08278286,  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:
[ 1.32941323e-05,-5.75335279e-05,-1.72516698e-05,-5.83050482e-06,
  1.07025382e-04, 2.22482357e-02, 8.19567029e-03, 1.01510826e-03,
  5.45358777e-05,-2.55262931e-05, 1.99130554e-05,-2.81561257e-05,
 -2.29918979e-05,-1.86210218e-05,-1.18393184e-05, 4.74989164e-06,
  4.69712614e-03,-6.01573263e-04,-4.90537819e+00, 2.52396110e-03,
  1.18611854e-02,-3.91345356e-04]


--- Step 1488 ---
qpos:
[ 1.85394692e-02, 3.00175726e-02,-9.45102898e-03,-2.52579649e-02,
  1.60964992e-04, 4.64862050e-01,-9.14998701e-02, 4.64394632e-01,
  1.15642270e-02, 2.77303530e-02,-8.23896605e-03, 2.64535006e-02,
  1.34271322e+00, 7.58839357e-03, 1.21699425e+00, 4.47545298e-02,
  3.81826356e-02,-7.80494255e-02, 1.75348706e-01, 9.93824041e-01,
  1.00427988e-02,-9.31001437e-02,-5.95422675e-02]

qacc:
[-1.67344549e+00, 4.92149734e-01,-2.89626389e+00, 7.43425273e+00,
  1.59862860e+01, 9.30099782e-01, 1.63706393e+02,-9.35934445e+02,
  2.54764918e+00,-2.10395962e+00, 8.08596018e+00,-1.39731383e+01,
  2.64671038e-02,-1.78479773e-01,-5.82514642e+00, 1.97117835e+01,
  4.95937006e-01, 2.27344987e-01,-4.31590722e-01,-1.26159290e+00,
  4.37659202e+00,-9.97581313e-01]

qfrc_actuator:
[ 7.17258987e-05, 8.63886758e-04, 1.08529855e-04,-6.38117433e-05,
 -3.13936826e-03, 3.17501733e-01, 7.37406794e-02, 1.82456602e-01,
 -4.53900476e-05, 6.82789356e-04, 1.47632778e-04, 6.82290445e-05,
  4.27860302e-03,-1.58358612e-03, 0.00000000e+00,-1.57775214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21143604, -0.02877949, -0.20946823, -0.02877949,  0.95617172,
       -0.10232153, -0.20946823, -0.10232153,  0.22549431,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017818651240343808
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97865661,  0.01739487, -0.20476487,  0.01702618,  0.9998487 ,
        0.0035624 ,  0.20479585,  0.        , -0.97880471])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06926742, -0.07978087,  0.22657604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002649725867894942
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04748857e-13,  4.18995428e-13,  1.00000000e+00,  4.38892922e-26,
        1.00000000e+00, -4.18995428e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04748857e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667874, -0.08278598,  0.06199541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00503791e-05,-6.83196468e-07, 8.73545438e-07, 1.34036236e-05,
 -6.53770640e-04, 1.89885318e-02, 9.44023412e-03, 2.87452798e-03,
  1.52766222e-05,-4.62070268e-05, 6.11554815e-06,-1.86173333e-05,
 -3.47298140e-05,-1.91895017e-05,-7.72134586e-06, 9.31184435e-05,
  4.65859255e-03,-6.11110633e-04,-4.90536188e+00, 2.51326171e-03,
  1.18613720e-02,-3.90669868e-04]


--- Step 1489 ---
qpos:
[ 1.85393972e-02, 3.00171284e-02,-9.45122009e-03,-2.52585609e-02,
  1.37608614e-04, 4.70427741e-01,-9.04226711e-02, 4.67847915e-01,
  1.15639052e-02, 2.77270641e-02,-8.23896910e-03, 2.64540895e-02,
  1.34287077e+00, 7.58768235e-03, 1.21714488e+00, 4.47555703e-02,
  3.78139751e-02,-7.80067866e-02, 1.75384361e-01, 9.93614680e-01,
  9.76261949e-03,-9.47820971e-02,-6.04227800e-02]

qacc:
[-1.07666263e+00,-6.10440474e-01, 3.85579009e+00,-8.28572914e+00,
  9.76393120e+00,-4.66969151e+00, 6.50085602e+01,-7.11584985e+02,
 -7.41809201e+00,-2.03346463e+00, 4.90089965e+00, 1.17783075e+00,
 -1.84519953e-01, 8.66555547e-02,-4.56205516e+00, 1.57297750e+01,
  3.88040367e-01, 2.14633498e-01,-3.99983814e-01,-1.18158109e+00,
  3.37719090e+00,-1.48277014e+00]

qfrc_actuator:
[ 6.55684671e-05, 9.20898898e-04, 1.35493353e-04,-7.16259443e-05,
 -3.11744516e-03, 3.15678803e-01, 7.25955821e-02, 1.81956453e-01,
 -9.08296793e-05, 6.98758212e-04, 2.06985993e-04, 9.32638922e-05,
  4.25142351e-03,-1.58849328e-03, 0.00000000e+00,-1.50389406e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22334474, -0.0435407 , -0.21905954, -0.0435407 ,  0.08466443,
        0.02756437, -0.21905954,  0.02756437,  0.21786599,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028039351275945126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97807683,  0.01911162, -0.20736552,  0.01869605,  0.99981736,
        0.00396381,  0.2074034 ,  0.        , -0.9782555 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06859337, -0.07976292,  0.22700296])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026415174619347226
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.1014872e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.1014872e-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([ 0.02667878, -0.08278909,  0.06199542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.43820435e-03, 1.77728197e-02, 1.04069678e-02, 5.07298713e-03,
 -4.50176142e-05,-9.27982398e-06, 4.99625371e-05, 2.29117324e-05,
 -4.96694630e-05,-1.84481202e-05, 4.05497297e-06, 7.74331440e-05,
  4.62631601e-03,-6.20262142e-04,-4.90534575e+00, 2.50724842e-03,
  1.18608675e-02,-3.89890497e-04]


--- Step 1490 ---
qpos:
[ 1.85392517e-02, 3.00171880e-02,-9.45116107e-03,-2.52592605e-02,
  1.18447035e-04, 4.75859124e-01,-8.94372345e-02, 4.71257745e-01,
  1.15633852e-02, 2.77240762e-02,-8.23848534e-03, 2.64545772e-02,
  1.34302787e+00, 7.58717053e-03, 1.21729524e+00, 4.47594938e-02,
  3.74461153e-02,-7.79633039e-02, 1.75418544e-01, 9.93401734e-01,
  9.48084275e-03,-9.64601961e-02,-6.13069328e-02]

qacc:
[-6.30823297e-01,-2.45346265e-01, 2.27849243e+00,-4.83976196e+00,
  4.02832698e+00,-5.24172025e+00,-6.83738302e+01,-4.12497978e+02,
 -1.68065386e+00,-1.16792900e+00, 5.17426463e+00,-7.93119889e+00,
 -2.63521007e-01, 3.09598000e-01,-9.08940828e+00, 3.12811602e+01,
  2.00199585e-01, 2.10947661e-01,-3.68060992e-01,-1.06506075e+00,
  1.67892690e+00,-1.85999934e+00]

qfrc_actuator:
[ 6.19781769e-05, 9.55044183e-04, 1.51598658e-04,-7.59463603e-05,
 -3.15418094e-03, 3.13361038e-01, 7.15174771e-02, 1.82062592e-01,
 -9.96878173e-05, 7.45344872e-04, 2.42059972e-04, 9.00430087e-05,
  4.23479127e-03,-1.57338424e-03, 0.00000000e+00,-1.35435174e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23924996, -0.03842937, -0.23614345, -0.03842937,  0.04983742,
        0.03082451, -0.23614345,  0.03082451,  0.23423366,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003668410929058511
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97745998,  0.02083233, -0.21009046,  0.02036719,  0.99978298,
        0.00437762,  0.21013606,  0.        , -0.97767215])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06793024, -0.07974437,  0.22742482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002634966026659469
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.21342444e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.21342444e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667882, -0.0827922 ,  0.06199544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.97673533e-03, 1.88919229e-02, 1.25717097e-02, 7.66828168e-03,
 -1.01945932e-05, 5.28007465e-05, 4.01424118e-05,-1.43607245e-06,
 -4.65047554e-05,-1.82968698e-06, 6.77652053e-06, 1.53543867e-04,
  4.60470863e-03,-6.29794595e-04,-4.90533017e+00, 2.50625562e-03,
  1.18599553e-02,-3.89010583e-04]


--- Step 1491 ---
qpos:
[ 1.85387197e-02, 3.00176035e-02,-9.45114865e-03,-2.52592761e-02,
  1.02191616e-04, 4.81128600e-01,-8.85409206e-02, 4.74630040e-01,
  1.15624174e-02, 2.77218442e-02,-8.23832431e-03, 2.64546743e-02,
  1.34318454e+00, 7.58684013e-03, 1.21744568e+00, 4.47645044e-02,
  3.70784661e-02,-7.79189913e-02, 1.75451349e-01, 9.93184903e-01,
  9.19756582e-03,-9.81370956e-02,-6.21953673e-02]

qacc:
[-3.32327667e+00, 2.01637188e+00,-9.37604282e+00, 2.09993937e+01,
  2.77421693e+00,-3.77843271e+01,-2.74467672e+01,-3.41263775e+02,
 -3.84034373e+00, 1.10444219e+00,-8.25850162e-01,-5.98985186e+00,
 -3.89681119e-01, 4.59891988e-01,-3.14604540e+00, 1.12430449e+01,
  5.26194779e-02, 2.07477774e-01,-3.44343103e-01,-9.70008496e-01,
  3.42167129e-01,-2.17909947e+00]

qfrc_actuator:
[ 4.21736186e-05, 9.57452586e-04, 1.43335533e-04,-4.26913627e-05,
 -3.18882729e-03, 3.10712785e-01, 7.05670023e-02, 1.82066606e-01,
 -1.22428370e-04, 7.92064108e-04, 2.27113506e-04, 7.02234859e-05,
  4.21385504e-03,-1.56423374e-03, 0.00000000e+00,-1.30343090e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25552621, -0.03756393, -0.25275007, -0.03756393,  0.04759306,
        0.0309032 , -0.25275007,  0.0309032 ,  0.25093335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043035561648038117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76794628e-01,  2.25559656e-02, -2.12987051e-01,  2.20381529e-02,
        9.99745582e-01,  4.80535116e-03,  2.13041252e-01,  8.67361738e-19,
       -9.77043205e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06728308, -0.0797255 ,  0.22783563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002629676595029551
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05547487e-13,  2.11094974e-13,  1.00000000e+00,  2.22805440e-26,
        1.00000000e+00, -2.11094974e-13, -1.00000000e+00,  0.00000000e+00,
       -1.05547487e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667884, -0.08279529,  0.06199545])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.22290684e-03, 2.27653702e-02, 1.61350727e-02, 9.83400624e-03,
 -2.30314880e-05, 8.45724610e-05, 8.83026395e-07,-1.61909626e-05,
 -4.49713550e-05,-2.49376835e-06, 1.66533824e-05, 5.95423273e-05,
  4.59912371e-03,-6.40435723e-04,-4.90531532e+00, 2.51155865e-03,
  1.18588192e-02,-3.88012537e-04]


--- Step 1492 ---
qpos:
[ 1.85386439e-02, 3.00181771e-02,-9.45083792e-03,-2.52588911e-02,
  8.86662998e-05, 4.86234983e-01,-8.77241272e-02, 4.77969242e-01,
  1.15608400e-02, 2.77198482e-02,-8.23787911e-03, 2.64549036e-02,
  1.34334083e+00, 7.58662125e-03, 1.21759646e+00, 4.47677601e-02,
  3.67105849e-02,-7.78738546e-02, 1.75482844e-01, 9.92963951e-01,
  8.91285905e-03,-9.98147857e-02,-6.30885173e-02]

qacc:
[ 3.92039958e+00, 1.92584443e-01,-2.08451046e+00, 8.43091374e+00,
  2.58991935e+00,-5.72366617e+01, 2.13917181e+01,-3.27104277e+02,
 -5.19405363e+00,-1.99973721e-01, 6.24516706e-01, 1.01781662e+00,
 -5.23526321e-01, 5.98945698e-01, 5.86367219e+00,-1.96607744e+01,
 -5.79781237e-02, 2.06022221e-01,-3.27739907e-01,-8.97898096e-01,
 -6.60995665e-01,-2.39605605e+00]

qfrc_actuator:
[ 6.62408540e-05, 9.58517840e-04, 1.56153278e-04,-2.31425501e-05,
 -3.16935137e-03, 3.08036324e-01, 6.96916653e-02, 1.81843279e-01,
 -1.53169595e-04, 7.85029595e-04, 2.36027478e-04, 7.62799532e-05,
  4.19567668e-03,-1.55872012e-03, 0.00000000e+00,-1.39980320e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26771543, -0.0375698 , -0.26506615, -0.0375698 ,  0.04793459,
        0.03115118, -0.26506615,  0.03115118,  0.26330014,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004684101921569014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97607673,  0.02428158, -0.21606626,  0.02370768,  0.99970516,
        0.00524798,  0.21612999,  0.        , -0.9763646 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06665336, -0.07970631,  0.22823309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026253329555514515
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05722116e-13,  2.11444233e-13,  1.00000000e+00,  2.23543318e-26,
        1.00000000e+00, -2.11444233e-13, -1.00000000e+00,  0.00000000e+00,
       -1.05722116e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667885, -0.08279838,  0.06199546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.35013810e-05, 3.20781436e-05, 2.54619539e-05, 2.27240711e-05,
 -2.35002252e-03, 2.79970613e-02, 1.96445726e-02, 1.14775542e-02,
 -3.13932815e-05, 3.98151490e-05, 2.59561302e-05, 9.40136190e-06,
 -4.17044733e-05,-5.89986059e-06, 9.75760064e-06,-9.19493286e-05,
  4.60619063e-03,-6.52014934e-04,-4.90530090e+00, 2.52195035e-03,
  1.18574604e-02,-3.86935292e-04]


--- Step 1493 ---
qpos:
[ 1.85388567e-02, 3.00192084e-02,-9.45045803e-03,-2.52586429e-02,
  7.78131968e-05, 4.91195513e-01,-8.69763629e-02, 4.81278330e-01,
  1.15595954e-02, 2.77176957e-02,-8.23708656e-03, 2.64549053e-02,
  1.34349678e+00, 7.58647251e-03, 1.21774723e+00, 4.47701883e-02,
  3.63421458e-02,-7.78278986e-02, 1.75513072e-01, 9.92738685e-01,
  8.62678290e-03,-1.01494736e-01,-6.39867191e-02]

qacc:
[ 2.47131671e+00, 1.25116710e-01, 9.99172496e-01,-3.80107309e+00,
  2.50172303e+00,-5.76801891e+01, 4.32046231e+01,-3.24837814e+02,
  2.85164580e+00,-1.65180981e+00, 6.54118891e+00,-1.09107279e+01,
 -3.78536210e-01, 4.04552359e-01, 2.52472737e+00,-8.77018261e+00,
 -1.39465089e-01, 2.04832988e-01,-3.16554468e-01,-8.41474283e-01,
 -1.40305594e+00,-2.56580178e+00]

qfrc_actuator:
[ 8.04378444e-05, 9.94338027e-04, 1.63540647e-04,-2.95602294e-05,
 -3.15389375e-03, 3.05923713e-01, 6.88874581e-02, 1.81387606e-01,
 -1.35112259e-04, 7.45960480e-04, 2.41027285e-04, 6.19901162e-05,
  4.17916333e-03,-1.55539132e-03, 0.00000000e+00,-1.44012342e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.27233977, -0.03780645, -0.26970285, -0.03780645,  0.04844304,
        0.03138543, -0.26970285,  0.03138543,  0.26794022,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004812942744833984
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75306727e-01,  2.60082744e-02, -2.19317940e-01,  2.53746285e-02,
        9.99661728e-01,  5.70601135e-03,  2.19392155e-01, -8.67361738e-19,
       -9.75636757e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06604037, -0.07968678,  0.22861717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026216898029524094
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11738060e-13,  4.23476120e-13,  1.00000000e+00,  8.96660119e-26,
        1.00000000e+00, -4.23476120e-13, -1.00000000e+00,  0.00000000e+00,
       -2.11738060e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667884, -0.08280147,  0.06199546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48888009e-05, 5.99727640e-05, 1.79226271e-05,-3.72462257e-06,
 -2.47223669e-03, 3.38588098e-02, 2.27481777e-02, 1.26670763e-02,
  1.71435022e-05,-1.09890997e-05, 1.67637953e-05,-1.14985791e-05,
 -3.97275945e-05,-8.00413471e-06,-1.05979969e-05,-4.52975188e-05,
  4.62264877e-03,-6.64387692e-04,-4.90528668e+00, 2.53607444e-03,
  1.18559162e-02,-3.85819284e-04]


--- Step 1494 ---
qpos:
[ 1.85388938e-02, 3.00203754e-02,-9.44982992e-03,-2.52587897e-02,
  6.78149274e-05, 4.96016191e-01,-8.63033766e-02, 4.84560955e-01,
  1.15585763e-02, 2.77157714e-02,-8.23638161e-03, 2.64550624e-02,
  1.34365232e+00, 7.58662472e-03, 1.21789780e+00, 4.47731013e-02,
  3.59727153e-02,-7.77811148e-02, 1.75542086e-01, 9.92508855e-01,
  8.33938532e-03,-1.03178885e-01,-6.48902567e-02]

qacc:
[  -1.50260825,  -1.3253872 ,   6.65386352, -13.9825984 ,   0.78512526,
  -28.05244507, -61.10098001,-170.15118926,   1.91646771,   0.86267403,
   -3.301176  ,   5.97055561,  -0.47728367,   0.64996082,  -1.71852553,
    5.68671725,  -0.24787172,   0.20695616,  -0.30357666,  -0.77267554,
   -2.3811368 ,  -2.7093739 ]

qfrc_actuator:
[ 7.09450522e-05, 9.79637666e-04, 1.67779608e-04,-5.11806804e-05,
 -3.15963389e-03, 3.04303925e-01, 6.81294930e-02, 1.81424125e-01,
 -1.23979770e-04, 7.76731721e-04, 2.43501739e-04, 7.13047773e-05,
  4.16365950e-03,-1.53562399e-03, 0.00000000e+00,-1.41153236e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26862493, -0.03504176, -0.26632955, -0.03504176,  0.04347036,
        0.02962425, -0.26632955,  0.02962425,  0.26472718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004710046110598917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97448779,  0.02773546, -0.22272023,  0.02703827,  0.9996153 ,
        0.00617963,  0.22280594,  0.        , -0.97486282])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06544209, -0.07966688,  0.22898929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026185594012360924
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05995593e-13,  2.11991186e-13,  1.00000000e+00,  2.24701314e-26,
        1.00000000e+00, -2.11991186e-13, -1.00000000e+00,  0.00000000e+00,
       -1.05995593e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667882, -0.08280457,  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:
[-9.04230913e-06, 2.23400710e-05, 1.86859691e-05,-1.85095550e-05,
 -2.61266475e-03, 3.93577227e-02, 2.53763154e-02, 1.41997886e-02,
  1.16250982e-05, 2.76667922e-05, 1.88536523e-06, 9.20206723e-06,
 -3.83808255e-05, 8.39760168e-06,-1.34013401e-05, 2.39121774e-05,
  4.64611265e-03,-6.77409274e-04,-4.90527248e+00, 2.55303845e-03,
  1.18541924e-02,-3.84692233e-04]


--- Step 1495 ---
qpos:
[ 1.85395067e-02, 3.00212003e-02,-9.44860168e-03,-2.52595019e-02,
  5.80591389e-05, 5.00700270e-01,-8.57019203e-02, 4.87821379e-01,
  1.15576988e-02, 2.77139658e-02,-8.23562226e-03, 2.64553338e-02,
  1.34380752e+00, 7.58700648e-03, 1.21804823e+00, 4.47766421e-02,
  3.56018764e-02,-7.77334874e-02, 1.75569929e-01, 9.92274210e-01,
  8.05070116e-03,-1.04869092e-01,-6.57993300e-02]

qacc:
[  4.96349923, -3.30404226, 13.48701636,-23.94513848,  0.22489392,
 -25.03191868,-80.81536229,-92.17360815,  1.20666734,  0.23764529,
  -1.10639893,  2.91425493, -0.37121683,  0.49458063, -2.07510394,
   7.03540237, -0.35211109,  0.21087989, -0.29292721, -0.70743067,
  -3.31950429, -2.81173623]

qfrc_actuator:
[ 1.00845234e-04, 9.34763968e-04, 1.87675446e-04,-8.16098162e-05,
 -3.12408631e-03, 3.02623860e-01, 6.74148808e-02, 1.81604579e-01,
 -1.17027953e-04, 7.78074661e-04, 2.44756988e-04, 7.67374551e-05,
  4.14877977e-03,-1.52400505e-03, 0.00000000e+00,-1.37808113e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25771113, -0.0314672 , -0.2557828 , -0.0314672 ,  0.04091454,
        0.02667099, -0.2557828 ,  0.02667099,  0.25442998,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004376704868320148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97362026,  0.02946209, -0.22626441,  0.02869734,  0.9995659 ,
        0.00666912,  0.22636268,  0.        , -0.97404309])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06485796, -0.0796467 ,  0.22934934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002615721374548685
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.24442387e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.24442387e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667878, -0.08280767,  0.06199548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.96401950e-05,-2.93671176e-05, 2.61504621e-05,-2.91899148e-05,
 -2.62027062e-03, 4.45021554e-02, 2.83378773e-02, 1.56941926e-02,
  7.29650343e-06, 1.76600868e-05, 7.53324624e-06, 6.86432174e-06,
 -3.30169212e-05, 5.10489731e-06,-6.59332810e-06, 3.23623644e-05,
  4.67850830e-03,-6.91358990e-04,-4.90525829e+00, 2.57337778e-03,
  1.18523450e-02,-3.83548815e-04]


--- Step 1496 ---
qpos:
[ 1.85404731e-02, 3.00218637e-02,-9.44748086e-03,-2.52598560e-02,
  4.84248362e-05, 5.05260665e-01,-8.51647089e-02, 4.91063209e-01,
  1.15572564e-02, 2.77119840e-02,-8.23464506e-03, 2.64546593e-02,
  1.34396240e+00, 7.58733562e-03, 1.21819851e+00, 4.47812095e-02,
  3.52292826e-02,-7.76849995e-02, 1.75596627e-01, 9.92034525e-01,
  7.76075877e-03,-1.06566899e-01,-6.67140764e-02]

qacc:
[ 3.03286215e+00, 8.18655433e-01,-4.74674468e+00, 1.12377907e+01,
  1.14720547e-01,-2.14085984e+01,-8.28501234e+01,-5.19804348e+01,
  3.71883231e+00,-2.79622277e+00, 1.36135246e+01,-3.01891063e+01,
 -1.33291430e-01, 3.22615750e-02,-3.31649243e+00, 1.13020480e+01,
 -4.38698635e-01, 2.15141817e-01,-2.86026206e-01,-6.51370493e-01,
 -4.09947205e+00,-2.88384066e+00]

qfrc_actuator:
[ 1.18194765e-04, 9.25467708e-04, 1.81008950e-04,-6.37379438e-05,
 -3.08124830e-03, 3.01386381e-01, 6.67884490e-02, 1.81735698e-01,
 -9.48381464e-05, 7.44026244e-04, 2.45173753e-04, 2.65620472e-05,
  4.12363182e-03,-1.53507675e-03, 0.00000000e+00,-1.32429819e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24263501, -0.02823168, -0.24098697, -0.02823168,  0.03928911,
        0.02382202, -0.24098697,  0.02382202,  0.23984426,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038159477951138916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97270485,  0.03118695, -0.22994053,  0.03035046,  0.99951357,
        0.00717463,  0.23005243,  0.        , -0.97317824])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06428725, -0.07962625,  0.22969743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026129738350941234
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.18666516e-13,  2.12444344e-13,  1.00000000e+00,  6.76988990e-26,
        1.00000000e+00, -2.12444344e-13, -1.00000000e+00,  0.00000000e+00,
       -3.18666516e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667872, -0.08281078,  0.06199548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81994104e-05,-2.16010680e-05,-1.05452127e-05, 1.69465113e-05,
 -2.58974912e-03, 4.99323424e-02, 3.12278080e-02, 1.69264631e-02,
  2.24044141e-05,-2.22668625e-05, 5.24053275e-06,-4.90230999e-05,
 -4.11647595e-05,-1.73114773e-05,-2.72821736e-06, 5.39857907e-05,
  4.71938963e-03,-7.06284281e-04,-4.90524401e+00, 2.59682617e-03,
  1.18504056e-02,-3.82402290e-04]


--- Step 1497 ---
qpos:
[ 1.85409506e-02, 3.00225296e-02,-9.44654061e-03,-2.52596640e-02,
  3.85778694e-05, 5.09713189e-01,-8.46853512e-02, 4.94289674e-01,
  1.15570833e-02, 2.77101188e-02,-8.23409657e-03, 2.64540875e-02,
  1.34411693e+00, 7.58757707e-03, 1.21834882e+00, 4.47857043e-02,
  3.48546209e-02,-7.76356349e-02, 1.75622199e-01, 9.91789578e-01,
  7.46958893e-03,-1.08273701e-01,-6.76346319e-02]

qacc:
[ -4.19906728,  1.64110685, -8.13131033, 17.83950753, -0.18578779,
 -12.28603821,-97.22921313, -7.38804346,  2.28170417,  1.55910274,
  -5.77684076,  8.16149331, -0.22400012,  0.11367462,  0.29050445,
  -0.8986649 , -0.51697998,  0.21915179, -0.28148674, -0.59793263,
  -4.80513902, -2.95667496]

qfrc_actuator:
[ 9.25005426e-05, 9.37474149e-04, 1.76625173e-04,-3.53354490e-05,
 -3.06951730e-03, 3.00615951e-01, 6.62540050e-02, 1.81895746e-01,
 -8.16083228e-05, 7.60000811e-04, 2.27149602e-04, 3.27994137e-05,
  4.10298470e-03,-1.54181986e-03, 0.00000000e+00,-1.32997662e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22710209, -0.02550298, -0.22566558, -0.02550298,  0.03759044,
        0.02141714, -0.22566558,  0.02141714,  0.22468169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030410702544305827
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71743897e-01,  3.29091184e-02, -2.33732300e-01,  3.19965659e-02,
        9.99458348e-01,  7.69609254e-03,  2.33858970e-01, -8.67361738e-19,
       -9.72270529e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06372844, -0.07960551,  0.23003464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002610154351597449
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06336913e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.06336913e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667864, -0.0828139 ,  0.06199549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51748975e-05,-1.55805511e-06,-9.57935748e-06, 2.74386825e-05,
 -2.58423080e-03, 5.51891709e-02, 3.38478816e-02, 1.80073455e-02,
  1.38753681e-05, 2.57268534e-06,-2.36625659e-05, 4.51312273e-06,
 -4.60359811e-05,-2.12877079e-05, 1.40656487e-06,-3.79049308e-06,
  4.76736075e-03,-7.22107744e-04,-4.90522951e+00, 2.62285027e-03,
  1.18483815e-02,-3.81271316e-04]


--- Step 1498 ---
qpos:
[ 1.85414613e-02, 3.00230267e-02,-9.44529739e-03,-2.52594904e-02,
  2.90589697e-05, 5.14075464e-01,-8.42480345e-02, 4.97503551e-01,
  1.15563808e-02, 2.77084929e-02,-8.23390527e-03, 2.64542642e-02,
  1.34427107e+00, 7.58797196e-03, 1.21849896e+00, 4.47914346e-02,
  3.44776854e-02,-7.75853801e-02, 1.75646647e-01, 9.91539195e-01,
  7.17721955e-03,-1.09990414e-01,-6.85610705e-02]

qacc:
[  0.29623043, -1.10830824,  3.70394997, -4.37970217,  0.3000383 ,
 -26.85977103,-25.29590168,-60.5262625 , -4.52782445,  2.86469614,
 -12.90011342, 26.23296808, -0.31004284,  0.35690082, -3.98029328,
  13.59544283, -0.56844963,  0.2225835 , -0.28112618, -0.55785789,
  -5.27185513, -2.999259  ]

qfrc_actuator:
[ 9.49388873e-05, 9.26657521e-04, 1.91479773e-04,-3.64509900e-05,
 -3.04065968e-03, 2.99555822e-01, 6.57763077e-02, 1.81793318e-01,
 -1.09268049e-04, 7.88014410e-04, 2.16372937e-04, 7.22142153e-05,
  4.09037774e-03,-1.52815705e-03, 0.00000000e+00,-1.26412748e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21412114, -0.02384354, -0.21278944, -0.02384354,  0.03735343,
        0.01980722, -0.21278944,  0.01980722,  0.21190169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020671246587731842
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70740030e-01,  3.46278925e-02, -2.37623028e-01,  3.36348531e-02,
        9.99400275e-01,  8.23332240e-03,  2.37765622e-01,  1.73472348e-18,
       -9.71322557e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06317984, -0.07958449,  0.23036225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026071239046741856
  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([ 0.02667854, -0.08281705,  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:
[ 1.70036066e-06,-1.25373731e-05, 1.42836390e-05,-9.82409597e-07,
 -2.54475759e-03, 5.93705787e-02, 3.62072955e-02, 1.86642064e-02,
 -2.72567047e-05, 2.48244946e-05,-1.29876636e-05, 3.87977418e-05,
 -4.15521430e-05,-3.10425162e-06,-3.68016541e-06, 6.49226665e-05,
  4.82188001e-03,-7.38802298e-04,-4.90521468e+00, 2.65129597e-03,
  1.18462668e-02,-3.80165250e-04]


--- Step 1499 ---
qpos:
[ 1.85419969e-02, 3.00235562e-02,-9.44395380e-03,-2.52593436e-02,
  2.03219085e-05, 5.18368380e-01,-8.38358550e-02, 5.00706710e-01,
  1.15556971e-02, 2.77067473e-02,-8.23341076e-03, 2.64545665e-02,
  1.34442483e+00, 7.58852192e-03, 1.21864904e+00, 4.47978950e-02,
  3.40983800e-02,-7.75342260e-02, 1.75669957e-01, 9.91283252e-01,
  6.88368046e-03,-1.11717471e-01,-6.94934244e-02]

qacc:
[ 2.15496410e-01,-2.93283529e-01, 1.21892399e+00,-1.86274286e+00,
  6.98673979e-01,-4.16956953e+01, 5.65150430e+01,-1.39884478e+02,
  1.70522014e-01,-7.47494078e-01, 1.90454731e+00,-1.26214552e-01,
 -3.51578024e-01, 4.11012744e-01,-2.25451010e+00, 7.84814318e+00,
 -5.92487800e-01, 2.24810811e-01,-2.84478656e-01,-5.30709191e-01,
 -5.49483128e+00,-3.02180778e+00]

qfrc_actuator:
[ 9.61777457e-05, 9.37822529e-04, 1.99713472e-04,-3.71786912e-05,
 -3.03748702e-03, 2.98205379e-01, 6.53222346e-02, 1.81359249e-01,
 -1.07512704e-04, 7.69823974e-04, 2.27797360e-04, 7.75906530e-05,
  4.07195982e-03,-1.52020939e-03, 0.00000000e+00,-1.22765145e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20591799, -0.02344064, -0.20457946, -0.02344064,  0.03730854,
        0.01931921, -0.20457946,  0.01931921,  0.2037044 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.152514624327104e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9696969 ,  0.03634283, -0.24159289,  0.03526482,  0.99933938,
        0.00878597,  0.2417526 ,  0.        , -0.97033792])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06263937, -0.07956316,  0.23068216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002603794256060693
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06596654e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.06596654e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667842, -0.08282022,  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:
[ 1.28062000e-06, 7.02829080e-06, 7.34818214e-06,-7.93873355e-07,
 -2.55815896e-03, 6.23847882e-02, 3.78015486e-02, 1.88503973e-02,
  9.58838737e-07,-5.28405959e-06, 1.63117904e-05, 6.74975677e-06,
 -4.06246988e-05,-2.69541885e-06, 2.17249936e-06, 3.88487486e-05,
  4.88084218e-03,-7.56189972e-04,-4.90519940e+00, 2.68139151e-03,
  1.18440566e-02,-3.79107029e-04]


--- Step 1500 ---
qpos:
[ 1.85425428e-02, 3.00244076e-02,-9.44291494e-03,-2.52595614e-02,
 -2.55956750e-05, 5.23057704e-01,-8.30184759e-02, 5.04198952e-01,
  1.15550395e-02, 2.77047708e-02,-8.23300847e-03, 2.64556640e-02,
  1.34457820e+00, 7.58918929e-03, 1.21879952e+00, 4.48013912e-02,
  3.37215924e-02,-7.74817408e-02, 1.75691597e-01, 9.91024928e-01,
  6.58747304e-03,-1.13433042e-01,-7.04211765e-02]

qacc:
[ 7.48147029e-02, 5.25838013e-01, 2.78821056e-01,-6.33348375e+00,
 -3.13741631e+01,-6.35270755e+01,-8.14583772e+01, 3.77909630e+03,
  2.24481579e-01, 1.58927156e+00,-9.46762249e+00, 2.35483070e+01,
 -6.29592834e-01, 7.28764885e-01, 9.61455416e+00,-3.26381805e+01,
  6.29463401e-01, 3.32754979e-01,-4.17505281e-01,-1.45635468e+00,
  5.48261970e+00, 2.30766856e+00]

qfrc_actuator:
[ 9.66919587e-05, 9.62043013e-04, 1.86303391e-04,-5.54106976e-05,
 -3.05031033e-03, 2.96784720e-01, 6.49355065e-02, 1.80658348e-01,
 -1.06197201e-04, 7.41927178e-04, 2.16519649e-04, 1.16125483e-04,
  4.05006880e-03,-1.51575381e-03, 0.00000000e+00,-1.38631434e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026001265378021443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13494037e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.13494037e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667828, -0.08282342,  0.06199551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.61036080e-03, 6.42877209e-02, 3.86194123e-02, 1.86758496e-02,
  1.33587103e-06,-2.71380793e-05,-1.01133240e-05, 3.90060941e-05,
 -4.35069328e-05,-5.86351202e-06, 1.52976570e-06,-1.57093438e-04,
  4.94210324e-03,-7.74060669e-04,-4.90518360e+00, 2.71238558e-03,
  1.18417364e-02,-3.78117893e-04]


--- Step 1501 ---
qpos:
[ 1.85434354e-02, 3.00255697e-02,-9.44239146e-03,-2.52592893e-02,
 -8.16138720e-05, 5.28046589e-01,-8.20672284e-02, 5.07715583e-01,
  1.15544024e-02, 2.77029523e-02,-8.23315400e-03, 2.64568514e-02,
  1.34473137e+00, 7.58984280e-03, 1.21895020e+00, 4.48012942e-02,
  3.33472295e-02,-7.74279071e-02, 1.75711607e-01, 9.90764247e-01,
  6.28856780e-03,-1.15137577e-01,-7.13442243e-02]

qacc:
[ 2.95301849e+00, 2.85478308e+00,-1.16546779e+01, 2.07257790e+01,
 -8.57824453e+00, 7.38565795e+01, 1.97224575e+02,-1.61937936e+02,
  1.55682126e-01, 1.92449373e+00,-6.93855467e+00, 9.25239224e+00,
 -4.28976163e-01, 4.56680729e-01, 1.12094038e+01,-3.86811359e+01,
  6.06157397e-01, 3.37137360e-01,-4.07364399e-01,-1.45082178e+00,
  5.25533414e+00, 2.36469477e+00]

qfrc_actuator:
[ 1.14528448e-04, 9.76041564e-04, 1.60272010e-04,-3.05386857e-05,
 -3.01732898e-03, 2.94706382e-01, 6.41511509e-02, 1.80016659e-01,
 -1.05160548e-04, 7.61623508e-04, 1.91894813e-04, 1.20577621e-04,
  4.04741101e-03,-1.51341787e-03, 0.00000000e+00,-1.56989515e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025979545959632644
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.27345045e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.27345045e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667812, -0.08282664,  0.06199551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.05012312e-04, 4.22535003e-02, 1.75255481e-02, 3.55469711e-03,
  1.05950826e-06, 4.16582703e-06,-3.01113847e-05, 3.69923625e-06,
 -2.71072124e-05,-9.27750357e-06,-2.15483340e-05,-1.93226350e-04,
  4.88381591e-03,-7.84040402e-04,-4.90516952e+00, 2.68516104e-03,
  1.18419081e-02,-3.78514885e-04]


--- Step 1502 ---
qpos:
[ 1.85438457e-02, 3.00267531e-02,-9.44211597e-03,-2.52580119e-02,
 -1.39790180e-04, 5.33213359e-01,-8.10453405e-02, 5.11241669e-01,
  1.15537824e-02, 2.77014675e-02,-8.23368520e-03, 2.64573580e-02,
  1.34488440e+00, 7.59026494e-03, 1.21910100e+00, 4.47969639e-02,
  3.29751983e-02,-7.73727075e-02, 1.75730027e-01, 9.90501232e-01,
  5.98692662e-03,-1.16831523e-01,-7.22624553e-02]

qacc:
[-4.14587863e+00, 2.80038494e+00,-1.41627250e+01, 3.19025880e+01,
 -1.84708825e+00, 5.87823063e+01, 8.32453652e+01,-1.31929809e+02,
  1.28058974e-01, 1.17492080e-01, 3.09477963e+00,-1.45044004e+01,
 -2.81803884e-01, 1.56472866e-01, 1.30161759e+01,-4.52046328e+01,
  5.82939023e-01, 3.41479154e-01,-3.97580951e-01,-1.44842919e+00,
  5.02883378e+00, 2.42709444e+00]

qfrc_actuator:
[ 8.91600745e-05, 9.66036787e-04, 1.44753022e-04, 1.94870018e-05,
 -2.96907251e-03, 2.92384751e-01, 6.32019649e-02, 1.79524057e-01,
 -1.04296034e-04, 7.91826592e-04, 1.77506818e-04, 8.72148176e-05,
  4.03498725e-03,-1.53002201e-03, 0.00000000e+00,-1.78436474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025971684596139133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13737199e-13,  4.27474398e-13,  1.00000000e+00,  9.13671806e-26,
        1.00000000e+00, -4.27474398e-13, -1.00000000e+00,  0.00000000e+00,
       -2.13737199e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667794, -0.08282986,  0.06199552])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.46718615e-04, 2.47931764e-02, 9.82234767e-03, 1.82093558e-03,
  8.92409600e-07, 2.65344622e-05,-1.70886826e-05,-3.41526028e-05,
 -2.97127477e-05,-2.50688439e-05,-3.48465223e-05,-2.28787064e-04,
  4.82751699e-03,-7.93978198e-04,-4.90515598e+00, 2.65842110e-03,
  1.18420322e-02,-3.78875411e-04]


--- Step 1503 ---
qpos:
[ 1.85439485e-02, 3.00280098e-02,-9.44172524e-03,-2.52568677e-02,
 -1.97545814e-04, 5.38477374e-01,-7.99865877e-02, 5.14757656e-01,
  1.15528329e-02, 2.77003333e-02,-8.23474837e-03, 2.64578141e-02,
  1.34503732e+00, 7.59002622e-03, 1.21925149e+00, 4.47910587e-02,
  3.26054063e-02,-7.73161247e-02, 1.75746894e-01, 9.90235900e-01,
  5.68250447e-03,-1.18515324e-01,-7.31757489e-02]

qacc:
[-2.63474860e+00,-4.94548216e-01, 2.47311969e+00,-5.02186630e+00,
  3.16717747e-01, 1.00512068e+01, 1.73935405e+02,-4.19578473e+02,
 -2.83223309e+00, 1.85146248e+00,-5.70590831e+00, 5.41153870e+00,
  2.66160445e-01,-7.72358600e-01, 4.26391462e+00,-1.56754635e+01,
  5.59802541e-01, 3.45806430e-01,-3.88190748e-01,-1.44846242e+00,
  4.80314654e+00, 2.49363491e+00]

qfrc_actuator:
[ 7.40643713e-05, 9.77300429e-04, 1.53232858e-04, 1.28830316e-05,
 -2.89780062e-03, 2.90061018e-01, 6.21813139e-02, 1.78398224e-01,
 -1.21292224e-04, 8.10342078e-04, 1.51565268e-04, 8.51555070e-05,
  4.01670612e-03,-1.57551981e-03, 0.00000000e+00,-1.85551654e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002597655618310907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.27394231e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.27394231e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667774, -0.08283307,  0.06199552])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.42369940e-05, 1.34055789e-02, 5.20530254e-03, 2.03568474e-04,
 -1.69638140e-05, 2.84174232e-05,-2.37252194e-05,-2.17494347e-06,
 -4.09654040e-05,-5.88763227e-05,-4.42973891e-05,-8.90055591e-05,
  4.77314763e-03,-8.03902874e-04,-4.90514294e+00, 2.63213115e-03,
  1.18421097e-02,-3.79199002e-04]


--- Step 1504 ---
qpos:
[ 1.85442138e-02, 3.00295502e-02,-9.44129608e-03,-2.52565243e-02,
 -2.54227775e-04, 5.43782874e-01,-7.89118515e-02, 5.18259023e-01,
  1.15520317e-02, 2.76992891e-02,-8.23603868e-03, 2.64582544e-02,
  1.34519007e+00, 7.58945593e-03, 1.21940173e+00, 4.47842787e-02,
  3.22377613e-02,-7.72581413e-02, 1.75762245e-01, 9.89968269e-01,
  5.37525070e-03,-1.20189423e-01,-7.40839786e-02]

qacc:
[ 1.38934894e+00,-1.38471160e+00, 8.84882884e+00,-2.29546299e+01,
  8.60558948e-01,-1.45010860e+01, 1.73996336e+02,-4.26602717e+02,
  1.25621338e+00, 7.18964145e-01,-2.32811477e+00, 2.35563510e+00,
  3.12596859e-02,-3.01459943e-01, 2.26189331e+00,-8.47932771e+00,
  5.36743196e-01, 3.50139907e-01,-3.79221789e-01,-1.45036068e+00,
  4.57828592e+00, 2.56335134e+00]

qfrc_actuator:
[ 8.29028435e-05, 1.00126465e-03, 1.58095317e-04,-2.69623944e-05,
 -2.83218763e-03, 2.87354952e-01, 6.10877979e-02, 1.77263279e-01,
 -1.13159764e-04, 8.03942122e-04, 1.36744786e-04, 8.37678599e-05,
  4.01621484e-03,-1.58457384e-03, 0.00000000e+00,-1.89490052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000259930289946364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13561687e-13,  6.40685061e-13,  1.00000000e+00,  1.36825783e-25,
        1.00000000e+00, -6.40685061e-13, -1.00000000e+00,  0.00000000e+00,
       -2.13561687e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667752, -0.08283627,  0.06199552])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.92400462e-05, 5.66228292e-03, 2.20198696e-03,-4.42835859e-04,
  7.64146196e-06, 4.54082159e-06,-1.19235484e-05,-1.02868113e-06,
 -3.66930856e-05,-3.47469345e-05,-3.17772028e-05,-5.03594414e-05,
  4.72065575e-03,-8.13839095e-04,-4.90513039e+00, 2.60626317e-03,
  1.18421425e-02,-3.79484890e-04]


--- Step 1505 ---
qpos:
[ 1.85445831e-02, 3.00308970e-02,-9.44059125e-03,-2.52569612e-02,
 -3.09961119e-04, 5.49093729e-01,-7.78358914e-02, 5.21761276e-01,
  1.15513340e-02, 2.76981943e-02,-8.23714450e-03, 2.64583190e-02,
  1.34534248e+00, 7.58920026e-03, 1.21955137e+00, 4.47803781e-02,
  3.18721713e-02,-7.71987400e-02, 1.75776112e-01, 9.89698354e-01,
  5.06511008e-03,-1.21854260e-01,-7.49870132e-02]

qacc:
[  0.90374768, -2.63577447, 12.30879886,-26.08939873,  0.75878764,
   5.24733258,-11.48494043, 18.89437495,  0.88915839, -1.3577596 ,
   6.32677485,-13.08191865, -0.22556671,  0.37063349, -9.58110453,
  32.27010754,  0.513757  ,  0.35449611, -0.37069542, -1.45368445,
   4.35425393,  2.63548998]

qfrc_actuator:
[ 8.80023721e-05, 9.61598821e-04, 1.60818073e-04,-6.82791763e-05,
 -2.78854389e-03, 2.84667132e-01, 5.99922038e-02, 1.77072315e-01,
 -1.08048782e-04, 8.00465728e-04, 1.46257535e-04, 6.50160239e-05,
  4.01575661e-03,-1.55407395e-03, 0.00000000e+00,-1.73776774e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002601997987012883
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06670242e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.06670242e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667727, -0.08283945,  0.06199551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.90912624e-05, 7.22994068e-04, 2.39864817e-04, 8.25310898e-05,
  5.33258196e-06,-3.39217212e-06, 8.97169292e-06,-1.89860768e-05,
 -2.84333231e-05, 1.24782067e-05,-2.22973095e-05, 1.49795143e-04,
  4.66999486e-03,-8.23808352e-04,-4.90511831e+00, 2.58079415e-03,
  1.18421330e-02,-3.79732076e-04]


--- Step 1506 ---
qpos:
[ 1.85446662e-02, 3.00317464e-02,-9.43938515e-03,-2.52582109e-02,
 -3.65221188e-04, 5.54386965e-01,-7.67669118e-02, 5.25266088e-01,
  1.15513920e-02, 2.76973612e-02,-8.23828954e-03, 2.64584787e-02,
  1.34549472e+00, 7.58899526e-03, 1.21970066e+00, 4.47796784e-02,
  3.15085447e-02,-7.71379030e-02, 1.75788530e-01, 9.89426167e-01,
  4.75202362e-03,-1.23510273e-01,-7.58847179e-02]

qacc:
[-2.43227086e+00,-3.72837792e+00, 1.57695160e+01,-3.02601047e+01,
  3.79898080e-01, 2.75681520e-01,-4.10344680e+01, 9.56422808e+01,
  6.43899239e+00, 6.38995131e-01,-2.19977396e+00, 3.73991543e+00,
  9.02752757e-02,-1.31274747e-01,-1.01934161e+01, 3.49059160e+01,
  4.90840577e-01, 3.58888292e-01,-3.62627328e-01,-1.45808987e+00,
  4.13104344e+00, 2.70946353e+00]

qfrc_actuator:
[ 7.30993226e-05, 9.19624144e-04, 1.79757029e-04,-1.10178934e-04,
 -2.77613874e-03, 2.81956537e-01, 5.89214816e-02, 1.77047525e-01,
 -6.92599788e-05, 8.34353540e-04, 1.52296818e-04, 7.17170821e-05,
  4.01001308e-03,-1.55361314e-03, 0.00000000e+00,-1.57264496e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026056306337236823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06521528e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.06521528e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667701, -0.08284261,  0.06199551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.38296087e-05,-2.43217208e-03,-9.59127310e-04, 1.54890818e-07,
  3.89398047e-05, 3.30825619e-05, 5.81134930e-06, 6.50102424e-06,
 -1.75385392e-05,-2.64731535e-06, 4.61232850e-06, 1.70220430e-04,
  4.62112330e-03,-8.33829727e-04,-4.90510666e+00, 2.55570480e-03,
  1.18420842e-02,-3.79939381e-04]


--- Step 1507 ---
qpos:
[ 1.85452593e-02, 3.00322665e-02,-9.43803977e-03,-2.52592586e-02,
 -4.19927092e-04, 5.59645218e-01,-7.57085268e-02, 5.28767196e-01,
  1.15522595e-02, 2.76965862e-02,-8.23902489e-03, 2.64590574e-02,
  1.34564665e+00, 7.58888679e-03, 1.21985023e+00, 4.47786100e-02,
  3.11467901e-02,-7.70756128e-02, 1.75799527e-01, 9.89151718e-01,
  4.43592919e-03,-1.25157899e-01,-7.67769551e-02]

qacc:
[ 4.38521680e+00,-4.16983946e-01,-1.04052458e-02, 3.53772258e+00,
  4.48198378e-01,-2.36616682e+01, 3.14619673e+01,-4.93665585e+01,
  6.91382934e+00,-2.19456861e-01,-8.98152119e-01, 7.47556186e+00,
 -3.58656748e-01, 4.04118644e-01, 1.54293340e+00,-4.74692052e+00,
  4.67990983e-01, 3.63327109e-01,-3.55028449e-01,-1.46330861e+00,
  3.90863998e+00, 2.78481593e+00]

qfrc_actuator:
[ 9.98012472e-05, 9.12150671e-04, 1.90337193e-04,-9.88259569e-05,
 -2.74687559e-03, 2.78898057e-01, 5.78733974e-02, 1.76747607e-01,
 -2.87107337e-05, 8.37109740e-04, 1.74154576e-04, 9.33693534e-05,
  3.98511807e-03,-1.55328506e-03, 0.00000000e+00,-1.59948043e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002610093612702147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06339388e-13,  2.12678775e-13,  1.00000000e+00,  2.26161307e-26,
        1.00000000e+00, -2.12678775e-13, -1.00000000e+00,  0.00000000e+00,
       -1.06339388e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667671, -0.08284574,  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:
[ 2.62505911e-05,-3.66519092e-05,-3.49831072e-07, 8.68590127e-06,
  3.92734651e-05,-4.78569369e-03,-1.72480304e-03,-4.40050970e-04,
  4.16981453e-05, 2.27921571e-05, 2.96534356e-05, 2.34000387e-05,
 -3.41661641e-05,-4.70377747e-06, 1.82241815e-05,-1.74025450e-05,
  4.57400350e-03,-8.43920495e-04,-4.90509542e+00, 2.53097864e-03,
  1.18419992e-02,-3.80105490e-04]


--- Step 1508 ---
qpos:
[ 1.85465124e-02, 3.00324513e-02,-9.43634993e-03,-2.52591402e-02,
 -4.73444439e-04, 5.64858027e-01,-7.46648202e-02, 5.32260881e-01,
  1.15529176e-02, 2.76956842e-02,-8.23907203e-03, 2.64595501e-02,
  1.34579814e+00, 7.58909183e-03, 1.21999937e+00, 4.47812727e-02,
  3.07868162e-02,-7.70118513e-02, 1.75809132e-01, 9.88875015e-01,
  4.11676206e-03,-1.26797572e-01,-7.76635854e-02]

qacc:
[   5.67944882,   0.9852431 ,  -9.08648773,  28.96023883,   0.93693027,
  -32.87404919,  57.03120529,-117.23857111,  -1.76205733,  -2.26483693,
    8.2001917 , -10.69918374,  -0.24861893,   0.36882274, -11.8977    ,
   40.75148375,   0.44520562,   0.36782122,  -0.34790573,  -1.46913189,
    3.68702318,   2.86119458]

qfrc_actuator:
[ 1.33031822e-04, 9.07656139e-04, 2.13816208e-04,-3.84583775e-05,
 -2.67226257e-03, 2.75850536e-01, 5.68275497e-02, 1.76305604e-01,
 -4.07190704e-05, 8.21285974e-04, 2.05070183e-04, 8.81253047e-05,
  3.96472867e-03,-1.53535010e-03, 0.00000000e+00,-1.40190153e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002615283447866684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.1225673e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.1225673e-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([ 0.0266764 , -0.08284885,  0.06199549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.39795737e-05,-2.47151784e-05, 1.61454629e-05, 5.89523520e-05,
  8.59071290e-05,-6.25879801e-03,-2.30696473e-03,-7.08444407e-04,
 -1.07831356e-05, 4.10254844e-06, 4.01013138e-05,-2.78536112e-06,
 -3.90527819e-05, 8.54681884e-06, 1.67960184e-06, 1.97875056e-04,
  4.52860148e-03,-8.54096586e-04,-4.90508457e+00, 2.50660121e-03,
  1.18418816e-02,-3.80228983e-04]


--- Step 1509 ---
qpos:
[ 1.85474652e-02, 3.00320812e-02,-9.43450830e-03,-2.52586032e-02,
 -5.25943993e-04, 5.70023386e-01,-7.36405427e-02, 5.35740041e-01,
  1.15537713e-02, 2.76952406e-02,-8.23923682e-03, 2.64599569e-02,
  1.34594960e+00, 7.58893065e-03, 1.22014886e+00, 4.47829140e-02,
  3.04285323e-02,-7.69466003e-02, 1.75817372e-01, 9.88596063e-01,
  3.79445522e-03,-1.28429723e-01,-7.85444675e-02]

qacc:
[-2.56205281e+00,-2.90125428e-01,-1.78412371e+00, 9.17683486e+00,
  7.89615144e-01,-3.52197354e+01, 8.54836894e+01,-2.43596165e+02,
  1.65605416e+00, 7.54344573e-01,-1.45299984e+00,-1.79219700e-01,
  1.14156971e-01,-3.82067618e-01, 3.60067515e+00,-1.18679100e+01,
  4.22482130e-01, 3.72377684e-01,-3.41262806e-01,-1.47539804e+00,
  3.46616786e+00, 2.93832851e+00]

qfrc_actuator:
[ 1.16567653e-04, 8.51828796e-04, 2.09268370e-04,-2.07374806e-05,
 -2.62455359e-03, 2.73313367e-01, 5.57736128e-02, 1.75552766e-01,
 -3.03090839e-05, 8.65486643e-04, 2.05472843e-04, 8.48333181e-05,
  3.96304191e-03,-1.56036453e-03, 0.00000000e+00,-1.46418417e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000262110095785445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11785628e-13,  2.11785628e-13,  1.00000000e+00,  4.48531522e-26,
        1.00000000e+00, -2.11785628e-13, -1.00000000e+00,  0.00000000e+00,
       -2.11785628e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667605, -0.08285193,  0.06199548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.54880543e-05,-6.38080276e-05,-5.64907113e-06, 1.83632181e-05,
  7.36068800e-05,-6.69674065e-03,-2.69222310e-03,-1.10111117e-03,
  1.00909684e-05, 5.46894233e-05, 6.10411249e-06,-1.78124850e-06,
 -1.93454317e-05,-3.20059433e-05, 1.98088622e-05,-5.17126530e-05,
  4.48488643e-03,-8.64372956e-04,-4.90507408e+00, 2.48255950e-03,
  1.18417349e-02,-3.80308360e-04]


--- Step 1510 ---
qpos:
[ 1.85478686e-02, 3.00316302e-02,-9.43398775e-03,-2.52581607e-02,
 -5.77702024e-04, 5.75142844e-01,-7.26377358e-02, 5.39198042e-01,
  1.15547428e-02, 2.76954884e-02,-8.23981010e-03, 2.64603107e-02,
  1.34610102e+00, 7.58801696e-03, 1.22029844e+00, 4.47838264e-02,
  3.00718477e-02,-7.68798412e-02, 1.75824272e-01, 9.88314864e-01,
  3.46893977e-03,-1.30054782e-01,-7.94194591e-02]

qacc:
[-4.75250239e+00, 3.40014484e+00,-1.18609450e+01, 1.23736566e+01,
  5.67109887e-01,-3.93961194e+01, 1.24739462e+02,-3.77591477e+02,
  9.81376116e-01, 1.94496049e+00,-5.38871191e+00, 4.62080815e+00,
  4.17395318e-01,-9.94192070e-01, 2.26750977e+00,-7.88844318e+00,
  3.99818312e-01, 3.77002353e-01,-3.35100600e-01,-1.48198251e+00,
  3.24604498e+00, 3.01601113e+00]

qfrc_actuator:
[ 8.87355636e-05, 8.36565939e-04, 1.34701418e-04,-2.83235757e-05,
 -2.59329168e-03, 2.71209108e-01, 5.47609497e-02, 1.74499230e-01,
 -2.45218630e-05, 9.09662112e-04, 1.88098314e-04, 8.27470501e-05,
  3.94592804e-03,-1.61059423e-03, 0.00000000e+00,-1.50159751e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026274516432156503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11273731e-13,  4.22547462e-13,  1.00000000e+00,  8.92731790e-26,
        1.00000000e+00, -4.22547462e-13, -1.00000000e+00,  0.00000000e+00,
       -2.11273731e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667569, -0.08285497,  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:
[-2.83070145e-05,-5.13418489e-05,-8.78246141e-05,-1.01598850e-05,
  5.34483092e-05,-6.59967327e-03,-2.79783221e-03,-1.43895226e-03,
  6.10046723e-06, 7.59660307e-05,-5.38074271e-06, 4.34132670e-07,
 -3.46846695e-05,-6.37779057e-05,-1.22986408e-06,-3.88122934e-05,
  4.44283037e-03,-8.74763873e-04,-4.90506393e+00, 2.45884151e-03,
  1.18415627e-02,-3.80342062e-04]


--- Step 1511 ---
qpos:
[ 1.85479347e-02, 3.00315907e-02,-9.43467752e-03,-2.52578834e-02,
 -6.28465451e-04, 5.80215911e-01,-7.16562736e-02, 5.42640866e-01,
  1.15550876e-02, 2.76957553e-02,-8.24059153e-03, 2.64607101e-02,
  1.34625219e+00, 7.58677455e-03, 1.22044752e+00, 4.47879622e-02,
  2.97166719e-02,-7.68115554e-02, 1.75829855e-01, 9.88031418e-01,
  3.14014506e-03,-1.31673179e-01,-8.02884171e-02]

qacc:
[  -2.93904374,   3.59227929, -11.31017544,  10.06852631,   0.75138133,
  -29.85161767,  70.92926666,-238.36489698,  -5.35147566,   0.71102117,
   -2.672617  ,   3.7589406 ,   0.2876846 ,  -0.63734535, -10.50793262,
   35.62484983,   0.37721206,   0.38170009,  -0.32941782,  -1.48879015,
    3.02662224,   3.0940866 ]

qfrc_actuator:
[ 7.22045494e-05, 8.98647742e-04, 9.05456744e-05,-3.29955163e-05,
 -2.53652361e-03, 2.69062478e-01, 5.37651115e-02, 1.73757040e-01,
 -5.70141491e-05, 8.64642805e-04, 1.60395374e-04, 8.13854674e-05,
  3.93553602e-03,-1.62216244e-03, 0.00000000e+00,-1.32869411e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002634245942706587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05364405e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.05364405e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667529, -0.08285799,  0.06199546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73690230e-05, 1.47964218e-05,-6.59286908e-05,-1.01065453e-05,
  7.27199478e-05,-6.62041360e-03,-2.78364653e-03,-1.13348868e-03,
 -3.22864855e-05,-3.62930547e-06,-1.26550053e-05, 1.71601145e-06,
 -4.36678904e-05,-3.75611673e-05,-8.28352519e-06, 1.69794446e-04,
  4.40240787e-03,-8.85283140e-04,-4.90505410e+00, 2.43543584e-03,
  1.18413687e-02,-3.80328486e-04]


--- Step 1512 ---
qpos:
[ 1.85478016e-02, 3.00317536e-02,-9.43508870e-03,-2.52580879e-02,
 -6.78193000e-04, 5.85242616e-01,-7.06959899e-02, 5.46078515e-01,
  1.15553850e-02, 2.76957370e-02,-8.24180199e-03, 2.64611462e-02,
  1.34640290e+00, 7.58585554e-03, 1.22059681e+00, 4.47917645e-02,
  2.93629148e-02,-7.67417236e-02, 1.75834140e-01, 9.87745725e-01,
  2.80799894e-03,-1.33285340e-01,-8.11511974e-02]

qacc:
[ -1.70278027, -1.5002953 ,  7.77088801,-16.69562556,  0.77439209,
 -12.64176252,-21.44798665, -4.72635213, -0.41154123,  0.89865249,
  -3.90502325,  5.43564201, -0.61795319,  0.81981647,  1.37044214,
  -4.21488831,  0.35466134,  0.38647501, -0.32421143, -1.49574897,
   2.80786473,  3.17243916]

qfrc_actuator:
[ 6.24619845e-05, 9.35665679e-04, 1.18312221e-04,-5.35630543e-05,
 -2.48275416e-03, 2.66980287e-01, 5.28055831e-02, 1.73523688e-01,
 -5.85187230e-05, 8.19760400e-04, 1.26458436e-04, 8.03814825e-05,
  3.92387243e-03,-1.59290391e-03, 0.00000000e+00,-1.35280892e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002641399380919063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05079057e-13,  6.30474342e-13,  1.00000000e+00,  6.62496493e-26,
        1.00000000e+00, -6.30474342e-13, -1.00000000e+00,  0.00000000e+00,
       -1.05079057e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667488, -0.08286098,  0.06199545])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.62355701e-05,-6.54972699e-03,-2.73828963e-03,-6.17947293e-04,
 -2.45185040e-06,-4.94640563e-05,-3.61791878e-05,-1.56232516e-06,
 -4.28428280e-05, 8.30219025e-06, 1.27681427e-05,-1.62540042e-05,
  4.36359588e-03,-8.95944279e-04,-4.90504455e+00, 2.41233150e-03,
  1.18411566e-02,-3.80265995e-04]


--- Step 1513 ---
qpos:
[ 1.85475527e-02, 3.00320304e-02,-9.43516991e-03,-2.52581852e-02,
 -7.26901283e-04, 5.90224173e-01,-6.97571021e-02, 5.49519434e-01,
  1.15553171e-02, 2.76954014e-02,-8.24311780e-03, 2.64615493e-02,
  1.34655300e+00, 7.58599681e-03, 1.22074624e+00, 4.47945983e-02,
  2.90104863e-02,-7.66703266e-02, 1.75837148e-01, 9.87457778e-01,
  2.47242786e-03,-1.34891690e-01,-8.20076556e-02]

qacc:
[-9.85945568e-01,-5.49053217e-01, 1.72727706e+00,-4.87946738e-01,
  7.52986324e-01, 4.41230122e+00,-1.05712666e+02, 1.97186105e+02,
 -3.11355112e+00,-1.86805623e-01, 2.07527996e-01,-3.88385498e-01,
 -1.27370135e+00, 2.03892622e+00, 3.25892781e+00,-1.08024508e+01,
  3.32164080e-01, 3.91330619e-01,-3.19476965e-01,-1.50280539e+00,
  2.58973528e+00, 3.25098463e+00]

qfrc_actuator:
[ 5.67890805e-05, 9.39937236e-04, 1.34969472e-04,-4.77801319e-05,
 -2.43122299e-03, 2.65026297e-01, 5.18584597e-02, 1.73715974e-01,
 -7.72647173e-05, 8.10762070e-04, 1.24590507e-04, 7.95825614e-05,
  3.91147347e-03,-1.52191734e-03, 0.00000000e+00,-1.40410390e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002648832626353792
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.09568361e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.09568361e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667443, -0.08286393,  0.06199544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.54345980e-05,-6.34959956e-03,-2.68761607e-03,-1.76663234e-04,
 -1.88348074e-05,-4.41853297e-05,-1.65819052e-05,-4.19896346e-06,
 -3.25298163e-05, 6.32727009e-05,-6.63478539e-07,-5.16344663e-05,
  4.32637352e-03,-9.06760669e-04,-4.90503526e+00, 2.38951760e-03,
  1.18409299e-02,-3.80152930e-04]


--- Step 1514 ---
qpos:
[ 1.85472376e-02, 3.00324792e-02,-9.43534672e-03,-2.52578450e-02,
 -7.74386259e-04, 5.95163532e-01,-6.88411484e-02, 5.52974451e-01,
  1.15550246e-02, 2.76951667e-02,-8.24462310e-03, 2.64612004e-02,
  1.34670299e+00, 7.58639346e-03, 1.22089587e+00, 4.47947824e-02,
  2.86592967e-02,-7.65973444e-02, 1.75838894e-01, 9.87167572e-01,
  2.13335695e-03,-1.36492652e-01,-8.28576469e-02]

qacc:
[-5.73392572e-01, 1.39693288e+00,-6.49129240e+00, 1.40771917e+01,
  8.89218235e-01, 3.15140982e+01,-2.28898550e+02, 4.69563045e+02,
 -1.92385974e+00,-8.81523099e-01, 6.51842043e+00,-1.93125290e+01,
 -4.66946635e-01, 6.99182341e-01, 8.37490586e+00,-2.87292841e+01,
  3.09718235e-01, 3.96269983e-01,-3.15208942e-01,-1.50992030e+00,
  2.37219488e+00, 3.32966375e+00]

qfrc_actuator:
[ 5.35544315e-05, 9.42321090e-04, 1.27045692e-04,-2.65831257e-05,
 -2.36367991e-03, 2.63326333e-01, 5.08742102e-02, 1.74459064e-01,
 -8.82659419e-05, 8.41192966e-04, 1.24059290e-04, 4.34565047e-05,
  3.90931519e-03,-1.51552333e-03, 0.00000000e+00,-1.54194902e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002656471476339406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.08965734e-13,  2.08965734e-13,  1.00000000e+00,  4.36666781e-26,
        1.00000000e+00, -2.08965734e-13, -1.00000000e+00,  0.00000000e+00,
       -2.08965734e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667396, -0.08286685,  0.06199542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.14882535e-05,-5.95351122e-03,-2.66204536e-03, 3.93461111e-04,
 -1.15703133e-05, 2.13683597e-06,-1.18269250e-05,-3.86714880e-05,
 -4.30436098e-06, 1.67792184e-05,-1.05116980e-05,-1.41807158e-04,
  4.29072197e-03,-9.17745660e-04,-4.90502621e+00, 2.36698327e-03,
  1.18406922e-02,-3.79987615e-04]


--- Step 1515 ---
qpos:
[ 1.85465414e-02, 3.00331831e-02,-9.43566467e-03,-2.52569155e-02,
 -8.20462085e-04, 6.00062010e-01,-6.79463493e-02, 5.56441064e-01,
  1.15556361e-02, 2.76948494e-02,-8.24583824e-03, 2.64607564e-02,
  1.34685301e+00, 7.58643808e-03, 1.22104530e+00, 4.47943059e-02,
  2.83092564e-02,-7.65227571e-02, 1.75839395e-01, 9.86875097e-01,
  1.79071013e-03,-1.38088648e-01,-8.37010260e-02]

qacc:
[-3.27869323e+00, 1.95218681e+00,-8.94149918e+00, 1.91524812e+01,
  1.01594078e+00, 2.40372987e+01,-1.92481682e+02, 3.95893077e+02,
  7.72005984e+00,-1.13101010e+00, 4.24985075e+00,-6.27090370e+00,
  2.25906863e-01,-4.87193412e-01, 1.67779718e+00,-6.35932317e+00,
  2.87321692e-01, 4.01295785e-01,-3.11401079e-01,-1.51706611e+00,
  2.15520293e+00, 3.40843692e+00]

qfrc_actuator:
[ 3.40267556e-05, 9.61221350e-04, 1.22419501e-04, 3.48911634e-06,
 -2.28714142e-03, 2.61580861e-01, 4.99310395e-02, 1.75058930e-01,
 -4.13569474e-05, 8.41732200e-04, 1.42208998e-04, 4.01242871e-05,
  3.89730074e-03,-1.54750407e-03, 0.00000000e+00,-1.56988212e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002664246782830698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04177946e-13, -2.08355891e-13,  1.00000000e+00, -2.17060887e-26,
        1.00000000e+00,  2.08355891e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04177946e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02667347, -0.08286975,  0.06199541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96214023e-05, 3.23667340e-05, 8.18681179e-07, 3.14931844e-05,
  1.06266527e-04,-5.74783292e-03,-2.51730421e-03, 2.79027097e-04,
  4.65702551e-05,-2.34416914e-06, 1.58176044e-05,-4.39739544e-06,
 -1.10661709e-05,-2.78452822e-05,-2.41927045e-05,-3.80073470e-05,
  4.25662438e-03,-9.28912661e-04,-4.90501738e+00, 2.34471746e-03,
  1.18404468e-02,-3.79768361e-04]


--- Step 1516 ---
qpos:
[ 1.85459610e-02, 3.00340288e-02,-9.43572986e-03,-2.52553006e-02,
 -8.65464250e-04, 6.04916596e-01,-6.70689883e-02, 5.59906463e-01,
  1.15561166e-02, 2.76936586e-02,-8.24652465e-03, 2.64617428e-02,
  1.34700288e+00, 7.58620920e-03, 1.22119450e+00, 4.47941278e-02,
  2.79596644e-02,-7.64479383e-02, 1.75839023e-01, 9.86580686e-01,
  1.45029475e-03,-1.39673652e-01,-8.45441722e-02]

qacc:
[  1.00044539,  0.89098438, -5.7953245 , 17.13894102,  0.77469184,
 -12.50126319,-30.64754648, 56.81011089, -1.08603058,  0.31488357,
  -8.83424355, 33.38673124,  0.09399749, -0.3353345 , -1.2632518 ,
   3.88190622,  0.11209388,  0.05786061, -0.21842327,  0.65885648,
   5.38392968, -0.1299924 ]

qfrc_actuator:
[ 4.05700088e-05, 9.72126855e-04, 1.37608286e-04, 3.85597083e-05,
 -2.24138612e-03, 2.59344325e-01, 4.90376628e-02, 1.74983890e-01,
 -4.95039114e-05, 7.53469033e-04, 1.53410788e-04, 1.09370182e-04,
  3.87936359e-03,-1.56649915e-03, 0.00000000e+00,-1.55054964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.43897501,  0.5836175 ,  4.400442  ,  0.5836175 , 13.8997613 ,
       -1.25475587,  4.400442  , -1.25475587,  4.60538954,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026669817697878433
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04071111e-13, -1.23824932e-06,  1.00000000e+00, -1.28865983e-19,
        1.00000000e+00,  1.23824932e-06, -1.00000000e+00,  0.00000000e+00,
       -1.04071111e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02735433, -0.07752301,  0.06199541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.97933964e-06, 3.04935973e-05, 2.30589334e-05, 3.70959775e-05,
  8.09050992e-05,-6.09711322e-03,-2.41086873e-03,-3.84900084e-04,
 -6.78522636e-06,-8.64502747e-05, 1.25313290e-05, 6.96097510e-05,
 -3.09252280e-05,-2.91026261e-05,-1.74319593e-05, 1.36217132e-05,
  4.22406574e-03,-9.40275218e-04,-4.90500874e+00, 2.32270888e-03,
  1.18401972e-02,-3.79493470e-04]


--- Step 1517 ---
qpos:
[ 1.85451190e-02, 3.00346111e-02,-9.43533567e-03,-2.52542759e-02,
 -9.09977539e-04, 6.09724628e-01,-6.62078230e-02, 5.63356832e-01,
  1.15561512e-02, 2.76921051e-02,-8.24772990e-03, 2.64632141e-02,
  1.34715243e+00, 7.58560219e-03, 1.22134400e+00, 4.47908023e-02,
  2.76099066e-02,-7.63742215e-02, 1.75837987e-01, 9.86284685e-01,
  1.11797000e-03,-1.41243050e-01,-8.53912840e-02]

qacc:
[-2.22683452e+00,-2.84398189e+00, 1.21270787e+01,-2.28757348e+01,
  3.58175768e-01,-4.37197974e+01, 1.16592351e+02,-2.80872248e+02,
 -3.81231277e+00, 1.97617268e+00,-9.77561340e+00, 1.92478348e+01,
 -2.51353882e-01,-2.61244160e-02, 9.97593300e+00,-3.42212986e+01,
 -4.14828281e-02,-2.75481597e-01,-1.65701977e-01, 3.05552091e+00,
  7.92658226e+00,-2.59980279e+00]

qfrc_actuator:
[ 2.69059022e-05, 9.24988914e-04, 1.46595981e-04, 5.28695311e-06,
 -2.23208153e-03, 2.56921278e-01, 4.81789079e-02, 1.74210282e-01,
 -7.22582891e-05, 7.37016825e-04, 1.24583924e-04, 1.31912188e-04,
  3.84723733e-03,-1.59539318e-03, 0.00000000e+00,-1.71658435e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.44793089,  0.55268098,  4.41346042,  0.55268098, 16.4132776 ,
       -1.49837517,  4.41346042, -1.49837517,  4.63556675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026986068120773976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.05702998e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.05702998e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02802701, -0.07237651,  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:
[-1.34846298e-05,-2.37651111e-05, 1.93966592e-05,-3.04524962e-05,
  3.59910383e-05,-6.48081624e-03,-2.45496492e-03,-1.10673691e-03,
 -2.29911207e-05,-5.91761136e-05,-4.27118777e-05, 2.06279443e-05,
 -5.53598650e-05,-4.41790928e-05,-8.97437170e-06,-1.68078946e-04,
  4.17915036e-03,-9.36540540e-04,-4.90499417e+00, 2.31023383e-03,
  1.18413310e-02,-3.79117369e-04]


--- Step 1518 ---
qpos:
[ 1.85441199e-02, 3.00348092e-02,-9.43495533e-03,-2.52542987e-02,
 -9.54024544e-04, 6.14483192e-01,-6.53626400e-02, 5.66789887e-01,
  1.15555676e-02, 2.76904122e-02,-8.24937889e-03, 2.64645651e-02,
  1.34730139e+00, 7.58520112e-03, 1.22149332e+00, 4.47865137e-02,
  2.72600536e-02,-7.63016097e-02, 1.75836220e-01, 9.85986711e-01,
  7.93514265e-04,-1.42799827e-01,-8.62426012e-02]

qacc:
[-1.34234767e+00,-2.62422328e+00, 1.30358346e+01,-3.08410075e+01,
  3.41564906e-01,-5.21436740e+01, 1.47500449e+02,-3.40535783e+02,
 -5.28266839e+00, 8.18766155e-01,-2.66059560e+00, 1.37080305e+00,
 -6.60959754e-01, 7.59812117e-01, 2.71866258e+00,-9.73830605e+00,
 -2.37757441e-02,-2.76246937e-01,-1.83032388e-01, 3.04583481e+00,
  6.41782987e+00,-2.72087330e+00]

qfrc_actuator:
[ 1.92012524e-05, 8.78878708e-04, 1.33802662e-04,-5.02376600e-05,
 -2.20898679e-03, 2.54371038e-01, 4.73466588e-02, 1.73333630e-01,
 -1.03409802e-04, 7.45737202e-04, 1.08081211e-04, 1.26805383e-04,
  3.82259486e-03,-1.57675465e-03, 0.00000000e+00,-1.75972865e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.45666835, -0.69884958, -4.40153406, -0.69884958, 26.51179368,
       -3.50178252, -4.40153406, -3.50178252,  5.0126607 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027289981744071934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01706098e-13,  2.03412196e-13,  1.00000000e+00,  2.06882608e-26,
        1.00000000e+00, -2.03412196e-13, -1.00000000e+00,  0.00000000e+00,
       -1.01706098e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02803992, -0.07238119,  0.0619953 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.43217195e-05,-6.85712986e-03,-2.53402905e-03,-1.24043340e-03,
 -3.18511927e-05,-3.22509363e-05,-3.32435463e-05,-8.71531660e-06,
 -6.44186848e-05,-6.49085969e-06,-2.69375519e-05,-5.45796534e-05,
  4.12315875e-03,-9.18423919e-04,-4.90497386e+00, 2.30351383e-03,
  1.18455541e-02,-3.78880107e-04]


--- Step 1519 ---
qpos:
[ 1.85433806e-02, 3.00348603e-02,-9.43485210e-03,-2.52546530e-02,
 -9.97736874e-04, 6.19189875e-01,-6.45343231e-02, 5.70207648e-01,
  1.15542704e-02, 2.76878807e-02,-8.25036659e-03, 2.64655123e-02,
  1.34744982e+00, 7.58521036e-03, 1.22164248e+00, 4.47816987e-02,
  2.69101423e-02,-7.62301017e-02, 1.75833661e-01, 9.85686444e-01,
  4.76745537e-04,-1.44346425e-01,-8.70983113e-02]

qacc:
[ 2.22246457e+00,-1.06971305e-01, 1.48814722e+00,-6.65881776e+00,
  2.47650259e-01,-4.93545563e+01, 1.26976846e+02,-2.89257485e+02,
 -6.05137256e+00,-3.77614146e+00, 1.35804659e+01,-2.10287135e+01,
 -7.29196631e-01, 9.85396437e-01, 1.41904826e+00,-5.15208288e+00,
 -1.45796444e-02,-2.75977678e-01,-1.97886472e-01, 3.03795758e+00,
  5.18445736e+00,-2.81735693e+00]

qfrc_actuator:
[ 3.28249980e-05, 8.86869012e-04, 1.25982836e-04,-6.51621942e-05,
 -2.19554355e-03, 2.51730513e-01, 4.64833203e-02, 1.72563221e-01,
 -1.39249007e-04, 6.80719609e-04, 1.34610683e-04, 1.05520459e-04,
  3.80780392e-03,-1.54778203e-03, 0.00000000e+00,-1.78332193e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.46403285, -0.72289924, -4.40511135, -0.72289924, 32.39111605,
       -4.58296409, -4.40511135, -4.58296409,  5.21611855,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002754270926667579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00772859e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.00772859e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02804997, -0.07238546,  0.06199526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.41278434e-05,-7.17594044e-03,-2.65394057e-03,-1.15339499e-03,
 -3.67893345e-05,-9.02283637e-05, 1.55081515e-05,-2.39812243e-05,
 -5.02555940e-05, 1.23203292e-05,-2.14710171e-05,-3.07388423e-05,
  4.08016374e-03,-9.02902407e-04,-4.90495359e+00, 2.30084605e-03,
  1.18495820e-02,-3.78769169e-04]


--- Step 1520 ---
qpos:
[ 1.85424653e-02, 3.00349834e-02,-9.43499243e-03,-2.52552147e-02,
 -1.04123639e-03, 6.23845270e-01,-6.37238836e-02, 5.73608753e-01,
  1.15535868e-02, 2.76847861e-02,-8.25107786e-03, 2.64658433e-02,
  1.34759789e+00, 7.58550216e-03, 1.22179133e+00, 4.47779418e-02,
  2.65601826e-02,-7.61596934e-02, 1.75830259e-01, 9.85383617e-01,
  1.67513925e-04,-1.45884853e-01,-8.79585610e-02]

qacc:
[-1.51789449e+00, 3.51547404e-01,-2.35767797e-01,-3.02094466e+00,
  1.59879544e-01,-4.82716090e+01, 1.28607123e+02,-3.09908126e+02,
  5.24985454e+00,-2.79567100e+00, 1.14724294e+01,-2.21454600e+01,
 -3.72844875e-01, 5.24467459e-01,-3.62181512e+00, 1.20905029e+01,
 -1.21003034e-02,-2.74901778e-01,-2.10642255e-01, 3.03180782e+00,
  4.16862460e+00,-2.89481867e+00]

qfrc_actuator:
[ 2.33864864e-05, 9.09483696e-04, 1.21415925e-04,-7.37763698e-05,
 -2.18794610e-03, 2.49324305e-01, 4.56441101e-02, 1.71737194e-01,
 -1.06547600e-04, 6.60977519e-04, 1.50526676e-04, 7.48602055e-05,
  3.79894080e-03,-1.53064835e-03, 0.00000000e+00,-1.72422547e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47022358, -0.75020488, -4.40682329, -0.75020488, 39.82032106,
       -6.01789855, -4.40682329, -6.01789855,  5.49469326,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027752798458695327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.00020014e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.00020014e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02805778, -0.07238941,  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:
[-9.05767297e-06, 4.29225240e-07,-1.42230427e-05,-1.10628430e-05,
  1.47083947e-05,-7.13753390e-03,-2.70453420e-03,-1.22266539e-03,
  3.15829070e-05,-6.79385115e-05,-1.60243378e-06,-3.44500071e-05,
 -3.24343259e-05, 9.06678423e-06,-1.63882684e-05, 5.39611778e-05,
  4.04761809e-03,-8.89488539e-04,-4.90493327e+00, 2.30147529e-03,
  1.18534551e-02,-3.78806428e-04]


--- Step 1521 ---
qpos:
[ 1.85417889e-02, 3.00351225e-02,-9.43550211e-03,-2.52555144e-02,
 -1.08393638e-03, 6.28451936e-01,-6.29313433e-02, 5.76988230e-01,
  1.15532998e-02, 2.76815814e-02,-8.25237616e-03, 2.64661513e-02,
  1.34774563e+00, 7.58644324e-03, 1.22194030e+00, 4.47728790e-02,
  2.62101632e-02,-7.60903779e-02, 1.75825971e-01, 9.85078000e-01,
 -1.34304283e-04,-1.47416782e-01,-8.88234662e-02]

qacc:
[ 2.03764167e+00, 1.58932660e+00,-6.74526658e+00, 1.18576499e+01,
  5.57521781e-01,-5.36601775e+01, 1.67386198e+02,-4.19403353e+02,
  3.36603873e+00, 1.44114762e+00,-5.26362627e+00, 5.89597882e+00,
 -7.99938186e-01, 1.28537153e+00, 4.21910157e+00,-1.42929419e+01,
 -1.49226382e-02,-2.73200384e-01,-2.21627775e-01, 3.02732133e+00,
  3.32463422e+00,-2.95765048e+00]

qfrc_actuator:
[ 3.59476462e-05, 9.05207390e-04, 1.01125409e-04,-6.08430689e-05,
 -2.13061025e-03, 2.47203117e-01, 4.48626399e-02, 1.70672246e-01,
 -8.70214608e-05, 6.68460521e-04, 1.24689650e-04, 7.44540139e-05,
  3.79896317e-03,-1.48514913e-03, 0.00000000e+00,-1.79441554e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002792729896300139
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.98770212e-13, -9.93851058e-14,  1.00000000e+00, -1.97547985e-26,
        1.00000000e+00,  9.93851058e-14, -1.00000000e+00,  0.00000000e+00,
       -1.98770212e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0280638 , -0.07239311,  0.06199519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.11650861e-05,-6.84148176e-03,-2.64587970e-03,-1.46244337e-03,
  2.04194167e-05,-3.21875573e-05,-4.12182991e-05,-4.03722833e-06,
 -1.48159116e-05, 4.05661636e-05,-4.15310174e-06,-6.98602111e-05,
  4.02355695e-03,-8.77802707e-04,-4.90491286e+00, 2.30481020e-03,
  1.18572051e-02,-3.79009250e-04]


--- Step 1522 ---
qpos:
[ 1.85416132e-02, 3.00350524e-02,-9.43618429e-03,-2.52552959e-02,
 -1.12481272e-03, 6.33013584e-01,-6.21574980e-02, 5.80342953e-01,
  1.15525598e-02, 2.76783161e-02,-8.25350114e-03, 2.64663922e-02,
  1.34789322e+00, 7.58766524e-03, 1.22208943e+00, 4.47653335e-02,
  2.58600561e-02,-7.60221464e-02, 1.75820758e-01, 9.84769395e-01,
 -4.28811382e-04,-1.48943611e-01,-8.96931183e-02]

qacc:
[ 4.29369949e+00, 1.26486189e+00,-7.10728465e+00, 1.65083921e+01,
  1.24337724e+00,-5.21950355e+01, 1.78747663e+02,-4.76706103e+02,
 -3.85676935e+00,-6.95081745e-01, 2.65830900e+00,-4.06546650e+00,
 -5.05724864e-01, 7.47338833e-01, 7.79341173e+00,-2.68032400e+01,
 -2.19308218e-02,-2.71017327e-01,-2.31127594e-01, 3.02444765e+00,
  2.61638119e+00,-3.00931887e+00]

qfrc_actuator:
[ 6.13642280e-05, 8.84823727e-04, 8.93765839e-05,-3.53677646e-05,
 -2.00859794e-03, 2.45341906e-01, 4.40697285e-02, 1.69457827e-01,
 -1.10934200e-04, 6.92050930e-04, 1.45564246e-04, 7.41009363e-05,
  3.78834998e-03,-1.47636823e-03, 0.00000000e+00,-1.92248402e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028072035438261866
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.97745373e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.97745373e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02806843, -0.0723966 ,  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:
[ 2.57728921e-05,-2.86295249e-05,-1.56090944e-05, 2.46232611e-05,
  1.42751862e-04,-6.41152679e-03,-2.59672308e-03,-1.60289548e-03,
 -2.33349095e-05,-2.95962918e-06, 9.06008522e-06,-3.22875097e-06,
 -9.12204615e-06, 1.69941708e-05,-1.35461080e-05,-1.33348212e-04,
  4.00645927e-03,-8.67548260e-04,-4.90489231e+00, 2.31038787e-03,
  1.18608569e-02,-3.79391487e-04]


--- Step 1523 ---
qpos:
[ 1.85424333e-02, 3.00344042e-02,-9.43650774e-03,-2.52554535e-02,
 -1.16325227e-03, 6.37537556e-01,-6.14055728e-02, 5.83691778e-01,
  1.15515385e-02, 2.76751442e-02,-8.25390809e-03, 2.64665680e-02,
  1.34804061e+00, 7.58885630e-03, 1.22223789e+00, 4.47609825e-02,
  2.55098200e-02,-7.59549888e-02, 1.75814588e-01, 9.84457629e-01,
 -7.16092035e-04,-1.50466529e-01,-9.05675907e-02]

qacc:
[ 8.56467992e+00,-2.55826947e+00, 9.56678840e+00,-1.61820355e+01,
  1.63615182e+00,-5.59617630e-01,-4.49757523e+01, 1.94761840e-01,
 -2.37806485e+00,-2.01279349e+00, 7.63847438e+00,-9.98954552e+00,
  1.53113112e-01,-2.64032578e-01,-1.06769497e+01, 3.58598541e+01,
 -3.22452049e-02,-2.68466720e-01,-2.39388477e-01, 3.02314744e+00,
  2.01533796e+00,-3.05256018e+00]

qfrc_actuator:
[ 1.11889355e-04, 8.37241813e-04, 1.00456284e-04,-5.59861704e-05,
 -1.86687631e-03, 2.44185042e-01, 4.32601554e-02, 1.69230658e-01,
 -1.24714049e-04, 7.25300281e-04, 1.93940264e-04, 7.38329708e-05,
  3.76602592e-03,-1.48950967e-03, 0.00000000e+00,-1.74628046e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028191826644445583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.8452562e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.8452562e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02807194, -0.07239993,  0.06199515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.92480020e-04,-5.46069080e-03,-2.52358144e-03,-5.99761182e-04,
 -1.44766658e-05, 3.34477840e-05, 4.88198586e-05,-1.34063835e-07,
 -2.38216317e-05,-1.00878551e-05,-2.44731498e-05, 1.66281234e-04,
  3.99514410e-03,-8.58492625e-04,-4.90487159e+00, 2.31784630e-03,
  1.18644305e-02,-3.79964247e-04]


--- Step 1524 ---
qpos:
[ 1.85438532e-02, 3.00332708e-02,-9.43701639e-03,-2.52551397e-02,
 -1.19890175e-03, 6.42029808e-01,-6.06749074e-02, 5.87045797e-01,
  1.15510490e-02, 2.76719104e-02,-8.25365789e-03, 2.64671082e-02,
  1.34818767e+00, 7.59022323e-03, 1.22238621e+00, 4.47583858e-02,
  2.51594032e-02,-7.58888938e-02, 1.75807431e-01, 9.84142546e-01,
 -9.96216299e-04,-1.51986557e-01,-9.14469429e-02]

qacc:
[ 5.14803728e+00, 8.37387311e-01,-5.91776215e+00, 1.47349392e+01,
  1.85579786e+00, 2.50694273e+01,-1.57280588e+02, 2.59064390e+02,
  4.55545006e+00,-1.17730538e+00, 2.52473157e+00, 2.79443050e+00,
 -2.46064773e-01, 3.07940347e-01,-5.48848388e+00, 1.89552047e+01,
 -4.51725176e-02,-2.65639018e-01,-2.46624373e-01, 3.02339040e+00,
  1.49896285e+00,-3.08953462e+00]

qfrc_actuator:
[ 1.41278835e-04, 8.09298839e-04, 8.92656232e-05,-3.25632840e-05,
 -1.71467169e-03, 2.43283925e-01, 4.24690408e-02, 1.69551382e-01,
 -9.68994556e-05, 7.10957348e-04, 2.22697833e-04, 9.13935548e-05,
  3.74733519e-03,-1.48009977e-03, 0.00000000e+00,-1.65848726e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028290662124311194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81086109e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.81086109e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02807458, -0.07240313,  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:
[ 3.08636537e-05,-6.47521320e-05,-2.50120394e-05, 2.03238567e-05,
  2.21842525e-04,-4.61850733e-03,-2.26950871e-03, 8.65015307e-06,
  2.73894559e-05, 1.45509230e-05, 4.17161985e-05, 2.06885518e-05,
 -3.34167164e-05, 9.82998357e-07, 5.92556283e-06, 9.36315021e-05,
  3.98869269e-03,-8.50452898e-04,-4.90485067e+00, 2.32690307e-03,
  1.18679419e-02,-3.80736505e-04]


--- Step 1525 ---
qpos:
[ 1.85452699e-02, 3.00321764e-02,-9.43791942e-03,-2.52542557e-02,
 -1.23156791e-03, 6.46490293e-01,-5.99612796e-02, 5.90396818e-01,
  1.15508965e-02, 2.76685108e-02,-8.25292422e-03, 2.64675354e-02,
  1.34833450e+00, 7.59145679e-03, 1.22253456e+00, 4.47565245e-02,
  2.48087458e-02,-7.58238491e-02, 1.75799262e-01, 9.83824007e-01,
 -1.26924203e-03,-1.53504583e-01,-9.23312243e-02]

qacc:
[-3.98261946e-02, 2.32874217e+00,-1.06286584e+01, 2.10845052e+01,
  1.97543696e+00,-8.75463288e-01,-4.28772021e+01, 3.20349683e+01,
  2.89233477e+00,-1.80864519e+00, 6.59837805e+00,-9.19451327e+00,
 -4.29882916e-02,-1.02244228e-01,-2.18461176e+00, 7.69936364e+00,
 -6.01665582e-02,-2.62605851e-01,-2.53020753e-01, 3.02515371e+00,
  1.04944269e+00,-3.12194786e+00]

qfrc_actuator:
[ 1.40232100e-04, 8.46535410e-04, 8.28658077e-05,-1.16523323e-06,
 -1.55750527e-03, 2.41906275e-01, 4.16971091e-02, 1.69410993e-01,
 -8.03338837e-05, 6.85929701e-04, 2.39458003e-04, 8.37425475e-05,
  3.73084477e-03,-1.49285875e-03, 0.00000000e+00,-1.62357790e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028371845426546083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95655765e-13,  9.78278825e-14,  1.00000000e+00,  1.91405892e-26,
        1.00000000e+00, -9.78278825e-14, -1.00000000e+00,  0.00000000e+00,
       -1.95655765e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02807653, -0.07240623,  0.06199512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65721070e-07,-3.21521176e-06,-2.21348296e-05, 2.81575328e-05,
  2.38405123e-04,-4.54834022e-03,-2.02824676e-03,-3.98653846e-04,
  1.73611820e-05,-7.26605492e-06, 2.56519817e-05,-5.17717493e-06,
 -3.32610156e-05,-2.04587784e-05, 9.59875638e-06, 4.00993389e-05,
  3.98638922e-03,-8.43284797e-04,-4.90482952e+00, 2.33733856e-03,
  1.18714041e-02,-3.81715563e-04]


--- Step 1526 ---
qpos:
[ 1.85459737e-02, 3.00314327e-02,-9.43905528e-03,-2.52537455e-02,
 -1.26137832e-03, 6.50918142e-01,-5.92630028e-02, 5.93739267e-01,
  1.15502548e-02, 2.76649502e-02,-8.25249305e-03, 2.64679227e-02,
  1.34848115e+00, 7.59230115e-03, 1.22268288e+00, 4.47554373e-02,
  2.44577811e-02,-7.57598422e-02, 1.75790059e-01, 9.83501883e-01,
 -1.53521679e-03,-1.55021391e-01,-9.32204766e-02]

qacc:
[-6.12932620e+00, 3.56129401e-01, 9.98236146e-01,-7.36894875e+00,
  1.88003308e+00,-1.64254201e+01, 2.61948556e+01,-1.12475273e+02,
 -4.17904687e+00, 5.58918975e-01,-2.11912861e+00, 2.01634910e+00,
  1.77573189e-01,-5.15711666e-01,-2.41403193e+00, 8.31620891e+00,
 -7.67971648e-02,-2.59423888e-01,-2.58738395e-01, 3.02842079e+00,
  6.52699498e-01,-3.15114699e+00]

qfrc_actuator:
[ 1.03534033e-04, 8.87044367e-04, 7.96237563e-05,-1.85274282e-05,
 -1.41642368e-03, 2.40361956e-01, 4.09587216e-02, 1.68982297e-01,
 -1.06041092e-04, 6.54619751e-04, 2.13425296e-04, 7.90488963e-05,
  3.71567720e-03,-1.51868018e-03, 0.00000000e+00,-1.58457640e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028438110780693027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75999279e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.75999279e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02807794, -0.07240926,  0.0619951 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.67000827e-05, 3.53886770e-05,-5.63811695e-06,-1.77151326e-05,
  2.29164624e-04,-4.64110921e-03,-1.96394086e-03,-6.84500024e-04,
 -2.52115287e-05,-3.01771403e-05,-2.45238312e-05,-4.21396481e-06,
 -3.70299259e-05,-3.94991265e-05, 5.03091740e-06, 4.16019399e-05,
  3.98767558e-03,-8.36874161e-04,-4.90480812e+00, 2.34898284e-03,
  1.18748276e-02,-3.82907435e-04]


--- Step 1527 ---
qpos:
[ 1.85458873e-02, 3.00311241e-02,-9.44058869e-03,-2.52534472e-02,
 -1.28807384e-03, 6.55312006e-01,-5.85791721e-02, 5.97074700e-01,
  1.15493099e-02, 2.76612674e-02,-8.25298124e-03, 2.64689806e-02,
  1.34862751e+00, 7.59286237e-03, 1.22283139e+00, 4.47531515e-02,
  2.41064376e-02,-7.56968598e-02, 1.75779799e-01, 9.83176053e-01,
 -1.79417940e-03,-1.56537682e-01,-9.41147361e-02]

qacc:
[-6.79881187e+00, 1.26318221e+00,-2.75331490e+00,-6.20060171e-01,
  2.03761944e+00,-1.78796607e+01, 2.37713011e+01,-8.74843321e+01,
 -2.61176798e+00, 3.79348572e+00,-1.65822972e+01, 2.97361538e+01,
 -1.49113737e-01,-8.60390093e-02, 3.92623634e+00,-1.32918181e+01,
 -9.47257259e-02,-2.56137899e-01,-2.63916689e-01, 3.03318026e+00,
  2.97605874e-01,-3.17819619e+00]

qfrc_actuator:
[ 6.39087648e-05, 9.11436800e-04, 6.05199304e-05,-2.89245195e-05,
 -1.25055349e-03, 2.38731213e-01, 4.02633415e-02, 1.68635928e-01,
 -1.20915176e-04, 6.37354555e-04, 1.62309439e-04, 1.11606924e-04,
  3.69598099e-03,-1.53427725e-03, 0.00000000e+00,-1.64996822e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002849171859231614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.92248874e-13,  9.74162914e-14,  1.00000000e+00,  2.84698015e-26,
        1.00000000e+00, -9.74162914e-14, -1.00000000e+00,  0.00000000e+00,
       -2.92248874e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02807891, -0.07241223,  0.0619951 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.06780043e-05, 4.22824927e-05,-1.30805880e-05,-9.41753523e-06,
  2.51147705e-04,-4.77550833e-03,-1.94034265e-03,-6.09114343e-04,
 -1.56333014e-05,-3.92746283e-05,-6.04797071e-05, 3.03413008e-05,
 -4.80651360e-05,-3.55139234e-05, 3.43318440e-06,-6.32239216e-05,
  3.99211670e-03,-8.31130377e-04,-4.90478645e+00, 2.36170535e-03,
  1.18782213e-02,-3.84317126e-04]


--- Step 1528 ---
qpos:
[ 1.85456709e-02, 3.00313163e-02,-9.44239095e-03,-2.52536386e-02,
 -1.31117431e-03, 6.59671103e-01,-5.79092573e-02, 6.00402740e-01,
  1.15481935e-02, 2.76573179e-02,-8.25431146e-03, 2.64700890e-02,
  1.34877352e+00, 7.59322353e-03, 1.22297965e+00, 4.47521142e-02,
  2.37546393e-02,-7.56348886e-02, 1.75768465e-01, 9.82846402e-01,
 -2.04616111e-03,-1.58054092e-01,-9.50140357e-02]

qacc:
[-1.13325105e+00, 4.06512293e-01, 1.57784870e+00,-9.98744577e+00,
  2.33572145e+00,-2.10079010e+01, 3.41761850e+01,-1.02244463e+02,
 -1.48292496e+00, 2.10784642e+00,-8.23504082e+00, 1.06453387e+01,
 -3.36424031e-02,-1.90747632e-01,-4.15768163e+00, 1.39873090e+01,
 -1.13685853e-01,-2.52783212e-01,-2.68676502e-01, 3.03942515e+00,
 -2.46348939e-02,-3.20393657e+00]

qfrc_actuator:
[ 5.83948776e-05, 9.43687223e-04, 4.99095393e-05,-5.29076098e-05,
 -1.05345894e-03, 2.37080769e-01, 3.95990016e-02, 1.68269815e-01,
 -1.29279693e-04, 6.10789296e-04, 1.14634188e-04, 1.12563652e-04,
  3.67891051e-03,-1.54369011e-03, 0.00000000e+00,-1.58105397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002853453395227218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72701207e-14, -9.72701207e-14,  1.00000000e+00, -9.46147638e-27,
        1.00000000e+00,  9.72701207e-14, -1.00000000e+00,  0.00000000e+00,
       -9.72701207e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02807954, -0.07241515,  0.06199509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.68110684e-06, 5.28040542e-05,-3.79189125e-06,-2.28035810e-05,
  2.91315754e-04,-4.86041857e-03,-1.93017104e-03,-6.31103959e-04,
 -8.84729570e-06,-5.95923902e-05,-6.21413773e-05,-2.22109339e-06,
 -5.05089604e-05,-3.06480162e-05,-9.62055989e-06, 6.48979224e-05,
  3.99937373e-03,-8.25981292e-04,-4.90476448e+00, 2.37540676e-03,
  1.18815927e-02,-3.85948873e-04]


--- Step 1529 ---
qpos:
[ 1.85447001e-02, 3.00319974e-02,-9.44406644e-03,-2.52541423e-02,
 -1.33115988e-03, 6.63994991e-01,-5.72525713e-02, 6.03716255e-01,
  1.15469850e-02, 2.76531204e-02,-8.25598522e-03, 2.64711635e-02,
  1.34891932e+00, 7.59336851e-03, 1.22312761e+00, 4.47535591e-02,
  2.34023071e-02,-7.55739149e-02, 1.75756038e-01, 9.82512819e-01,
 -2.29118662e-03,-1.59571207e-01,-9.59184058e-02]

qacc:
[-6.47573884e+00,-3.38760094e-01, 3.48170291e+00,-9.46339644e+00,
  2.01219697e+00,-3.60628807e+01, 1.06893027e+02,-2.71160198e+02,
 -7.92269455e-01, 5.64188636e-01,-2.34158308e+00, 2.48419450e+00,
  1.85562949e-01,-4.24973810e-01,-7.97933189e+00, 2.72059416e+01,
 -1.33468133e-01,-2.49387655e-01,-2.73122674e-01, 3.04715224e+00,
 -3.20978483e-01,-3.22903336e+00]

qfrc_actuator:
[ 1.97459428e-05, 9.80412764e-04, 6.21781433e-05,-6.69270031e-05,
 -9.10366420e-04, 2.35397378e-01, 3.89585339e-02, 1.67539990e-01,
 -1.33749025e-04, 6.14342566e-04, 1.04818972e-04, 1.12664028e-04,
  3.67940806e-03,-1.54936224e-03, 0.00000000e+00,-1.45127655e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028568091452707556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71558624e-14,  9.71558624e-14,  1.00000000e+00,  9.43926159e-27,
        1.00000000e+00, -9.71558624e-14, -1.00000000e+00,  0.00000000e+00,
       -9.71558624e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02807991, -0.07241805,  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:
[-3.88228401e-05, 6.45063929e-05, 2.19381810e-05,-1.23295228e-05,
  2.53318104e-04,-4.93753252e-03,-1.92193119e-03,-9.97645253e-04,
 -4.76052923e-06,-4.25531558e-05,-2.97972254e-05,-4.63731302e-06,
 -3.28664985e-05,-2.61885063e-05,-1.01091993e-07, 1.31512550e-04,
  4.00918331e-03,-8.21369252e-04,-4.90474220e+00, 2.39001255e-03,
  1.18849483e-02,-3.87806323e-04]


--- Step 1530 ---
qpos:
[ 1.85432737e-02, 3.00327415e-02,-9.44512152e-03,-2.52547898e-02,
 -1.34904972e-03, 6.68281169e-01,-5.66083921e-02, 6.07016075e-01,
  1.15453869e-02, 2.76488772e-02,-8.25705773e-03, 2.64717927e-02,
  1.34906482e+00, 7.59386793e-03, 1.22327545e+00, 4.47572036e-02,
  2.30493593e-02,-7.55139251e-02, 1.75742502e-01, 9.82175196e-01,
 -2.52927476e-03,-1.61089569e-01,-9.68278758e-02]

qacc:
[-3.89124646e+00,-1.93954394e+00, 7.65323610e+00,-1.11872726e+01,
  1.34944898e+00,-3.98225738e+01, 1.12544088e+02,-2.62955950e+02,
 -3.30349576e+00,-2.65133239e+00, 1.12572165e+01,-1.99041902e+01,
 -3.10834967e-01, 5.07170863e-01,-6.80967877e+00, 2.36229516e+01,
 -1.53908086e-01,-2.45973107e-01,-2.77346189e-01, 3.05636154e+00,
 -5.96926346e-01,-3.25401315e+00]

qfrc_actuator:
[-2.60255504e-06, 9.66377029e-04, 8.78860696e-05,-7.49498134e-05,
 -8.36138256e-04, 2.33477782e-01, 3.83195160e-02, 1.66850560e-01,
 -1.53644563e-04, 6.53807617e-04, 1.53063362e-04, 9.45621234e-05,
  3.67979443e-03,-1.51718854e-03, 0.00000000e+00,-1.33997200e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028593648908273317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94138046e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.94138046e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02808006, -0.07242091,  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:
[-2.34580206e-05, 2.60241941e-05, 4.13213076e-05,-4.73693565e-06,
  1.70647472e-04,-5.22740136e-03,-1.94601242e-03,-9.67085808e-04,
 -2.00633349e-05, 9.47890013e-06, 3.56890454e-05,-2.10360752e-05,
 -2.25030549e-05, 1.69302499e-05, 1.17648848e-05, 1.17973558e-04,
  4.02134146e-03,-8.17248025e-04,-4.90471958e+00, 2.40546797e-03,
  1.18882939e-02,-3.89892676e-04]


--- Step 1531 ---
qpos:
[ 0.01854159, 0.03003352,-0.00944577,-0.02525585,-0.0013653 , 0.67252676,
 -0.05597655, 0.61030805, 0.01154391, 0.02764422,-0.00825736, 0.02647189,
  1.34920995, 0.0075954 , 1.22342335, 0.04476182, 0.02269571,-0.07545491,
  0.17572784, 0.98183343,-0.00276044,-0.16260969,-0.09774247]

qacc:
[  -2.19512279,  -1.94887216,   8.78040032, -16.68038037,   1.0493305 ,
  -33.6803332 ,  68.27929516,-136.7016055 ,   1.04011279,  -3.79016219,
   14.95530765, -25.06975333,  -0.90804827,   1.64870617,  -2.76245441,
   10.03129583,  -0.17487668,  -0.24255673,  -0.28142605,   3.06705587,
   -0.85683127,  -3.27929331]

qfrc_actuator:
[-1.51677133e-05, 9.57620168e-04, 1.03360616e-04,-9.71708581e-05,
 -7.67950221e-04, 2.31397542e-01, 3.76859378e-02, 1.66456640e-01,
 -1.46956294e-04, 6.08200833e-04, 1.82078252e-04, 6.59639097e-05,
  3.68545677e-03,-1.44503887e-03, 0.00000000e+00,-1.29371952e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028612232042868335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.91017935e-13,  9.70059783e-14,  1.00000000e+00,  2.82304795e-26,
        1.00000000e+00, -9.70059783e-14, -1.00000000e+00,  0.00000000e+00,
       -2.91017935e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02808004, -0.07242377,  0.06199507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.33260812e-04,-5.55119107e-03,-1.99999767e-03,-6.82151819e-04,
  6.08844191e-06,-3.36828062e-05, 3.47007795e-05,-2.73555519e-05,
 -1.55851824e-06, 7.14853245e-05, 1.48377346e-05, 5.34896780e-05,
  4.03569104e-03,-8.13580397e-04,-4.90469659e+00, 2.42173399e-03,
  1.18916347e-02,-3.92210802e-04]


--- Step 1532 ---
qpos:
[ 0.01854046, 0.0300343 ,-0.00944564,-0.02525685,-0.00138079, 0.67673158,
 -0.05535825, 0.61360075, 0.01154321, 0.02763941,-0.00825765, 0.02647166,
  1.34935489, 0.00759799, 1.22357124, 0.04476731, 0.02234128,-0.07539684,
  0.17571204, 0.9814874 ,-0.00298469,-0.16413206,-0.09866223]

qacc:
[  4.75571368, -2.03523585,  6.96648586, -7.04396043,  0.4921618 ,
 -15.53583379,-20.29733438, 67.49744747,  6.65833575, -0.93427746,
   4.40529143, -9.94509619, -0.7843406 ,  1.55870766, -2.53906508,
   9.08582441, -0.19627283, -0.23915196, -0.28543093,  3.07924048,
  -1.10413877, -3.30520524]

qfrc_actuator:
[ 1.36262328e-05, 9.69786128e-04, 1.48165121e-04,-9.20742974e-05,
 -7.57021356e-04, 2.29487410e-01, 3.70604584e-02, 1.66505941e-01,
 -1.06917282e-04, 6.00703582e-04, 1.81396936e-04, 4.90849222e-05,
  3.68897469e-03,-1.38523223e-03, 0.00000000e+00,-1.25064978e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028624671783576694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02807988, -0.07242661,  0.06199507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.18350237e-05,-5.55920098e-03,-2.05340765e-03,-2.46349450e-04,
  4.01904338e-05,-2.01677480e-05,-4.25532908e-06,-1.76438214e-05,
  1.98080142e-05, 7.95929041e-05, 8.48437264e-06, 4.69729093e-05,
  4.05211195e-03,-8.10336298e-04,-4.90467322e+00, 2.43878414e-03,
  1.18949755e-02,-3.94763329e-04]


--- Step 1533 ---
qpos:
[ 0.01854037, 0.03003497,-0.0094446 ,-0.02525778,-0.00139712, 0.68089642,
 -0.05475367, 0.61690171, 0.0115423 , 0.02763506,-0.00825794, 0.02647116,
  1.34949994, 0.00760105, 1.22371939, 0.04477127, 0.02198598,-0.07533972,
  0.17569508, 0.98113702,-0.00320203,-0.16565715,-0.09958717]

qacc:
[ 8.98139360e+00,-2.57345154e+00, 8.60933800e+00,-8.66858806e+00,
 -5.16405298e-01,-6.21986402e-01,-9.28283845e+01, 2.40559657e+02,
 -1.75209371e+00, 5.68485921e-02, 1.83216971e+00,-6.92703627e+00,
 -3.66114025e-01, 7.76842731e-01, 5.04877105e+00,-1.70211786e+01,
 -2.18017496e-01,-2.35769267e-01,-2.89420546e-01, 3.09292281e+00,
 -1.34157772e+00,-3.33201268e+00]

qfrc_actuator:
[ 6.65297684e-05, 9.59018248e-04, 1.92284449e-04,-8.86564193e-05,
 -8.51242996e-04, 2.27713520e-01, 3.64637237e-02, 1.66940015e-01,
 -1.18587658e-04, 6.69225181e-04, 1.98842196e-04, 3.92442541e-05,
  3.69120349e-03,-1.36876499e-03, 0.00000000e+00,-1.33403954e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002863163547639491
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.90820714e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.90820714e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02807962, -0.07242946,  0.06199507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.09681313e-05,-5.41925621e-03,-2.01731606e-03, 1.46190055e-04,
 -1.05139071e-05, 5.57981473e-05, 1.22023939e-05,-1.11854979e-05,
  3.12879281e-05, 4.36454201e-05, 5.41315032e-06,-8.05486971e-05,
  4.07051350e-03,-8.07491330e-04,-4.90464944e+00, 2.45660205e-03,
  1.18983208e-02,-3.97552720e-04]


--- Step 1534 ---
qpos:
[ 0.01854161, 0.03003533,-0.00944318,-0.0252579 ,-0.00141522, 0.68502154,
 -0.05416181, 0.62020995, 0.01154127, 0.02763033,-0.00825716, 0.02647092,
  1.34964491, 0.00760491, 1.22386792, 0.04477119, 0.02162971,-0.07528353,
  0.17567694, 0.98078217,-0.00341246,-0.1671854 ,-0.10051734]

qacc:
[ 1.13839145e+01, 1.72528925e-01,-4.62379177e+00, 1.81528868e+01,
 -1.09681653e+00,-4.76579232e+00,-7.51237470e+01, 2.08989736e+02,
 -1.08908279e+00,-2.94782544e+00, 8.70612120e+00,-5.63784758e+00,
 -9.13054594e-01, 1.59678557e+00, 1.28718652e+01,-4.39631242e+01,
 -2.40049007e-01,-2.32416778e-01,-2.93446949e-01, 3.10811222e+00,
 -1.57131100e+00,-3.35992617e+00]

qfrc_actuator:
[ 1.33186638e-04, 9.16855124e-04, 2.00038205e-04,-5.07748512e-05,
 -9.71754741e-04, 2.25894872e-01, 3.58898406e-02, 1.67313076e-01,
 -1.25105678e-04, 6.23046021e-04, 2.44937394e-04, 5.14593949e-05,
  3.68731370e-03,-1.32488965e-03, 0.00000000e+00,-1.54450995e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028633653081042154
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69334075e-14,  9.69334075e-14,  1.00000000e+00,  9.39608548e-27,
        1.00000000e+00, -9.69334075e-14, -1.00000000e+00,  0.00000000e+00,
       -9.69334075e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02807927, -0.0724323 ,  0.06199507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.49465396e-04,-5.36156332e-03,-1.94798321e-03, 1.00493396e-04,
 -6.82098893e-06,-1.27795485e-05, 5.87920361e-05, 1.48225964e-05,
  2.21308529e-05, 6.37888536e-05,-1.02099245e-05,-2.15148704e-04,
  4.09082838e-03,-8.05025620e-04,-4.90462523e+00, 2.47517940e-03,
  1.19016751e-02,-4.00581324e-04]


--- Step 1535 ---
qpos:
[ 0.01854398, 0.03003565,-0.00944231,-0.0252572 ,-0.00143478, 0.68910699,
 -0.05358253, 0.62351717, 0.0115412 , 0.02762498,-0.0082556 , 0.02647088,
  1.34978985, 0.00760894, 1.22401588, 0.0447726 , 0.0212724 ,-0.07522826,
  0.17565762, 0.98042274,-0.00361597,-0.16871726,-0.10145275]

qacc:
[ 9.71944523e+00, 3.16255988e+00,-1.48580956e+01, 3.01085345e+01,
 -8.99200902e-01,-1.97526635e+01, 1.44188605e+00, 2.09811106e+01,
  8.25384829e+00,-2.61039334e+00, 7.21936387e+00,-4.46245257e+00,
  7.48666139e-03, 8.53218825e-02,-5.33638459e+00, 1.74667163e+01,
 -2.62319394e-01,-2.29100781e-01,-2.97555541e-01, 3.12481983e+00,
 -1.79505445e+00,-3.38911451e+00]

qfrc_actuator:
[ 1.89643995e-04, 9.09352551e-04, 1.68393504e-04,-1.07250445e-05,
 -1.03575837e-03, 2.23994092e-01, 3.52808907e-02, 1.67256654e-01,
 -7.52648198e-05, 5.61943203e-04, 2.71638467e-04, 5.87290649e-05,
  3.66378717e-03,-1.33609609e-03, 0.00000000e+00,-1.45530913e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002863113920009708
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.90825755e-13,  9.69419185e-14,  1.00000000e+00,  2.81932067e-26,
        1.00000000e+00, -9.69419185e-14, -1.00000000e+00,  0.00000000e+00,
       -2.90825755e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02807886, -0.07243515,  0.06199507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.24280092e-04,-5.39735518e-03,-1.96354692e-03,-3.24982616e-04,
  4.96192642e-05,-5.53129349e-05, 3.18614223e-05, 9.05416217e-06,
  1.89368893e-06, 1.25425174e-05,-3.25238077e-05, 7.50060819e-05,
  4.11300800e-03,-8.02922919e-04,-4.90460055e+00, 2.49451442e-03,
  1.19050427e-02,-4.03851427e-04]


--- Step 1536 ---
qpos:
[ 0.01854632, 0.03003616,-0.00944217,-0.02525672,-0.0014555 , 0.69315176,
 -0.0530149 , 0.62681348, 0.01154138, 0.02761963,-0.0082542 , 0.02647091,
  1.34993475, 0.0076123 , 1.22416356, 0.04477568, 0.02091394,-0.07517389,
  0.17563708, 0.98005863,-0.00381257,-0.17025316,-0.10239345]

qacc:
[  -0.28686436,   1.82547625,  -5.18250409,   2.23845914,  -0.69589634,
  -41.11023898, 102.33914439,-211.00637581,   2.15149258,   0.58376681,
   -2.40235311,   3.9290891 ,   0.55667733,  -1.11362727,  -5.53709856,
   18.58269342,  -0.28479148,  -0.2258261 ,  -0.30178603,   3.14305838,
   -2.01417086,  -3.41971376]

qfrc_actuator:
[ 1.86383977e-04, 9.22491761e-04, 1.31629233e-04,-2.29801639e-05,
 -1.08320800e-03, 2.21971095e-01, 3.46913555e-02, 1.66699396e-01,
 -6.36622387e-05, 5.81055791e-04, 2.68813530e-04, 6.29850598e-05,
  3.62847795e-03,-1.39779109e-03, 0.00000000e+00,-1.36774292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028624411637098723
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69647026e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.69647026e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02807839, -0.072438  ,  0.06199507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.80294325e-05,-5.55713638e-03,-1.96599372e-03,-8.36099027e-04,
  1.30207829e-05,-4.65675195e-06,-9.97065478e-06, 3.17071735e-06,
 -3.18764613e-05,-5.74954369e-05,-7.75520245e-06, 8.72943856e-05,
  4.13701879e-03,-8.01169893e-04,-4.90457538e+00, 2.51461060e-03,
  1.19084279e-02,-4.07365285e-04]


--- Step 1537 ---
qpos:
[ 0.01854826, 0.03003625,-0.00944195,-0.02525672,-0.00147732, 0.69715531,
 -0.052459  , 0.63009469, 0.01154032, 0.02761428,-0.00825316, 0.02647135,
  1.35007907, 0.00761563, 1.22431138, 0.04477809, 0.02055426,-0.07512041,
  0.17561533, 0.97968971,-0.00400223,-0.17179351,-0.10333947]

qacc:
[-3.43143981e+00,-1.74379604e+00, 7.41098867e+00,-1.54201059e+01,
 -6.69268244e-01,-4.90395748e+01, 1.40922182e+02,-3.04548712e+02,
 -1.05923900e+01, 1.88047800e+00,-8.40226459e+00, 1.60443063e+01,
 -4.96785875e-01, 4.07659677e-01, 2.27772034e+00,-7.55780744e+00,
 -3.07436590e-01,-2.22596415e-01,-3.06173203e-01, 3.16284205e+00,
 -2.22974415e+00,-3.45183433e+00]

qfrc_actuator:
[ 1.65757418e-04, 8.76802253e-04, 1.27708577e-04,-4.81380171e-05,
 -1.13820968e-03, 2.19962671e-01, 3.41175775e-02, 1.65940699e-01,
 -1.27935100e-04, 5.76913345e-04, 2.48899402e-04, 8.32341751e-05,
  3.58610092e-03,-1.40024342e-03, 0.00000000e+00,-1.40619632e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028613707050825776
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70009778e-14,  9.70009778e-14,  1.00000000e+00,  9.40918969e-27,
        1.00000000e+00, -9.70009778e-14, -1.00000000e+00,  0.00000000e+00,
       -9.70009778e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02807787, -0.07244087,  0.06199507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.53502313e-05,-5.64973967e-03,-1.99833484e-03,-1.05386855e-03,
 -6.39080483e-05,-8.48783610e-06,-2.19486553e-05, 1.97744998e-05,
 -7.24050779e-05,-2.62800442e-05, 3.76513331e-06,-3.51474112e-05,
  4.16283931e-03,-7.99755574e-04,-4.90454970e+00, 2.53547576e-03,
  1.19118350e-02,-4.11125157e-04]


--- Step 1538 ---
qpos:
[ 0.01854959, 0.03003611,-0.00944214,-0.02525701,-0.00150008, 0.70111694,
 -0.05191464, 0.6333592 , 0.01153884, 0.02760898,-0.00825268, 0.02647204,
  1.35022295, 0.0076182 , 1.22445927, 0.04477936, 0.02019326,-0.07506781,
  0.17559233, 0.97931587,-0.00418495,-0.17333875,-0.10429085]

qacc:
[-5.21797838e+00, 2.23109792e-01, 1.97507895e-02,-4.29938496e+00,
 -5.58140665e-01,-5.32436899e+01, 1.58638416e+02,-3.42510918e+02,
 -3.58332359e+00, 2.15461740e+00,-8.60737129e+00, 1.37152459e+01,
  6.24920863e-02,-6.84025540e-01, 3.55573425e+00,-1.23204932e+01,
 -3.30232747e-01,-2.19414489e-01,-3.10747673e-01, 3.18418644e+00,
 -2.44263804e+00,-3.48556664e+00]

qfrc_actuator:
[ 1.35093711e-04, 8.67360419e-04, 1.07470784e-04,-6.29494065e-05,
 -1.17956727e-03, 2.17926539e-01, 3.35579801e-02, 1.65105191e-01,
 -1.47577745e-04, 5.76569564e-04, 2.19000657e-04, 9.49601765e-05,
  3.54485895e-03,-1.45628187e-03, 0.00000000e+00,-1.46533655e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028599194171420594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94100403e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.94100403e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02807732, -0.07244375,  0.06199507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.08646885e-05,-5.74189244e-03,-2.01267103e-03,-1.13922434e-03,
 -2.15346537e-05,-8.62161611e-06,-3.36202916e-05, 1.09987543e-05,
 -8.48841805e-05,-8.05266876e-05,-6.68369092e-06,-6.16247951e-05,
  4.19045798e-03,-7.98670919e-04,-4.90452346e+00, 2.55712127e-03,
  1.19152684e-02,-4.15133324e-04]


--- Step 1539 ---
qpos:
[ 0.01855089, 0.03003621,-0.00944284,-0.02525718,-0.0015236 , 0.70503702,
 -0.05138157, 0.6366061 , 0.01153782, 0.02760418,-0.00825224, 0.02647243,
  1.35036645, 0.0076196 , 1.22460691, 0.04478157, 0.01983084,-0.07501607,
  0.17556806, 0.97893701,-0.00436071,-0.17488928,-0.10524763]

qacc:
[-3.10473868e-01, 2.00611181e+00,-7.18667135e+00, 9.86652968e+00,
 -4.52561219e-01,-5.51314505e+01, 1.68264830e+02,-3.64218901e+02,
  3.94631008e+00, 1.20102420e-01, 1.81601841e+00,-7.40943882e+00,
  5.69471669e-01,-1.54303360e+00,-3.32822476e+00, 1.08920781e+01,
 -3.53163241e-01,-2.16282381e-01,-3.15536439e-01, 3.20710842e+00,
 -2.65354232e+00,-3.52098551e+00]

qfrc_actuator:
[ 1.34279551e-04, 9.15146527e-04, 9.56415974e-05,-5.37913495e-05,
 -1.21246922e-03, 2.15997489e-01, 3.30469180e-02, 1.64231234e-01,
 -1.23015984e-04, 6.49461504e-04, 2.36712487e-04, 8.38194685e-05,
  3.51495785e-03,-1.52598480e-03, 0.00000000e+00,-1.41187728e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002858098496215239
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.94224066e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.94224066e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02807675, -0.07244665,  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:
[-1.73815956e-06, 1.57165744e-05,-2.55886524e-05, 5.77922724e-06,
 -6.67548574e-05,-5.69022937e-03,-1.98609795e-03,-1.18280913e-03,
  2.39122600e-05, 6.17697943e-05, 1.22246618e-05,-1.24495889e-05,
 -9.30182973e-05,-1.12384847e-04,-1.37865277e-05, 4.83002962e-05,
  4.21987128e-03,-7.97908468e-04,-4.90449665e+00, 2.57956142e-03,
  1.19187326e-02,-4.19392110e-04]


--- Step 1540 ---
qpos:
[ 0.01855148, 0.03003631,-0.00944309,-0.02525728,-0.00154798, 0.70891719,
 -0.05086029, 0.63983429, 0.01153746, 0.02760002,-0.0082517 , 0.02647265,
  1.35050933, 0.00762058, 1.22475403, 0.04478772, 0.01946692,-0.07496518,
  0.17554252, 0.97855298,-0.00452948,-0.17644551,-0.10620985]

qacc:
[-6.07337695e+00,-1.09290304e+00, 3.61273762e+00,-3.09032798e+00,
 -4.98800556e-01,-5.35129744e+01, 1.68760173e+02,-3.80494289e+02,
  5.50575269e+00, 2.29335040e-01, 1.04806503e+00,-4.43825334e+00,
  1.03497352e-01,-5.78943822e-01,-1.27124347e+01, 4.33115903e+01,
 -3.76215504e-01,-2.13201589e-01,-3.20563436e-01, 3.23162613e+00,
 -2.86300942e+00,-3.55815369e+00]

qfrc_actuator:
[ 9.77867841e-05, 9.25882615e-04, 1.24640437e-04,-4.82976866e-05,
 -1.25784513e-03, 2.14220090e-01, 3.25338139e-02, 1.63306299e-01,
 -9.03988240e-05, 6.94811963e-04, 2.47180617e-04, 7.71646930e-05,
  3.49719685e-03,-1.53215789e-03, 0.00000000e+00,-1.20372703e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002855914404500254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94372601e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.94372601e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02807614, -0.07244956,  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:
[-3.65367125e-05, 1.44874520e-05, 2.92994407e-05, 5.39534304e-06,
 -7.36333108e-05,-5.50406062e-03,-1.97485619e-03,-1.23135486e-03,
  3.33249736e-05, 8.20568593e-05, 2.43505288e-05,-3.81934365e-06,
 -9.23621589e-05,-5.98910877e-05,-3.76419343e-06, 2.08438597e-04,
  4.25108238e-03,-7.97462082e-04,-4.90446923e+00, 2.60281299e-03,
  1.19222322e-02,-4.23903899e-04]


--- Step 1541 ---
qpos:
[ 0.01855162, 0.03003596,-0.00944246,-0.02525763,-0.0015731 , 0.71276409,
 -0.05035431, 0.64305983, 0.01153714, 0.02759636,-0.00825128, 0.02647282,
  1.35065177, 0.00762126, 1.22490146, 0.04479329, 0.0191014 ,-0.07491514,
  0.17551567, 0.97816367,-0.00469124,-0.17800786,-0.10717755]

qacc:
[ -3.75624349, -3.54813025, 12.85742171,-18.26681379, -0.45000068,
  -6.91471158,-25.85408614, 20.03109596,  0.40984043,  0.87966005,
  -1.93881567,  0.83711437, -0.22134933, -0.05335066,  2.25019513,
  -7.19286307, -0.39938022, -0.21017317, -0.32584999,  3.25775889,
  -3.07148332, -3.59712459]

qfrc_actuator:
[ 7.60813042e-05, 8.79024689e-04, 1.59622650e-04,-6.27578396e-05,
 -1.29256770e-03, 2.13170008e-01, 3.20067720e-02, 1.63228806e-01,
 -8.88218176e-05, 7.05561789e-04, 2.35439895e-04, 7.31802134e-05,
  3.49208205e-03,-1.53600523e-03, 0.00000000e+00,-1.24343909e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028533696654874097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94545950e-13,  9.72729750e-14,  1.00000000e+00,  1.89240633e-26,
        1.00000000e+00, -9.72729750e-14, -1.00000000e+00,  0.00000000e+00,
       -1.94545950e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02807552, -0.0724525 ,  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:
[-2.27665697e-05,-3.24894875e-05, 4.17724161e-05,-1.27191560e-05,
 -6.59190579e-05,-4.67069071e-03,-1.95037831e-03,-3.77076655e-04,
  2.56897876e-06, 6.16574816e-05, 8.11668965e-06, 3.06356918e-07,
 -6.63211172e-05,-4.28310973e-05, 1.85407663e-05,-2.92378015e-05,
  4.28409999e-03,-7.97326723e-04,-4.90444116e+00, 2.62689487e-03,
  1.19257721e-02,-4.28671144e-04]


--- Step 1542 ---
qpos:
[ 0.01855254, 0.03003569,-0.00944211,-0.02525849,-0.00159928, 0.71658457,
 -0.04986456, 0.64629583, 0.01153615, 0.02759289,-0.00825031, 0.02647328,
  1.35079386, 0.00762196, 1.22504913, 0.04479702, 0.01873419,-0.07486592,
  0.1754875 , 0.97776895,-0.00484596,-0.17957672,-0.10815079]

qacc:
[ 6.61432464e+00,-1.80209340e-01, 2.87757202e+00,-1.11519141e+01,
 -6.31474417e-01, 2.77715186e+01,-1.70538622e+02, 3.30542945e+02,
 -5.68104732e+00,-6.51348089e-01, 1.49034550e+00, 2.51434804e+00,
 -4.33265524e-01, 4.34297498e-01, 5.93117380e+00,-2.01384525e+01,
 -4.22650628e-01,-2.07197844e-01,-3.31415225e-01, 3.28552717e+00,
 -3.27932227e+00,-3.63794446e+00]

qfrc_actuator:
[ 1.16522197e-04, 8.86822845e-04, 1.44331579e-04,-8.88958921e-05,
 -1.35615609e-03, 2.12530128e-01, 3.14618226e-02, 1.63810962e-01,
 -1.23283141e-04, 7.13169624e-04, 2.63798770e-04, 8.85057637e-05,
  3.49456136e-03,-1.52065602e-03, 0.00000000e+00,-1.34014698e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028504635344096807
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73721477e-14,  9.73721477e-14,  1.00000000e+00,  9.48133514e-27,
        1.00000000e+00, -9.73721477e-14, -1.00000000e+00,  0.00000000e+00,
       -9.73721477e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02807487, -0.07245545,  0.06199509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.97655167e-05,-2.28911995e-06,-1.72982529e-05,-2.63304463e-05,
 -9.16244086e-05,-3.75715659e-03,-1.76856821e-03, 3.33084727e-04,
 -3.43759942e-05, 4.39039009e-05, 4.21424902e-05, 1.82613002e-05,
 -4.16864459e-05,-1.24645977e-05, 2.37506003e-07,-9.71066747e-05,
  4.31893755e-03,-7.97498295e-04,-4.90441241e+00, 2.65182776e-03,
  1.19293571e-02,-4.33696380e-04]


--- Step 1543 ---
qpos:
[ 0.01855394, 0.03003563,-0.00944204,-0.02525966,-0.00162703, 0.72038085,
 -0.0493876 , 0.64952963, 0.01153545, 0.02758942,-0.00824912, 0.02647362,
  1.35093575, 0.00762271, 1.22519686, 0.0447989 , 0.0183652 ,-0.07481753,
  0.17545798, 0.97736869,-0.00499362,-0.18115251,-0.10912962]

qacc:
[  4.08359582,  0.38469616,  0.38604159, -5.6829445 , -0.93421282,
  -0.97292136,-31.63569455, 23.44918774,  2.42745679, -0.87684071,
   3.58258353, -5.91609644, -0.32544065,  0.36503704,  5.7371828 ,
 -19.8606088 , -0.44602195, -0.20427606, -0.33727639,  3.3149526 ,
  -3.4868169 , -3.6806541 ]

qfrc_actuator:
[ 1.39955816e-04, 9.09319719e-04, 1.35182774e-04,-1.03935981e-04,
 -1.45421607e-03, 2.11628018e-01, 3.09309393e-02, 1.63711711e-01,
 -1.07659640e-04, 6.83495314e-04, 2.62346959e-04, 7.95892999e-05,
  3.49627789e-03,-1.51173607e-03, 0.00000000e+00,-1.43407220e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002847192562313583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94968026e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.94968026e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02807422, -0.07245843,  0.06199509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45940673e-05, 1.65355169e-05,-1.26645421e-05,-1.62494143e-05,
 -1.36764128e-04,-3.44550266e-03,-1.52478422e-03,-2.92977936e-04,
  1.46188761e-05, 4.46263753e-06, 1.34682314e-05,-5.21567006e-06,
 -2.31263683e-05,-4.21973917e-06,-1.49515694e-05,-1.00279227e-04,
  4.35561249e-03,-7.97973512e-04,-4.90438295e+00, 2.67763399e-03,
  1.19329924e-02,-4.38982231e-04]


--- Step 1544 ---
qpos:
[ 0.01855595, 0.03003556,-0.00944171,-0.02526171,-0.00165598, 0.72415477,
 -0.04892224, 0.65275778, 0.01153563, 0.02758617,-0.00824854, 0.02647354,
  1.35107782, 0.00762293, 1.22534456, 0.04479894, 0.01799507,-0.07476862,
  0.17542731, 0.9769623 ,-0.00514022,-0.18274282,-0.11010589]

qacc:
[  5.28688424, -2.55146364, 12.74039006,-28.20796361, -0.70613771,
  -7.97631439,  5.44204597,-60.52361948,  7.4961081 ,  1.12536679,
  -1.822498  , -4.68211492,  0.34924767, -0.70267549,  5.46937702,
 -19.27714917, -0.28465415,  0.12656606, -0.28697493,  1.52494793,
  -7.60309721,  0.77633592]

qfrc_actuator:
[ 1.70923562e-04, 9.04962847e-04, 1.47585706e-04,-1.47799954e-04,
 -1.50100698e-03, 2.10772177e-01, 3.04470580e-02, 1.63442866e-01,
 -6.26696028e-05, 6.84840065e-04, 2.25361728e-04, 5.64178221e-05,
  3.50818741e-03,-1.54221315e-03, 0.00000000e+00,-1.52557043e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48968713, -0.80947138, -4.41611216, -0.80947138, 12.61925521,
       -1.49014619, -4.41611216, -1.49014619,  4.76283026,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002839985800453888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77313887e-14,  8.96819188e-07,  1.00000000e+00,  8.76473846e-20,
        1.00000000e+00, -8.96819188e-07, -1.00000000e+00,  0.00000000e+00,
       -9.77313887e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02714123, -0.07756889,  0.0619951 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16917268e-05, 1.58644464e-06, 1.36962152e-05,-4.39092927e-05,
 -1.04465778e-04,-3.19897828e-03,-1.40545886e-03,-4.56156355e-04,
  4.54100367e-05, 6.51277998e-06,-3.45603669e-05,-2.26121507e-05,
 -1.71209104e-06,-3.67678318e-05,-2.12641350e-05,-9.97486781e-05,
  4.39414575e-03,-7.98749794e-04,-4.90435274e+00, 2.70433731e-03,
  1.19366835e-02,-4.44531417e-04]


--- Step 1545 ---
qpos:
[ 0.01855832, 0.03003556,-0.00944098,-0.02526429,-0.00168541, 0.72790639,
 -0.04846726, 0.65598436, 0.01153669, 0.02758317,-0.00824848, 0.02647318,
  1.35121967, 0.00762333, 1.22549194, 0.04479953, 0.01762434,-0.07471778,
  0.17539558, 0.97654984,-0.00529177,-0.18435331,-0.11106877]

qacc:
[  3.06358554, -2.10310212,  9.8384813 ,-19.62791019, -0.27972957,
  -3.9024507 ,-20.34492874, 18.80322798,  7.50895938,  1.13586871,
  -2.36748091, -1.987139  , -0.23233052,  0.33610082, -2.12052567,
   6.76507464, -0.14863569,  0.4835408 , -0.26420505, -0.09739008,
 -10.71944165,  6.61195578]

qfrc_actuator:
[ 1.88330270e-04, 9.20131303e-04, 1.72488156e-04,-1.72775522e-04,
 -1.49903188e-03, 2.09827683e-01, 2.99952877e-02, 1.63378396e-01,
 -1.85234944e-05, 7.04569836e-04, 2.03311824e-04, 4.28017874e-05,
  3.49955798e-03,-1.52476687e-03, 0.00000000e+00,-1.49062435e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.49626388, -0.78171802, -4.42778792, -0.78171802, 14.56214516,
       -1.77711329, -4.42778792, -1.77711329,  4.81001005,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002861406472321748
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69997653e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.69997653e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02615301, -0.08287329,  0.06199506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.23907792e-05,-3.13117912e-03,-1.31401107e-03,-2.41936555e-04,
  4.54719586e-05, 1.53914874e-05,-2.57139056e-05,-1.49685194e-05,
 -1.90538408e-05, 7.04851917e-06,-2.31668097e-05, 2.61119071e-05,
  4.44611510e-03,-8.12490609e-04,-4.90432923e+00, 2.72182027e-03,
  1.19375990e-02,-4.50393331e-04]


--- Step 1546 ---
qpos:
[ 0.01856053, 0.03003564,-0.00944003,-0.0252661 ,-0.00171488, 0.73163452,
 -0.04802152, 0.65920886, 0.01153758, 0.02758005,-0.00824802, 0.02647298,
  1.35136104, 0.00762407, 1.22563909, 0.04480117, 0.01725274,-0.07466497,
  0.17536273, 0.97613162,-0.00544809,-0.18598156,-0.11201895]

qacc:
[-1.31570104, 1.04051145,-6.77182277,19.56779166,-0.02576317,-9.48437278,
 -2.10649736,-4.65810463,-1.4167339 ,-0.88949341, 2.23038033, 0.18178948,
 -0.5087771 , 0.67948844,-3.4423954 ,11.66634844,-0.21753151, 0.49309712,
 -0.27939749,-0.19020545,-9.49649588, 6.27554423]

qfrc_actuator:
[ 1.79861077e-04, 9.29192593e-04, 1.86903508e-04,-1.33155279e-04,
 -1.48578929e-03, 2.08696853e-01, 2.95484694e-02, 1.63274958e-01,
 -2.84953886e-05, 6.99702477e-04, 2.25862130e-04, 5.27055123e-05,
  3.46265616e-03,-1.51457499e-03, 0.00000000e+00,-1.43471714e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50221187,  0.97777616,  4.39475432,  0.97777616, 23.24637157,
       -4.17033381,  4.39475432, -4.17033381,  5.43005736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002880593618416749
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63536663e-14,  1.92707333e-13,  1.00000000e+00,  1.85680580e-26,
        1.00000000e+00, -1.92707333e-13, -1.00000000e+00,  0.00000000e+00,
       -9.63536663e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02613716, -0.08287346,  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:
[-7.92926763e-06, 2.27329152e-05, 2.01759508e-05, 4.07377437e-05,
 -5.16317028e-06,-3.25186224e-03,-1.27688960e-03,-2.70531243e-04,
 -8.64158235e-06,-2.08553378e-06, 2.20788926e-05, 9.38795346e-06,
 -4.55170484e-05, 7.94972094e-06,-9.91069204e-06, 5.38947188e-05,
  4.49794458e-03,-8.37216742e-04,-4.90431487e+00, 2.71972177e-03,
  1.19369223e-02,-4.56661455e-04]


--- Step 1547 ---
qpos:
[ 0.01856263, 0.03003569,-0.00943936,-0.02526772,-0.00174395, 0.7353377 ,
 -0.04758426, 0.66242469, 0.01153801, 0.02757672,-0.00824722, 0.02647292,
  1.35150212, 0.00762449, 1.22578615, 0.04480344, 0.01688004,-0.07461016,
  0.17532871, 0.97570787,-0.00560905,-0.18762572,-0.11295696]

qacc:
[-1.02395370e+00, 1.16604678e+00,-5.03302787e+00, 8.87325274e+00,
  2.42483777e-01,-2.51130897e+01, 6.75950917e+01,-1.58916351e+02,
 -4.00215163e+00,-9.24788188e-01, 2.34247105e+00,-3.98327763e-01,
  2.69179025e-02,-3.21630220e-01,-2.05892270e+00, 6.98624783e+00,
 -2.76784763e-01, 5.01321727e-01,-2.95111479e-01,-2.57288685e-01,
 -8.57783310e+00, 6.01597939e+00]

qfrc_actuator:
[ 1.73986554e-04, 8.99042033e-04, 1.59525176e-04,-1.26870338e-04,
 -1.44827097e-03, 2.07428837e-01, 2.91076241e-02, 1.62829720e-01,
 -5.24881408e-05, 6.80347086e-04, 2.38975523e-04, 5.86245127e-05,
  3.43545165e-03,-1.54445724e-03, 0.00000000e+00,-1.40245244e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.50655771,  1.00921872,  4.39209972,  1.00921872, 28.07523653,
       -5.41562202,  4.39209972, -5.41562202,  5.75096186,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002894503238737717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.91781272e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.91781272e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02612447, -0.08287425,  0.06199501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.47755041e-05,-3.44848054e-03,-1.29102356e-03,-6.15832905e-04,
 -2.42574848e-05,-1.54508325e-05, 1.57596884e-05, 6.78319023e-06,
 -4.88854387e-05,-3.82771886e-05,-1.71088981e-06, 3.32913719e-05,
  4.54267911e-03,-8.61064617e-04,-4.90430060e+00, 2.71485651e-03,
  1.19356033e-02,-4.62962822e-04]


--- Step 1548 ---
qpos:
[ 0.01856429, 0.03003558,-0.00943948,-0.02526954,-0.00177246, 0.73901566,
 -0.04715585, 0.66562775, 0.01153848, 0.02757347,-0.00824718, 0.02647262,
  1.35164301, 0.00762452, 1.22593358, 0.04480272, 0.01650602,-0.07455331,
  0.17529344, 0.97527876,-0.00577456,-0.18928445,-0.11388322]

qacc:
[-3.72213219e+00, 1.58567855e+00,-5.08126195e+00, 2.90689144e+00,
  3.28844976e-01,-3.16931326e+01, 1.01157721e+02,-2.45079676e+02,
  4.30508212e-01, 1.70956203e+00,-4.97115562e+00, 2.07228115e+00,
 -1.33278435e-01,-1.40763620e-01, 9.59697309e+00,-3.27595216e+01,
 -3.28435613e-01, 5.08520132e-01,-3.11052685e-01,-3.03855613e-01,
 -7.89982465e+00, 5.81702602e+00]

qfrc_actuator:
[ 1.51942150e-04, 8.63197947e-04, 1.07497702e-04,-1.40321811e-04,
 -1.41437682e-03, 2.06213613e-01, 2.86732988e-02, 1.62186840e-01,
 -4.90179755e-05, 6.70187921e-04, 1.93066962e-04, 4.43670704e-05,
  3.43004361e-03,-1.56236482e-03, 0.00000000e+00,-1.56190775e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.5094624 ,  1.04719488,  4.38618673,  1.04719488, 34.07256082,
       -7.05814121,  4.38618673, -7.05814121,  6.19458203,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002903749586298243
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.55852934e-14,  3.82341174e-13,  1.00000000e+00, -3.65461933e-26,
        1.00000000e+00, -3.82341174e-13, -1.00000000e+00,  0.00000000e+00,
        9.55852934e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02611428, -0.08287554,  0.06199499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.81116544e-05,-3.51965912e-03,-1.33618269e-03,-8.28163576e-04,
  2.74315467e-06,-1.51491889e-05,-4.68931837e-05,-1.42353833e-05,
 -3.96709033e-05,-4.02423758e-05,-4.63333026e-07,-1.58590778e-04,
  4.58208751e-03,-8.84250789e-04,-4.90428630e+00, 2.70791655e-03,
  1.19337701e-02,-4.69281039e-04]


--- Step 1549 ---
qpos:
[ 0.01856602, 0.03003544,-0.00944035,-0.02527084,-0.00180038, 0.74266963,
 -0.04673769, 0.66882293, 0.011539  , 0.02757017,-0.00824767, 0.02647216,
  1.35178373, 0.00762404, 1.22608158, 0.04479541, 0.01613051,-0.0744944 ,
  0.17525686, 0.97484439,-0.00594452,-0.19095678,-0.11479803]

qacc:
[ 5.55239006e-01, 3.14343445e+00,-1.34864421e+01, 2.38014898e+01,
  3.45302712e-01,-1.76744088e+01, 4.16922679e+01,-1.23662894e+02,
  3.04496232e-01, 1.08852102e+00,-3.26664010e+00, 1.26437805e+00,
 -3.29332333e-01, 3.46060123e-02, 2.07867457e+01,-7.14391963e+01,
 -3.74097151e-01, 5.14935077e-01,-3.27016339e-01,-3.34066691e-01,
 -7.41222991e+00, 5.66591283e+00]

qfrc_actuator:
[ 1.56061357e-04, 8.77335067e-04, 7.68035694e-05,-1.12035938e-04,
 -1.38297061e-03, 2.05200110e-01, 2.82289034e-02, 1.61805732e-01,
 -4.71584851e-05, 6.65349955e-04, 1.65954327e-04, 3.60713277e-05,
  3.41641107e-03,-1.59063660e-03, 0.00000000e+00,-1.90403629e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.51108527,  1.09334516,  4.37658391,  1.09334516, 41.47572308,
       -9.23439579,  4.37658391, -9.23439579,  6.81799454,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002908898085352968
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02610605, -0.08287721,  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:
[ 3.45923718e-06,-2.37633105e-05,-4.76015834e-05, 2.40958248e-05,
  5.13891410e-05,-3.37328523e-03,-1.37202624e-03,-5.74594849e-04,
  1.92677946e-06,-2.34856556e-05,-3.64717546e-05,-1.08367371e-05,
 -4.41926815e-05,-4.87136706e-05,-2.21164133e-05,-3.51993486e-04,
  4.61763016e-03,-9.06968052e-04,-4.90427187e+00, 2.69942429e-03,
  1.19315216e-02,-4.75603763e-04]


--- Step 1550 ---
qpos:
[ 0.01856813, 0.03003542,-0.00944121,-0.02527117,-0.00182751, 0.7463047 ,
 -0.04633199, 0.67201822, 0.01153953, 0.0275668 ,-0.0082485 , 0.02647124,
  1.35192422, 0.00762298, 1.2262298 , 0.04478137, 0.01575333,-0.0744334 ,
  0.17521891, 0.97440482,-0.0061189 ,-0.19264201,-0.11570162]

qacc:
[ 3.26092755e+00, 2.09976203e+00,-1.13393420e+01, 2.79356343e+01,
  4.50610044e-01, 9.10736576e+00,-6.31962185e+01, 7.95510370e+01,
  1.45146105e-01,-8.85465593e-02, 2.08329530e+00,-9.31049898e+00,
 -2.98096286e-01,-7.11292121e-02, 2.07274760e+01,-7.19779679e+01,
 -4.15044844e-01, 5.20759156e-01,-3.42867301e-01,-3.51238785e-01,
 -7.07538031e+00, 5.55259267e+00]

qfrc_actuator:
[ 1.75552628e-04, 9.21399412e-04, 9.46937655e-05,-5.93562366e-05,
 -1.33556258e-03, 2.04724791e-01, 2.77833970e-02, 1.61848207e-01,
 -4.62709445e-05, 6.63795219e-04, 1.50204366e-04, 1.36268823e-05,
  3.39784923e-03,-1.62486060e-03, 0.00000000e+00,-2.24445979e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002910463507212052
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02609936, -0.0828792 ,  0.06199497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.89168239e-05,-2.74995862e-03,-1.33899309e-03,-1.40952986e-04,
  9.26705701e-07,-2.25577212e-05,-2.54226443e-05,-2.49142443e-05,
 -5.43764460e-05,-5.76894143e-05,-5.34215851e-05,-3.63785200e-04,
  4.65050481e-03,-9.29385597e-04,-4.90425721e+00, 2.68977434e-03,
  1.19289341e-02,-4.81921704e-04]


--- Step 1551 ---
qpos:
[ 0.01857012, 0.03003559,-0.00944164,-0.02527091,-0.00185387, 0.74992256,
 -0.04593675, 0.67521675, 0.01154007, 0.0275634 ,-0.00824933, 0.02647073,
  1.35206458, 0.00762162, 1.22637769, 0.04476363, 0.01537435,-0.07437031,
  0.17517953, 0.97396007,-0.00629764,-0.19433971,-0.11659415]

qacc:
[-1.08343640e+00, 2.69494070e-01,-3.07731910e+00, 1.24839922e+01,
  4.42171107e-01, 1.14819284e+01,-7.73208383e+01, 1.32619443e+02,
  5.33232615e-02, 8.12454049e-01,-4.62913702e+00, 1.15735558e+01,
 -1.78065172e-01,-1.01446275e-02, 1.07308713e+01,-3.81923389e+01,
 -4.52287195e-01, 5.26144922e-01,-3.58524105e-01,-3.58015002e-01,
 -6.85795552e+00, 5.46916053e+00]

qfrc_actuator:
[ 1.68422056e-04, 9.47777110e-04, 1.23516008e-04,-2.81958037e-05,
 -1.29673764e-03, 2.04168591e-01, 2.73790351e-02, 1.62033469e-01,
 -4.59621619e-05, 6.82007286e-04, 1.59038995e-04, 3.63024825e-05,
  3.40829489e-03,-1.62686416e-03, 0.00000000e+00,-2.42130272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029089099172475985
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90831455e-13,  3.81662910e-13,  1.00000000e+00,  7.28332885e-26,
        1.00000000e+00, -3.81662910e-13, -1.00000000e+00,  0.00000000e+00,
       -1.90831455e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0260939 , -0.08288142,  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:
[-6.55355819e-06, 4.24932779e-05, 3.61000647e-05, 3.33622325e-05,
  6.80946711e-05,-2.45982195e-03,-1.15383816e-03, 3.53786946e-05,
  3.18439632e-07,-5.85671276e-07, 2.33286123e-07, 2.03558662e-05,
 -3.32502670e-05,-3.01593553e-05,-6.75996991e-05,-2.04505745e-04,
  4.68168986e-03,-9.51650742e-04,-4.90424222e+00, 2.67926451e-03,
  1.19260660e-02,-4.88227883e-04]


--- Step 1552 ---
qpos:
[ 0.018572  , 0.03003605,-0.00944171,-0.02527062,-0.00187952, 0.75351827,
 -0.04554788, 0.67841734, 0.01154026, 0.02756029,-0.00824998, 0.02647112,
  1.35220488, 0.0076201 , 1.22652484, 0.04474682, 0.01499342,-0.07430508,
  0.17513865, 0.97351014,-0.00648072,-0.19604962,-0.11747575]

qacc:
[ -0.85874182, -0.55587979,  2.46230585, -2.9080888 ,  0.40968178,
  -8.17729338,-16.21452766, 62.06093776, -2.94695875,  1.73836011,
  -9.4893235 , 24.749977  ,  0.191337  , -0.35322756, -3.95320792,
  12.17262128, -0.48662159,  0.53121299, -0.37394622, -0.35650072,
  -6.73522731,  5.40939592]

qfrc_actuator:
[ 1.63426627e-04, 9.63416389e-04, 1.40718751e-04,-2.77129661e-05,
 -1.26336480e-03, 2.02895127e-01, 2.70023599e-02, 1.62123715e-01,
 -6.37486049e-05, 7.29812147e-04, 1.82430719e-04, 8.53795791e-05,
  3.42016918e-03,-1.62734971e-03, 0.00000000e+00,-2.35831879e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029046519109895974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.55556000e-14, -1.91111200e-13,  1.00000000e+00, -1.82617454e-26,
        1.00000000e+00,  1.91111200e-13, -1.00000000e+00,  0.00000000e+00,
       -9.55556000e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0260894 , -0.08288384,  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:
[-5.17459743e-06, 4.82748548e-05, 3.15799942e-05, 4.20068456e-06,
  6.24637463e-05,-2.97060367e-03,-1.03954886e-03,-3.90386494e-05,
 -1.77898770e-05, 4.85335175e-05, 2.40549588e-05, 4.94669089e-05,
 -1.42223093e-05,-1.59438761e-05,-5.46907336e-05, 4.27743870e-05,
  4.71198297e-03,-9.73891354e-04,-4.90422682e+00, 2.66811879e-03,
  1.19229619e-02,-4.94517082e-04]


--- Step 1553 ---
qpos:
[ 0.01857346, 0.03003656,-0.00944115,-0.02527033,-0.00190472, 0.7570889 ,
 -0.04516539, 0.68161821, 0.01154024, 0.02755785,-0.00825078, 0.02647173,
  1.35234502, 0.00761878, 1.22667109, 0.04473549, 0.01461041,-0.07423772,
  0.17509621, 0.973055  ,-0.00666813,-0.19777162,-0.11834647]

qacc:
[ -3.57748209, -1.65973295,  5.94366678, -6.70776109,  0.25815348,
 -15.10575912,  7.34704085, 17.99581859, -1.85176552,  1.74589605,
  -5.8502775 ,  9.29847873,  0.20283791, -0.16627143,-17.939737  ,
  60.75114423, -0.51867843,  0.53605854, -0.38912392, -0.34837241,
  -6.68767292,  5.368403  ]

qfrc_actuator:
[ 1.41983939e-04, 9.54686583e-04, 1.68611609e-04,-2.75475103e-05,
 -1.25126142e-03, 2.01504925e-01, 2.66246190e-02, 1.62121311e-01,
 -7.42901821e-05, 7.77319695e-04, 1.78859801e-04, 9.63675735e-05,
  3.42224545e-03,-1.60917820e-03, 0.00000000e+00,-2.06582946e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002898056753192352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.91546115e-13, -1.91546115e-13,  1.00000000e+00, -3.66899142e-26,
        1.00000000e+00,  1.91546115e-13, -1.00000000e+00,  0.00000000e+00,
       -1.91546115e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02608565, -0.08288642,  0.06199499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.87890020e-05,-3.35009291e-03,-1.13157057e-03,-1.47963126e-04,
 -1.10595127e-05, 8.18502395e-05, 1.11727934e-05, 1.48711588e-05,
 -9.94224472e-06, 1.08002374e-05,-2.04592303e-05, 2.87886028e-04,
  4.74203448e-03,-9.96218466e-04,-4.90421094e+00, 2.65650465e-03,
  1.19196553e-02,-5.00785428e-04]


--- Step 1554 ---
qpos:
[ 0.01857466, 0.03003685,-0.00943985,-0.02526931,-0.00192973, 0.76063174,
 -0.04478969, 0.68482446, 0.01154043, 0.02755585,-0.00825154, 0.02647248,
  1.35248464, 0.00761872, 1.22681691, 0.04472971, 0.01422521,-0.07416819,
  0.17505216, 0.9725946 ,-0.00685987,-0.19950572,-0.11920638]

qacc:
[-2.27510881e+00,-9.15104744e-01,-1.68824389e-01, 1.15001498e+01,
  1.11630144e-01,-8.56236211e+00,-3.39399524e+01, 1.27084141e+02,
  1.85542184e+00, 7.57927142e-01,-2.43912271e+00, 4.48001464e+00,
 -8.11263059e-01, 1.61113813e+00,-1.73023999e+01, 5.98402625e+01,
 -5.48956054e-01, 5.40756480e-01,-4.04070181e-01,-3.34964716e-01,
 -6.69988011e+00, 5.34232779e+00]

qfrc_actuator:
[ 1.28784210e-04, 9.31466185e-04, 2.02500203e-04, 7.92787831e-06,
 -1.25193751e-03, 2.00020955e-01, 2.62488137e-02, 1.62383837e-01,
 -6.27243395e-05, 7.88652565e-04, 1.77128698e-04, 1.02588092e-04,
  3.41312879e-03,-1.52686240e-03, 0.00000000e+00,-1.78257591e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028894471159818247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.88175293e-13,  3.84233724e-13,  1.00000000e+00,  1.10726666e-25,
        1.00000000e+00, -3.84233724e-13, -1.00000000e+00,  0.00000000e+00,
       -2.88175293e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02608249, -0.08288911,  0.06199501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.57233925e-05,-3.67633168e-03,-1.21964736e-03, 9.82561467e-05,
  1.12607235e-05, 6.01419113e-05, 1.71039911e-05, 1.04104758e-05,
 -1.13243005e-05, 8.29339492e-05, 2.18469398e-05, 2.96531569e-04,
  4.77237542e-03,-1.01872881e-03,-4.90419450e+00, 2.64454613e-03,
  1.19161712e-02,-5.07030078e-04]


--- Step 1555 ---
qpos:
[ 0.01857603, 0.03003706,-0.00943839,-0.02526785,-0.00195476, 0.76414237,
 -0.04442008, 0.68803658, 0.01154077, 0.02755411,-0.00825192, 0.02647331,
  1.35262395, 0.00761964, 1.22696278, 0.04472737, 0.0138377 ,-0.07409648,
  0.17500644, 0.97212886,-0.00705593,-0.20125202,-0.12005547]

qacc:
[ 1.52353719e+00, 3.96665062e-01,-3.44381753e+00, 1.09285574e+01,
  3.28587479e-03,-1.54206002e+01,-1.97277860e+01, 1.23247211e+02,
  1.17596662e+00,-5.44236598e-01, 2.13307802e+00,-1.67707064e+00,
 -6.41254736e-01, 1.30006878e+00,-1.02949775e+01, 3.62678191e+01,
 -5.77848306e-01, 5.45365622e-01,-4.18814410e-01,-3.17339916e-01,
 -6.75968262e+00, 5.32813572e+00]

qfrc_actuator:
[ 1.38299748e-04, 9.17550538e-04, 2.04105798e-04, 2.83777302e-05,
 -1.26020098e-03, 1.98191683e-01, 2.58593760e-02, 1.62658084e-01,
 -5.59940481e-05, 7.95980372e-04, 1.94118320e-04, 1.05935586e-04,
  3.40266107e-03,-1.47819949e-03, 0.00000000e+00,-1.61363788e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002879104180930764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92807025e-13,  1.92807025e-13,  1.00000000e+00,  3.71745490e-26,
        1.00000000e+00, -1.92807025e-13, -1.00000000e+00,  0.00000000e+00,
       -1.92807025e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0260798 , -0.08289189,  0.06199502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.10670824e-06,-3.45944601e-06, 8.25122875e-06, 2.26963036e-05,
 -1.96705945e-06,-4.21031824e-03,-1.30064479e-03, 1.01025224e-04,
  7.07321516e-06, 4.50227501e-05, 3.19099703e-05, 6.72326939e-06,
  4.36942413e-06, 6.90784426e-05, 3.94664156e-05, 1.87496759e-04,
  4.80344090e-03,-1.04150716e-03,-4.90417743e+00, 2.63233373e-03,
  1.19125275e-02,-5.13248979e-04]


--- Step 1556 ---
qpos:
[ 0.01857785, 0.03003692,-0.0094367 ,-0.02526752,-0.00197993, 0.76761717,
 -0.04405578, 0.69123869, 0.01154083, 0.02755239,-0.00825219, 0.02647352,
  1.35276332, 0.00762068, 1.22710904, 0.04472511, 0.01344777,-0.07402257,
  0.17495898, 0.97165771,-0.00725634,-0.20301069,-0.12089375]

qacc:
[ 3.85737301e+00,-3.44079735e+00, 1.63324801e+01,-3.58396444e+01,
 -6.89117871e-02,-5.02956624e+01, 1.36666262e+02,-2.32182211e+02,
 -2.26850511e+00,-1.55381149e+00, 8.14320670e+00,-1.88646503e+01,
 -5.57032679e-02, 1.65232164e-01, 3.54572069e-01,-3.93447435e-01,
 -6.05666367e-01, 5.49931984e-01,-4.33397424e-01,-2.96343494e-01,
 -6.85747758e+00, 5.32343698e+00]

qfrc_actuator:
[ 1.61106559e-04, 8.73664549e-04, 2.04402563e-04,-3.12109662e-05,
 -1.27289540e-03, 1.96153015e-01, 2.54815179e-02, 1.62120101e-01,
 -6.99238248e-05, 7.65410929e-04, 1.86492743e-04, 7.20672885e-05,
  3.39670773e-03,-1.48546171e-03, 0.00000000e+00,-1.61992415e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002867270926124321
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68013708e-14,  3.87205483e-13,  1.00000000e+00,  3.74820216e-26,
        1.00000000e+00, -3.87205483e-13, -1.00000000e+00,  0.00000000e+00,
       -9.68013708e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02607746, -0.08289474,  0.06199504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.42463199e-05,-4.73150837e-03,-1.40508632e-03,-7.32651924e-04,
 -1.37140822e-05, 1.55625688e-06, 5.86056348e-06,-3.07012588e-05,
  1.36079807e-05, 1.29341531e-05, 3.42920515e-05, 8.17098732e-06,
  4.83558922e-03,-1.06462834e-03,-4.90415968e+00, 2.61993202e-03,
  1.19087370e-02,-5.19440686e-04]


--- Step 1557 ---
qpos:
[ 0.01858028, 0.03003666,-0.00943479,-0.02526827,-0.00200514, 0.77105593,
 -0.04369829, 0.69442022, 0.01154039, 0.02755034,-0.00825261, 0.02647305,
  1.35290235, 0.00762212, 1.22725565, 0.04472116, 0.0130553 ,-0.07394644,
  0.17490972, 0.97118105,-0.00746109,-0.20478197,-0.1217212 ]

qacc:
[ 5.18942960e+00,-3.03030664e+00, 1.51164162e+01,-3.41317047e+01,
 -8.42274721e-03,-6.51787417e+01, 2.16203578e+02,-4.46191686e+02,
 -4.36601555e+00,-1.43689123e+00, 7.39452100e+00,-1.88205088e+01,
 -6.77143807e-01, 9.71530662e-01, 5.69072555e+00,-1.89776125e+01,
 -6.32656001e-01, 5.54491434e-01,-4.47867621e-01,-2.72648418e-01,
 -6.98568650e+00, 5.32634903e+00]

qfrc_actuator:
[ 1.91546105e-04, 8.83092300e-04, 2.21509606e-04,-8.41781814e-05,
 -1.27035685e-03, 1.94324747e-01, 2.51122659e-02, 1.61072803e-01,
 -9.59011460e-05, 7.12242782e-04, 1.64201832e-04, 3.42723339e-05,
  3.36148625e-03,-1.47255954e-03, 0.00000000e+00,-1.71159837e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002854155464650926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72461940e-14,  1.94492388e-13,  1.00000000e+00,  1.89136445e-26,
        1.00000000e+00, -1.94492388e-13, -1.00000000e+00,  0.00000000e+00,
       -9.72461940e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02607541, -0.08289764,  0.06199506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.51438553e-06,-4.86148769e-03,-1.53942756e-03,-1.28165645e-03,
 -2.63833471e-05,-5.23425704e-05,-2.22864779e-05,-3.81184367e-05,
 -2.48196025e-05, 1.96307605e-05, 1.18979574e-05,-8.79131398e-05,
  4.86911750e-03,-1.08815906e-03,-4.90414117e+00, 2.60738540e-03,
  1.19048077e-02,-5.25604217e-04]


--- Step 1558 ---
qpos:
[ 0.0185827 , 0.03003657,-0.00943316,-0.02526896,-0.00203004, 0.77446126,
 -0.04334958, 0.69758081, 0.01153929, 0.02754809,-0.00825305, 0.02647175,
  1.35304093, 0.00762408, 1.22740164, 0.04472153, 0.0126602 ,-0.07386807,
  0.17485862, 0.97069877,-0.00767021,-0.20656613,-0.12253778]

qacc:
[ 1.02548429e-03, 1.13605011e+00,-3.97689650e+00, 5.31545619e+00,
  1.79678347e-01,-5.70510348e+01, 1.94134883e+02,-4.31202915e+02,
 -5.56930367e+00,-1.87262280e+00, 9.79480447e+00,-2.38505755e+01,
 -3.51571787e-01, 6.11462459e-01,-1.39226526e+01, 4.74458301e+01,
 -6.59011204e-01, 5.59071793e-01,-4.62278011e-01,-2.46790480e-01,
 -7.13832975e+00, 5.33538873e+00]

qfrc_actuator:
[ 1.90725015e-04, 9.06682118e-04, 2.13124159e-04,-7.95009131e-05,
 -1.24097617e-03, 1.92885806e-01, 2.47518076e-02, 1.60036286e-01,
 -1.28754872e-04, 7.16872010e-04, 1.68835761e-04,-5.55583132e-06,
  3.33536607e-03,-1.44788056e-03, 0.00000000e+00,-1.47997190e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028399343370905106
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.95466319e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.95466319e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02607356, -0.08290059,  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:
[ 8.02709311e-08, 1.29956715e-05,-1.30721605e-05, 3.07550298e-06,
  2.66170199e-05,-4.59022703e-03,-1.58931435e-03,-1.29118801e-03,
 -3.36497535e-05,-3.08084157e-05,-1.02115527e-05,-4.35766500e-05,
 -3.44883155e-05, 2.45224573e-05,-9.06137453e-06, 2.27196053e-04,
  4.90427422e-03,-1.11215941e-03,-4.90412185e+00, 2.59472260e-03,
  1.19007444e-02,-5.31738947e-04]


--- Step 1559 ---
qpos:
[ 0.01858476, 0.03003665,-0.00943223,-0.02526957,-0.00205451, 0.77784017,
 -0.04301276, 0.70074279, 0.01153815, 0.02754548,-0.00825368, 0.02647037,
  1.35317943, 0.0076258 , 1.22754727, 0.04472663, 0.01226236,-0.07378745,
  0.17480561, 0.97021075,-0.00788373,-0.2083635 ,-0.12334344]

qacc:
[-3.22501821e+00, 2.38858492e+00,-8.55347855e+00, 1.10891414e+01,
  2.42525681e-01,-9.12471422e-02,-4.82887249e+01, 8.67974006e+01,
 -3.49982765e-01,-1.11985089e-01, 8.09914132e-02,-1.03016350e+00,
  4.82750770e-01,-7.61924833e-01,-1.49435323e+01, 5.13600794e+01,
 -6.84884992e-01, 5.63694513e-01,-4.76683978e-01,-2.19196466e-01,
 -7.31069062e+00, 5.34938734e+00]

qfrc_actuator:
[ 1.71508426e-04, 9.03021193e-04, 1.72107165e-04,-7.64523378e-05,
 -1.21357072e-03, 1.92224848e-01, 2.44190746e-02, 1.60168746e-01,
 -1.29883207e-04, 6.85159056e-04, 1.54052062e-04,-1.06898931e-05,
  3.33070772e-03,-1.46967412e-03, 0.00000000e+00,-1.23721092e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002824755689001257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.94774968e-13, -1.96516645e-13,  1.00000000e+00, -5.79281879e-26,
        1.00000000e+00,  1.96516645e-13, -1.00000000e+00,  0.00000000e+00,
       -2.94774968e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02607188, -0.08290356,  0.06199511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92105609e-05, 1.01617590e-06,-3.98554185e-05, 3.21024552e-06,
  3.85583824e-05,-3.67013518e-03,-1.51243227e-03,-1.13733309e-04,
 -2.13086405e-06,-5.28437744e-05,-2.38786225e-05,-7.64566117e-06,
 -1.62077333e-05,-2.31455998e-05, 1.88786155e-05, 2.53766745e-04,
  4.94126949e-03,-1.13668411e-03,-4.90410165e+00, 2.58196009e-03,
  1.18965492e-02,-5.37844521e-04]


--- Step 1560 ---
qpos:
[ 0.01858656, 0.03003685,-0.00943208,-0.02527046,-0.0020787 , 0.78120032,
 -0.04268833, 0.70391611, 0.01153838, 0.02754232,-0.00825444, 0.02646965,
  1.35331799, 0.00762676, 1.22769297, 0.04473428, 0.01186168,-0.07370456,
  0.17475064, 0.96971687,-0.00810168,-0.21017441,-0.12413813]

qacc:
[-2.13907580e+00, 1.71399920e+00,-4.63707393e+00, 7.08452694e-01,
  1.51944203e-01, 2.89881961e+01,-1.60749598e+02, 3.17532900e+02,
  1.17230208e+01, 9.60421821e-01,-7.31022478e+00, 1.93891029e+01,
  7.30993761e-01,-1.34034435e+00,-7.65365656e+00, 2.67427397e+01,
 -7.10397934e-01, 5.68376007e-01,-4.91141610e-01,-1.90206594e-01,
 -7.49904999e+00, 5.36742389e+00]

qfrc_actuator:
[ 1.59381099e-04, 9.00691041e-04, 1.29798213e-04,-9.21883190e-05,
 -1.20535349e-03, 1.92001544e-01, 2.40740753e-02, 1.60793370e-01,
 -5.90692490e-05, 6.49638972e-04, 1.45552565e-04, 2.23405857e-05,
  3.32293039e-03,-1.51879524e-03, 0.00000000e+00,-1.11419505e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028087422865748224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.97637040e-13,  7.90548161e-13,  1.00000000e+00,  1.56241599e-25,
        1.00000000e+00, -7.90548161e-13, -1.00000000e+00,  0.00000000e+00,
       -1.97637040e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02607033, -0.08290655,  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:
[-1.26863854e-05,-9.88140439e-06,-4.69083240e-05,-1.70093574e-05,
  2.48886017e-05,-2.66033623e-03,-1.29246096e-03, 4.39877895e-04,
  7.07251797e-05,-7.02301835e-05,-2.25808940e-05, 2.98010779e-05,
 -2.06885870e-05,-5.99422499e-05, 3.39924449e-05, 1.38889907e-04,
  4.98028312e-03,-1.16178362e-03,-4.90408053e+00, 2.56910475e-03,
  1.18922216e-02,-5.43920791e-04]


--- Step 1561 ---
qpos:
[ 0.01858787, 0.03003696,-0.00943267,-0.02527151,-0.00210241, 0.78454847,
 -0.04237452, 0.70708618, 0.01153912, 0.02753906,-0.00825524, 0.02646961,
  1.35345633, 0.00762743, 1.22783885, 0.04474304, 0.01145715,-0.07362179,
  0.17469483, 0.96921789,-0.00831529,-0.2119881 ,-0.1249343 ]

qacc:
[-4.34684211e+00, 1.64731145e+00,-5.37329914e+00, 3.91647872e+00,
  2.58257908e-01, 7.26450677e+00,-3.54558300e+01, 2.05096393e+00,
  4.28345230e+00, 1.38753686e+00,-8.02342280e+00, 1.99764987e+01,
  8.23093117e-02,-3.55797294e-01,-3.13379539e+00, 1.13146262e+01,
 -9.60865878e-01,-3.04734197e-02,-2.11201325e-01, 2.09373452e+00,
 -1.60984407e+00,-1.49772222e+00]

qfrc_actuator:
[ 1.33777181e-04, 8.81388006e-04, 8.70609104e-05,-1.01095961e-04,
 -1.17316373e-03, 1.91972716e-01, 2.37447462e-02, 1.60655373e-01,
 -3.52512338e-05, 6.83180635e-04, 1.58585548e-04, 5.98039829e-05,
  3.30794649e-03,-1.53045076e-03, 0.00000000e+00,-1.06272061e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.47958854,  0.16925282,  4.47638995,  0.16925282, 11.17759875,
       -0.25325254,  4.47638995, -0.25325254,  4.48916405,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028066633221326964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.97783435e-13,  1.97783435e-13,  1.00000000e+00,  3.91182871e-26,
        1.00000000e+00, -1.97783435e-13, -1.00000000e+00,  0.00000000e+00,
       -1.97783435e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02632798, -0.07386072,  0.06199514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.29390478e-05,-1.83850959e-03,-1.02983206e-03,-2.67165284e-04,
  2.58550156e-05,-8.96849753e-06,-3.17937206e-06, 3.42598743e-05,
 -3.89911352e-05,-3.39323157e-05, 2.69785674e-05, 6.26001862e-05,
  5.02147124e-03,-1.18750502e-03,-4.90405843e+00, 2.55615587e-03,
  1.18877594e-02,-5.49967763e-04]


--- Step 1562 ---
qpos:
[ 0.01858851, 0.03003663,-0.00943338,-0.02527266,-0.00212541, 0.78788816,
 -0.04206955, 0.71024907, 0.01153945, 0.0275362 ,-0.00825617, 0.0264703 ,
  1.35359432, 0.00762795, 1.22798497, 0.04475139, 0.01104884,-0.07353913,
  0.17463794, 0.96871314,-0.00852441,-0.21380722,-0.12573248]

qacc:
[-5.67354793e+00,-4.36162428e-01, 1.14973489e+00,-2.34347786e+00,
  3.90277033e-01, 1.44441413e-01, 5.32677663e+00,-9.07911573e+01,
 -3.50195431e+00, 2.38925418e+00,-1.08355610e+01, 2.34305811e+01,
 -2.14966865e-01, 6.44128638e-02, 1.63862773e+00,-5.19425403e+00,
 -9.45839759e-01,-2.77394546e-02,-2.67240323e-01, 2.28565757e+00,
 -2.95255736e+00,-1.83071826e+00]

qfrc_actuator:
[ 1.00443688e-04, 8.52063784e-04, 7.98533503e-05,-1.05926481e-04,
 -1.12689653e-03, 1.91937054e-01, 2.34457543e-02, 1.60318400e-01,
 -5.70613236e-05, 7.40171057e-04, 1.66751929e-04, 9.96415405e-05,
  3.28866293e-03,-1.53753477e-03, 0.00000000e+00,-1.08927155e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48409942, -0.12482142, -4.48236179, -0.12482142, 30.64692765,
       -0.72856267, -4.48236179, -0.72856267,  4.50438789,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002821613443396709
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.96735493e-13, -9.83677466e-14,  1.00000000e+00, -1.93524271e-26,
        1.00000000e+00,  9.83677466e-14, -1.00000000e+00,  0.00000000e+00,
       -1.96735493e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02633858, -0.07386397,  0.06199511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.40997270e-05,-6.00970186e-05,-2.11724169e-05,-8.32531677e-06,
  6.53316717e-05,-1.36071528e-03,-8.25690166e-04,-4.43407223e-04,
 -2.10679287e-05, 5.29253434e-05, 7.15490047e-06, 4.00181825e-05,
 -4.68695387e-05,-2.61293828e-05, 1.47412793e-05,-2.06812501e-05,
  5.03541480e-03,-1.18912037e-03,-4.90403070e+00, 2.56693036e-03,
  1.18846795e-02,-5.55683965e-04]


--- Step 1563 ---
qpos:
[ 0.01859012, 0.03003603,-0.00943429,-0.02527318,-0.00214788, 0.79121583,
 -0.04176983, 0.71340277, 0.01153916, 0.02753369,-0.00825699, 0.02647146,
  1.35373224, 0.00762781, 1.22813093, 0.04476104, 0.01063678,-0.07345657,
  0.17457979, 0.96820204,-0.00872887,-0.21563395,-0.12653307]

qacc:
[ 8.35375378e+00, 1.47259489e+00,-8.45579406e+00, 1.98583418e+01,
  2.90466699e-01,-1.77861569e+01, 6.48456031e+01,-1.70720931e+02,
 -5.19461496e+00, 1.13897429e+00,-5.34145394e+00, 1.29311015e+01,
  4.82709740e-01,-1.02600875e+00,-4.25981536e+00, 1.44179486e+01,
 -9.39037800e-01,-2.46027836e-02,-3.16876641e-01, 2.44545712e+00,
 -4.06050423e+00,-2.10088065e+00]

qfrc_actuator:
[ 1.51594833e-04, 8.52613261e-04, 7.58822158e-05,-7.28017098e-05,
 -1.10811914e-03, 1.91241697e-01, 2.31496683e-02, 1.59849514e-01,
 -8.77850838e-05, 7.57512683e-04, 1.72093802e-04, 1.22825568e-04,
  3.28279473e-03,-1.57740762e-03, 0.00000000e+00,-1.01952273e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48643225, -0.10888831, -4.48511066, -0.10888831, 38.00976634,
       -0.81387045, -4.48511066, -0.81387045,  4.50619118,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028293033366028064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81003884e-14,  9.81003884e-14,  1.00000000e+00,  9.62368620e-27,
        1.00000000e+00, -9.81003884e-14, -1.00000000e+00,  0.00000000e+00,
       -9.81003884e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02634671, -0.07386715,  0.06199509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.01396835e-05,-3.77766369e-05,-1.92634608e-05, 2.96632670e-05,
  4.81139771e-05,-1.71940207e-03,-7.08047880e-04,-5.55371722e-04,
 -3.13345414e-05, 5.02370032e-05, 1.85841196e-05, 2.64862995e-05,
 -3.60969718e-05,-5.83484558e-05,-1.19903258e-07, 6.94219399e-05,
  5.06259600e-03,-1.19276914e-03,-4.90399974e+00, 2.58293358e-03,
  1.18817170e-02,-5.61483834e-04]


--- Step 1564 ---
qpos:
[ 0.01859199, 0.03003553,-0.00943548,-0.02527266,-0.00216989, 0.79452747,
 -0.04147483, 0.71654878, 0.01153886, 0.02753118,-0.00825756, 0.02647292,
  1.35386981, 0.00762746, 1.22827735, 0.04476743, 0.01022096,-0.07337409,
  0.17452019, 0.96768408,-0.00892856,-0.21747009,-0.12733641]

qacc:
[ 2.18163831e+00, 3.08396829e+00,-1.51986886e+01, 3.36597347e+01,
  2.52271055e-01,-2.17892021e+01, 6.72814025e+01,-1.50291921e+02,
 -1.76950778e-01,-8.66743897e-02,-9.86427182e-01, 5.84803143e+00,
 -4.15812784e-01, 2.73513235e-01, 1.06110895e+01,-3.60251522e+01,
 -9.38785369e-01,-2.11440211e-02,-3.61183783e-01, 2.58032555e+00,
 -4.98387881e+00,-2.32197983e+00]

qfrc_actuator:
[ 1.63302722e-04, 8.88857813e-04, 7.39848052e-05,-1.75895033e-05,
 -1.08818106e-03, 1.90246247e-01, 2.28375233e-02, 1.59448382e-01,
 -8.79887485e-05, 7.33210499e-04, 1.75568433e-04, 1.35994678e-04,
  3.26366162e-03,-1.58312390e-03, 0.00000000e+00,-1.19535239e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.48690392, -0.08428208, -4.48611227, -0.08428208, 47.60620527,
       -0.81009662, -4.48611227, -0.81009662,  4.50212347,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002830854715863834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.96093254e-13,  1.96093254e-13,  1.00000000e+00,  3.84525642e-26,
        1.00000000e+00, -1.96093254e-13, -1.00000000e+00,  0.00000000e+00,
       -1.96093254e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02635288, -0.07387027,  0.06199509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31583074e-05, 1.24578352e-05,-1.10305584e-05, 5.35081320e-05,
  4.15108676e-05,-2.19856674e-03,-7.85267762e-04,-4.98935779e-04,
 -1.11487040e-06, 8.85068287e-06, 1.70946542e-05, 1.64865686e-05,
 -5.14190098e-05,-3.08073475e-05, 4.73883485e-06,-1.72684830e-04,
  5.10073476e-03,-1.19813123e-03,-4.90396589e+00, 2.60327465e-03,
  1.18788374e-02,-5.67402473e-04]


--- Step 1565 ---
qpos:
[ 0.01859295, 0.03003544,-0.00943682,-0.02527222,-0.00219128, 0.7978205 ,
 -0.04118534, 0.71969136, 0.01153856, 0.02752874,-0.00825808, 0.02647454,
  1.35400679, 0.00762754, 1.22842402, 0.04477   , 0.00980136,-0.07329168,
  0.17445898, 0.96715881,-0.00912337,-0.21931717,-0.12814277]

qacc:
[-7.80132038e+00, 7.87397499e-01,-1.66616401e+00, 1.67529986e-01,
  3.41259848e-01,-1.55729576e+01, 3.02691994e+01,-5.77724806e+01,
 -4.75492056e-03, 2.61174339e-01,-1.40023993e+00, 3.83013772e+00,
 -1.04321330e+00, 1.35591141e+00, 1.19859907e+01,-4.11749460e+01,
 -9.43755708e-01,-1.74288565e-02,-4.01064666e-01, 2.69593742e+00,
 -5.76227346e+00,-2.50486706e+00]

qfrc_actuator:
[ 1.16168255e-04, 9.28489757e-04, 7.34921862e-05,-2.08052033e-05,
 -1.04993315e-03, 1.89203811e-01, 2.25173222e-02, 1.59267610e-01,
 -8.79764924e-05, 7.37392818e-04, 1.77730914e-04, 1.43129025e-04,
  3.24192226e-03,-1.55078897e-03, 0.00000000e+00,-1.39020857e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028272207305035657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.94517955e-13, -9.81726517e-14,  1.00000000e+00, -2.89136086e-26,
        1.00000000e+00,  9.81726517e-14, -1.00000000e+00,  0.00000000e+00,
       -2.94517955e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02635752, -0.07387336,  0.06199509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.67457827e-05, 4.66403472e-05, 2.58918436e-06,-2.02029244e-06,
  5.68167527e-05,-2.52446221e-03,-8.96167747e-04,-2.96606869e-04,
 -2.69787256e-08, 1.34625595e-05, 6.69931483e-06, 8.42959828e-06,
 -5.60239238e-05, 1.17624109e-05,-2.19126165e-05,-2.04994472e-04,
  5.14806976e-03,-1.20495627e-03,-4.90392938e+00, 2.62726420e-03,
  1.18760141e-02,-5.73468108e-04]


--- Step 1566 ---
qpos:
[ 0.01859403, 0.0300356 ,-0.0094381 ,-0.02527215,-0.00221187, 0.8010914 ,
 -0.04090021, 0.72282693, 0.01153825, 0.0275265 ,-0.00825884, 0.02647554,
  1.35414322, 0.00762822, 1.22857044, 0.0447712 , 0.00937796,-0.07320933,
  0.17439603, 0.96662584,-0.00931321,-0.22117649,-0.12895236]

qacc:
[ 1.00148234e+00,-6.11986294e-01, 4.28651174e+00,-1.11856375e+01,
  4.45555477e-01,-2.95990734e+01, 8.10701464e+01,-1.49205744e+02,
  8.48200064e-03,-3.10893805e-01, 4.04925893e+00,-1.43506561e+01,
 -9.23515115e-01, 1.32887421e+00, 3.89394123e+00,-1.39147937e+01,
 -9.52897282e-01,-1.35107153e-02,-4.37281184e-01, 2.79677027e+00,
 -6.42691509e+00,-2.65809393e+00]

qfrc_actuator:
[ 1.23552797e-04, 9.34312012e-04, 7.38191830e-05,-4.06158489e-05,
 -1.00104666e-03, 1.87929158e-01, 2.22304657e-02, 1.58898326e-01,
 -8.78470856e-05, 7.40825392e-04, 1.61448525e-04, 1.11170452e-04,
  3.22397865e-03,-1.51392098e-03, 0.00000000e+00,-1.45260732e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002819210342131784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.96903191e-13,  1.96903191e-13,  1.00000000e+00,  3.87708666e-26,
        1.00000000e+00, -1.96903191e-13, -1.00000000e+00,  0.00000000e+00,
       -1.96903191e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02636095, -0.07387643,  0.0619951 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.04016150e-06, 3.23499370e-05, 1.02254070e-05,-1.77595644e-05,
  7.44625001e-05,-2.95171261e-03,-9.34201580e-04,-4.95512553e-04,
  1.24767198e-07, 1.27955810e-05,-1.23540885e-05,-3.09828640e-05,
 -4.50557707e-05, 2.75546760e-05,-3.69128548e-05,-7.75368655e-05,
  5.20323931e-03,-1.21304877e-03,-4.90389040e+00, 2.65436916e-03,
  1.18732259e-02,-5.79703627e-04]


--- Step 1567 ---
qpos:
[ 0.01859519, 0.03003533,-0.00943848,-0.0252723 ,-0.00223168, 0.80433546,
 -0.04061911, 0.72595728, 0.0115383 , 0.02752415,-0.00825939, 0.02647581,
  1.35427921, 0.00762934, 1.22871711, 0.04476791, 0.00895069,-0.07312701,
  0.1743312 , 0.96608479,-0.009498  ,-0.22304915,-0.12976537]

qacc:
[ 7.22722817e-01,-3.51250480e+00, 1.25411557e+01,-1.71977404e+01,
  4.24275400e-01,-3.34903518e+01, 8.11969561e+01,-1.22461300e+02,
  2.98181619e+00,-2.27133174e+00, 1.09700535e+01,-2.38758929e+01,
 -9.98278258e-01, 1.35691994e+00, 1.40658411e+01,-4.84376368e+01,
 -9.65376288e-01,-9.43298288e-03,-4.70478290e-01, 2.88635795e+00,
 -7.00243019e+00,-2.78840025e+00]

qfrc_actuator:
[ 1.27481632e-04, 8.84326588e-04, 1.09997692e-04,-5.22966162e-05,
 -9.63967487e-04, 1.86330848e-01, 2.19291531e-02, 1.58616155e-01,
 -6.98974169e-05, 7.25915361e-04, 1.69886168e-04, 7.42082553e-05,
  3.20300502e-03,-1.49243079e-03, 0.00000000e+00,-1.68498251e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002807508847416651
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.88619346e-14,  9.88619346e-14,  1.00000000e+00, -9.77368212e-27,
        1.00000000e+00, -9.88619346e-14, -1.00000000e+00,  0.00000000e+00,
        9.88619346e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02636341, -0.07387949,  0.06199512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.11722488e-06,-3.05366414e-05, 4.35163299e-05,-1.02858909e-05,
  7.07721305e-05,-3.52668023e-03,-1.04446800e-03,-4.28781058e-04,
  1.79518812e-05,-1.15473164e-05, 8.51968718e-06,-3.74398836e-05,
 -3.85883359e-05, 1.91841714e-05,-2.81221132e-05,-2.41989983e-04,
  5.26519145e-03,-1.22225652e-03,-4.90384909e+00, 2.68417839e-03,
  1.18704562e-02,-5.86127770e-04]


--- Step 1568 ---
qpos:
[ 0.01859639, 0.03003495,-0.0094385 ,-0.02527259,-0.0022512 , 0.80755126,
 -0.04034342, 0.72909221, 0.01153856, 0.0275213 ,-0.00825881, 0.02647597,
  1.35441496, 0.00763026, 1.22886359, 0.04476216, 0.0085195 ,-0.07304472,
  0.17426436, 0.96553531,-0.00967767,-0.22493613,-0.13058192]

qacc:
[ 3.38747506e-01,-1.45785120e+00, 5.61675174e+00,-8.64109581e+00,
  1.63444744e-01,-1.43513113e+01,-1.20036292e+01, 9.33623484e+01,
  1.87597639e+00,-4.01358210e+00, 1.37937311e+01,-1.70909701e+01,
 -2.26354241e-01, 7.69031470e-02, 7.15800872e+00,-2.54094455e+01,
 -9.80531165e-01,-5.23085135e-03,-5.01203665e-01, 2.96749057e+00,
 -7.50823768e+00,-2.90109836e+00]

qfrc_actuator:
[ 1.29327089e-04, 8.90214786e-04, 1.31320243e-04,-5.91236127e-05,
 -9.69761738e-04, 1.84906962e-01, 2.16561007e-02, 1.58848842e-01,
 -5.93554167e-05, 7.00219038e-04, 2.28289216e-04, 7.01133483e-05,
  3.18022344e-03,-1.51575847e-03, 0.00000000e+00,-1.80263974e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002792695266074646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.98772676e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.98772676e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02636511, -0.07388255,  0.06199515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.62308982e-05,-3.69033895e-03,-1.14156173e-03, 6.40413069e-05,
  1.10573412e-05,-3.19011069e-05, 5.58042043e-05,-5.01850794e-06,
 -3.94159287e-05,-2.63262860e-05,-4.34962931e-05,-1.35554114e-04,
  5.33311540e-03,-1.23246148e-03,-4.90380552e+00, 2.71637630e-03,
  1.18676920e-02,-5.92756045e-04]


--- Step 1569 ---
qpos:
[ 0.0185976 , 0.03003465,-0.0094386 ,-0.02527295,-0.00227074, 0.81073988,
 -0.04007392, 0.73223515, 0.0115386 , 0.02751835,-0.00825794, 0.02647608,
  1.35455046, 0.00763094, 1.2290095 , 0.04475766, 0.00808431,-0.07296242,
  0.1741954 , 0.9649771 ,-0.00985215,-0.2268383 ,-0.13140214]

qacc:
[ 1.06111540e-01, 1.83857717e-01,-2.22496268e-01,-9.12222026e-01,
 -1.38296819e-03,-4.81155527e+00,-5.12819738e+01, 1.73339768e+02,
 -1.87031254e+00,-1.05856098e+00, 3.81147527e+00,-5.06750744e+00,
  9.60048545e-02,-3.45691507e-01,-4.64900582e+00, 1.49894053e+01,
 -9.97836605e-01,-9.32845768e-04,-5.29923824e-01, 3.04237225e+00,
 -7.95964827e+00,-3.00037606e+00]

qfrc_actuator:
[ 1.29932646e-04, 8.93957835e-04, 1.26147651e-04,-6.30162486e-05,
 -9.83356395e-04, 1.83706402e-01, 2.14029927e-02, 1.59258451e-01,
 -7.10164353e-05, 7.04000739e-04, 2.44680911e-04, 6.76577412e-05,
  3.16700613e-03,-1.53000325e-03, 0.00000000e+00,-1.72744143e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027752571531169945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.00021649e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.00021649e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02636621, -0.07388562,  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:
[ 6.62339845e-07, 6.12862696e-06,-3.48120212e-06,-3.44404102e-06,
 -2.04180599e-06,-3.55827533e-03,-1.14946525e-03, 2.43257440e-04,
 -1.13585649e-05,-2.64449398e-06, 1.65279733e-05,-1.98516961e-06,
 -4.09490337e-05,-3.04174623e-05,-3.70081688e-05, 6.16451190e-05,
  5.40638896e-03,-1.24357266e-03,-4.90375976e+00, 2.75072243e-03,
  1.18649229e-02,-5.99601450e-04]


--- Step 1570 ---
qpos:
[ 0.01859846, 0.03003404,-0.00943827,-0.02527403,-0.00228991, 0.81390186,
 -0.03981084, 0.735383  , 0.01153782, 0.02751558,-0.00825696, 0.0264758 ,
  1.35468584, 0.00763136, 1.22915517, 0.04475403, 0.00764506,-0.07288012,
  0.17412422, 0.96440983,-0.01002137,-0.22875644,-0.13222614]

qacc:
[-2.95563062e+00,-3.06285956e+00, 1.33895296e+01,-2.63227475e+01,
  2.02479699e-01,-9.00041040e+00,-2.78629991e+01, 1.10761224e+02,
 -7.07837728e+00,-8.64252891e-01, 5.11750088e+00,-1.23022823e+01,
  1.55394528e-01,-3.89626901e-01,-2.99565762e+00, 9.92434784e+00,
 -1.01687508e+00, 3.43792018e-03,-5.57037358e-01, 3.11274557e+00,
 -8.36873205e+00,-3.08953522e+00]

qfrc_actuator:
[ 1.12051609e-04, 8.60777141e-04, 1.40887281e-04,-1.00670454e-04,
 -9.48186407e-04, 1.82472540e-01, 2.11115437e-02, 1.59502676e-01,
 -1.13402456e-04, 7.25254535e-04, 2.53984625e-04, 4.84153834e-05,
  3.17018840e-03,-1.53867336e-03, 0.00000000e+00,-1.68127372e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002755603274743612
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00724135e-13,  1.00724135e-13,  1.00000000e+00,  1.01453514e-26,
        1.00000000e+00, -1.00724135e-13, -1.00000000e+00,  0.00000000e+00,
       -1.00724135e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02636683, -0.0738887 ,  0.06199521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.36957140e-05,-3.51203212e-03,-1.15594051e-03, 8.65904060e-05,
 -4.27288007e-05, 2.31963232e-05, 1.07489769e-05,-1.88175899e-05,
 -2.55948094e-05,-2.66973148e-05,-1.14064541e-05, 4.45875343e-05,
  5.48453799e-03,-1.25552050e-03,-4.90371183e+00, 2.78703560e-03,
  1.18621411e-02,-6.06675032e-04]


--- Step 1571 ---
qpos:
[ 0.01859945, 0.03003362,-0.00943795,-0.02527594,-0.00230822, 0.81703732,
 -0.039553  , 0.73852851, 0.01153652, 0.02751305,-0.00825534, 0.0264749 ,
  1.35482112, 0.00763138, 1.2293007 , 0.0447513 , 0.00720167,-0.07279778,
  0.1740507 , 0.9638332 ,-0.01018528,-0.23069126,-0.133054  ]

qacc:
[ 1.05434310e+00,-1.45314468e+00, 8.98987702e+00,-2.33178531e+01,
  4.61041642e-01,-2.46798036e+01, 4.42961936e+01,-5.02873100e+01,
 -4.27223385e+00,-2.73466112e+00, 1.28374525e+01,-2.47661641e+01,
  2.50990921e-01,-5.79088352e-01,-2.93152389e+00, 9.88168820e+00,
 -1.03731432e+00, 7.86271413e-03,-5.82885852e-01, 3.17998968e+00,
 -8.74500315e+00,-3.17117989e+00]

qfrc_actuator:
[ 1.18938127e-04, 8.94549611e-04, 1.49347644e-04,-1.40149773e-04,
 -8.84133556e-04, 1.81229027e-01, 2.08707855e-02, 1.59381280e-01,
 -1.38020802e-04, 7.56761185e-04, 2.94616438e-04, 1.94684910e-05,
  3.16190492e-03,-1.56163721e-03, 0.00000000e+00,-1.63488979e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002734074497146022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03034523e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.03034523e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02636706, -0.0738918 ,  0.06199524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.35818952e-06, 1.82513911e-05, 2.74795799e-06,-4.09831069e-05,
  7.91795128e-05,-3.50175079e-03,-1.10106480e-03,-2.80640104e-04,
 -2.58698981e-05, 4.59641623e-05, 4.61186589e-05,-2.79408884e-05,
 -2.79555463e-05,-3.64698207e-05,-2.75561117e-06, 4.68501076e-05,
  5.56720481e-03,-1.26825246e-03,-4.90366173e+00, 2.82518161e-03,
  1.18593405e-02,-6.13986327e-04]


--- Step 1572 ---
qpos:
[ 0.01860086, 0.03003358,-0.00943823,-0.02527794,-0.00232566, 0.82014915,
 -0.03930131, 0.74166682, 0.01153529, 0.027511  ,-0.0082539 , 0.02647368,
  1.35495626, 0.00763111, 1.22944589, 0.04475147, 0.00675403,-0.0727154 ,
  0.17397475, 0.96324692,-0.0103438 ,-0.23264344,-0.13388578]

qacc:
[ 3.57306740e+00, 1.99032428e+00,-5.97848582e+00, 5.02085605e+00,
  4.70493527e-01,-2.70497551e+01, 7.01347254e+01,-1.39196892e+02,
  4.88377271e-01, 4.77895314e-01, 5.38868969e-01,-6.04899531e+00,
  3.30786025e-01,-6.30929573e-01,-9.34433051e+00, 3.18566471e+01,
 -1.05888948e+00, 1.23263425e-02,-6.07762910e-01, 3.24519774e+00,
 -9.09596003e+00,-3.24736455e+00]

qfrc_actuator:
[ 1.40353944e-04, 9.14870616e-04, 1.18788168e-04,-1.44830524e-04,
 -8.38886275e-04, 1.80292046e-01, 2.06440982e-02, 1.59028028e-01,
 -1.34221191e-04, 7.76534013e-04, 2.82459790e-04, 2.83295378e-06,
  3.15739617e-03,-1.57519290e-03, 0.00000000e+00,-1.48223006e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027109531688204735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.04766175e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.04766175e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02636699, -0.07389492,  0.06199528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16104216e-05, 2.93546239e-05,-2.78653278e-05,-4.59832510e-06,
  8.16126833e-05,-3.19057446e-03,-1.08947004e-03,-5.18066984e-04,
  3.05029348e-06, 5.38669854e-05, 2.06397263e-06,-1.36089477e-05,
 -2.75505971e-05,-3.04643629e-05, 1.06570137e-06, 1.54265178e-04,
  5.65412373e-03,-1.28172952e-03,-4.90360944e+00, 2.86506356e-03,
  1.18565167e-02,-6.21543706e-04]


--- Step 1573 ---
qpos:
[ 0.01860182, 0.03003292,-0.00943876,-0.02527953,-0.00234253, 0.82323969,
 -0.03905638, 0.74479352, 0.0115348 , 0.027509  ,-0.00825242, 0.02647231,
  1.35509109, 0.00763092, 1.22959087, 0.04475479, 0.00630207,-0.07263294,
  0.17389627, 0.9626507 ,-0.01049687,-0.23461359,-0.13472158]

qacc:
[-3.79491451e+00, 7.17794263e-01,-5.45198080e+00, 1.33486890e+01,
  3.08824810e-01,-3.00614348e+01, 9.58363039e+01,-2.21345997e+02,
  6.35072142e+00,-3.36772624e-01, 1.91175608e+00,-4.55807195e+00,
 -6.71348253e-02, 4.04886822e-02,-9.84004029e+00, 3.39863856e+01,
 -1.08138907e+00, 1.68164630e-02,-6.31921655e-01, 3.30923790e+00,
 -9.42751185e+00,-3.31971094e+00]

qfrc_actuator:
[ 1.16884040e-04, 8.20338027e-04, 8.31768416e-05,-1.29028859e-04,
 -8.23038139e-04, 1.79440193e-01, 2.03755922e-02, 1.58452707e-01,
 -9.59785316e-05, 7.53426571e-04, 2.74695166e-04,-6.47285846e-06,
  3.14450727e-03,-1.56528334e-03, 0.00000000e+00,-1.32143638e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026864712242263833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.0994833e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -3.0994833e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02636666, -0.07389807,  0.06199532])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.35130269e-05,-2.93761382e-03,-1.07458108e-03,-7.33683246e-04,
  3.83460437e-05, 6.91580074e-06, 3.15419641e-06,-7.18712299e-06,
 -3.39158752e-05,-5.37181525e-06, 1.50732826e-05, 1.68935693e-04,
  5.74510177e-03,-1.29592344e-03,-4.90355494e+00, 2.90661429e-03,
  1.18536667e-02,-6.29354646e-04]


--- Step 1574 ---
qpos:
[ 0.01860284, 0.03003137,-0.00943927,-0.02528055,-0.00235896, 0.82630863,
 -0.03881663, 0.74790376, 0.01153547, 0.02750708,-0.00825106, 0.0264712 ,
  1.35522563, 0.00763104, 1.22973588, 0.04476002, 0.00584569,-0.07255041,
  0.17381517, 0.96204425,-0.01064444,-0.23660231,-0.13556143]

qacc:
[ 4.98424802e-01,-3.75727121e-02,-3.94108307e+00, 1.43411527e+01,
  2.36589889e-01,-4.32460175e+01, 1.52089095e+02,-3.35484554e+02,
  9.82013525e+00, 9.16463507e-01,-4.20389428e+00, 8.70544389e+00,
 -2.77146477e-01, 4.40650915e-01,-5.70026732e+00, 2.00676077e+01,
 -1.10464376e+00, 2.13230248e-02,-6.55580969e-01, 3.37280142e+00,
 -9.74431485e+00,-3.38950015e+00]

qfrc_actuator:
[ 1.20434908e-04, 7.64253440e-04, 7.99205751e-05,-1.01404179e-04,
 -8.07126112e-04, 1.78433501e-01, 2.01383309e-02, 1.57627170e-01,
 -3.77791389e-05, 7.58081832e-04, 2.69427854e-04, 6.33213371e-06,
  3.14258923e-03,-1.54156590e-03, 0.00000000e+00,-1.22818130e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000266081719561051
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.12936668e-13,  1.04312223e-13,  1.00000000e+00,  3.26431195e-26,
        1.00000000e+00, -1.04312223e-13, -1.00000000e+00,  0.00000000e+00,
       -3.12936668e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02636613, -0.07390126,  0.06199536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.05690995e-05,-2.95557130e-03,-9.97227264e-04,-9.78959480e-04,
  5.93205949e-05, 8.93615517e-06,-3.69179043e-06, 1.30731536e-05,
 -2.00053877e-05, 1.39438134e-05, 2.21723531e-05, 1.03792044e-04,
  5.84000361e-03,-1.31081463e-03,-4.90349817e+00, 2.94979044e-03,
  1.18507886e-02,-6.37425947e-04]


--- Step 1575 ---
qpos:
[ 0.01860458, 0.0300299 ,-0.00944001,-0.02528066,-0.00237503, 0.82935801,
 -0.03858245, 0.75099213, 0.01153682, 0.02750536,-0.00825041, 0.02647096,
  1.35536012, 0.00763113, 1.22988084, 0.04476735, 0.0053848 ,-0.07246776,
  0.17373136, 0.96142728,-0.01078642,-0.23861016,-0.13640541]

qacc:
[ 6.19678726e+00, 2.60781187e+00,-1.30576136e+01, 2.93150143e+01,
  2.00854276e-01,-4.90691688e+01, 1.89093505e+02,-4.40270836e+02,
  5.88785734e+00, 4.06402172e+00,-1.78672177e+01, 3.41522134e+01,
  1.30558139e-01,-1.93972490e-01,-6.45815497e+00, 2.24372080e+01,
 -1.12851757e+00, 2.58378131e-02,-6.78930715e-01, 3.43644056e+00,
 -1.00500377e+01,-3.45774520e+00]

qfrc_actuator:
[ 1.57628971e-04, 8.38265959e-04, 9.59183637e-05,-4.92529129e-05,
 -7.91267096e-04, 1.77644519e-01, 1.99209368e-02, 1.56536718e-01,
 -3.81592340e-06, 7.61591967e-04, 2.30283373e-04, 4.98155067e-05,
  3.14193533e-03,-1.54531503e-03, 0.00000000e+00,-1.12220726e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026341422876531573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.10737102e-13, -1.05368551e-13,  1.00000000e+00, -2.22050631e-26,
        1.00000000e+00,  1.05368551e-13, -1.00000000e+00,  0.00000000e+00,
       -2.10737102e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02636543, -0.07390448,  0.0619954 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.45109176e-05,-2.74006228e-03,-9.79022090e-04,-1.24714475e-03,
  3.56993945e-05, 8.38363287e-06,-3.72937198e-05, 4.39943918e-05,
 -7.14044885e-06,-4.70110265e-06, 1.75425531e-05, 1.13635124e-04,
  5.93873977e-03,-1.32639035e-03,-4.90343907e+00, 2.99456778e-03,
  1.18478814e-02,-6.45763897e-04]


--- Step 1576 ---
qpos:
[ 0.01860641, 0.03002878,-0.00944077,-0.02527984,-0.00239113, 0.83239163,
 -0.0383546 , 0.75404994, 0.01153823, 0.02750348,-0.00824985, 0.0264716 ,
  1.35549446, 0.00763101, 1.23002594, 0.04477524, 0.0049193 ,-0.072385  ,
  0.17364473, 0.96079948,-0.01092276,-0.2406377 ,-0.13725357]

qacc:
[ 7.45183506e-01, 2.42018227e+00,-1.18351149e+01, 2.75156739e+01,
 -1.43172258e-02,-5.71963497e+01, 2.45339424e+02,-6.05902363e+02,
  4.50672433e-01, 1.82263479e+00,-1.04560949e+01, 2.57326901e+01,
  5.28958589e-02,-2.38852085e-01,-1.49802284e+00, 5.50443609e+00,
 -1.15290088e+00, 3.03540797e-02,-7.02136112e-01, 3.50059846e+00,
 -1.03475710e+01,-3.52524822e+00]

qfrc_actuator:
[ 1.61061668e-04, 8.83216268e-04, 1.05945576e-04,-7.21203401e-07,
 -8.11053833e-04, 1.77152549e-01, 1.97001598e-02, 1.55015270e-01,
 -2.14910488e-06, 7.46521819e-04, 2.24723148e-04, 9.32226523e-05,
  3.12072731e-03,-1.56533637e-03, 0.00000000e+00,-1.09832323e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026065656441048857
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.12966634e-13,  2.12966634e-13,  1.00000000e+00,  4.53547873e-26,
        1.00000000e+00, -2.12966634e-13, -1.00000000e+00,  0.00000000e+00,
       -2.12966634e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02636459, -0.07390774,  0.06199545])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.89795381e-06,-2.32822059e-03,-9.45100090e-04,-1.67563200e-03,
  2.71070476e-06,-1.61279699e-05,-6.88656506e-06, 4.33339434e-05,
 -2.55580257e-05,-2.32186107e-05, 1.71471538e-05, 3.16232033e-05,
  6.04125725e-03,-1.34264345e-03,-4.90337758e+00, 3.04093750e-03,
  1.18449450e-02,-6.54374409e-04]


--- Step 1577 ---
qpos:
[ 0.01860724, 0.03002803,-0.00944113,-0.02527883,-0.00240749, 0.83541698,
 -0.03813571, 0.75707372, 0.01153931, 0.02750105,-0.00824855, 0.02647171,
  1.35562863, 0.00763068, 1.23017151, 0.04478003, 0.00444908,-0.0723021 ,
  0.17355521, 0.96016058,-0.01105338,-0.24268547,-0.13810595]

qacc:
[-8.63154610e+00,-2.26560028e-01, 6.97335031e-01, 1.77904869e+00,
 -1.37444602e-01,-4.64051503e+01, 2.30686217e+02,-6.41184356e+02,
 -2.82731395e+00,-3.90919153e+00, 1.51000393e+01,-2.50023597e+01,
 -2.63010868e-01, 1.34653281e-01, 1.01114027e+01,-3.43000566e+01,
 -1.17770485e+00, 3.48662431e-02,-7.25341423e-01, 3.56563273e+00,
 -1.06391922e+01,-3.59264551e+00]

qfrc_actuator:
[ 1.09078617e-04, 9.10424828e-04, 1.30032926e-04, 9.76692251e-06,
 -8.34217848e-04, 1.77286610e-01, 1.94448547e-02, 1.53341428e-01,
 -1.94970850e-05, 7.02815775e-04, 2.56718796e-04, 6.52339811e-05,
  3.10850000e-03,-1.57717720e-03, 0.00000000e+00,-1.26500997e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025781789151888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02636363, -0.07391104,  0.06199549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.18320667e-05, 6.00615839e-05, 3.77385286e-05, 1.40385005e-05,
 -2.53085210e-05,-1.48093843e-03,-9.06366345e-04,-1.82176236e-03,
 -1.72809367e-05,-5.22250074e-05, 2.93306698e-05,-2.80730648e-05,
 -3.06342106e-05,-2.45425150e-05, 7.28808452e-06,-1.63690755e-04,
  6.14753218e-03,-1.35957126e-03,-4.90331361e+00, 3.08890338e-03,
  1.18419801e-02,-6.63263127e-04]


--- Step 1578 ---
qpos:
[ 0.01860743, 0.03002749,-0.0094411 ,-0.02527768,-0.00242405, 0.83843899,
 -0.03792546, 0.76006095, 0.01153913, 0.02749808,-0.00824707, 0.02647117,
  1.35576266, 0.00762996, 1.23031727, 0.04478146, 0.00397406,-0.07221904,
  0.17346269, 0.95951025,-0.01117821,-0.24475399,-0.13896261]

qacc:
[-5.39217759e+00,-4.92598867e-01, 1.61247289e+00,-2.60557668e-02,
 -1.06352305e-01,-4.51520198e+01, 2.40967957e+02,-6.85610861e+02,
 -1.06538688e+01,-2.46929377e+00, 1.05489892e+01,-2.16150184e+01,
 -1.07248034e-01,-1.59223976e-01, 1.04414960e+01,-3.60976273e+01,
 -1.20285708e+00, 3.93696453e-02,-7.48673064e-01, 3.63183395e+00,
 -1.09266961e+01,-3.66044309e+00]

qfrc_actuator:
[ 7.81633610e-05, 9.09083310e-04, 1.44385785e-04, 1.55356741e-05,
 -8.41414880e-04, 1.77564331e-01, 1.91739825e-02, 1.51538593e-01,
 -8.33924205e-05, 6.60147692e-04, 2.57190070e-04, 3.09602099e-05,
  3.09634318e-03,-1.60177712e-03, 0.00000000e+00,-1.43608554e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025490502180662566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08885951e-13,  1.08885951e-13,  1.00000000e+00,  1.18561502e-26,
        1.00000000e+00, -1.08885951e-13, -1.00000000e+00,  0.00000000e+00,
       -1.08885951e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02636256, -0.07391438,  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:
[-3.24042353e-05, 4.06482199e-05, 3.19032052e-05, 9.92152344e-06,
 -1.93668245e-05,-8.63210352e-04,-7.52340185e-04,-1.92310027e-03,
 -6.44262984e-05,-6.69470791e-05,-7.66055271e-06,-3.60401118e-05,
 -3.42267931e-05,-3.85207769e-05,-1.95188090e-05,-1.80340446e-04,
  6.25756399e-03,-1.37717471e-03,-4.90324707e+00, 3.13847946e-03,
  1.18389882e-02,-6.72435505e-04]


--- Step 1579 ---
qpos:
[ 0.0186076 , 0.03002704,-0.00944106,-0.02527677,-0.00244031, 0.84145734,
 -0.03772039, 0.7630097 , 0.01153819, 0.02749506,-0.0082464 , 0.02647128,
  1.35589632, 0.00762923, 1.23046259, 0.04478349, 0.00349412,-0.0721358 ,
  0.17336708, 0.9588482 ,-0.01129717,-0.2468438 ,-0.1398236 ]

qacc:
[-2.39591103e-01,-4.27799053e-01, 2.73452710e+00,-7.04160998e+00,
  1.58411234e-01,-5.83081036e+01, 2.88849879e+02,-7.53767372e+02,
 -6.55320726e+00, 3.50471707e+00,-1.52988993e+01, 2.76727772e+01,
 -2.11044907e-01, 1.42800779e-01,-2.43189178e+00, 7.60918991e+00,
 -1.22829811e+00, 4.38603552e-02,-7.72242240e-01, 3.69944034e+00,
 -1.12114971e+01,-3.72904461e+00]

qfrc_actuator:
[ 7.76667764e-05, 8.90610617e-04, 1.35003011e-04, 7.01141517e-07,
 -8.03482788e-04, 1.77518304e-01, 1.89680492e-02, 1.49621228e-01,
 -1.20909013e-04, 6.71553049e-04, 2.21276678e-04, 6.42544027e-05,
  3.07890554e-03,-1.59825575e-03, 0.00000000e+00,-1.39526963e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025192275691994503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10174944e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.10174944e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0263614 , -0.07391777,  0.06199559])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.86389371e-05,-8.15909301e-04,-5.48836347e-04,-2.01348975e-03,
 -3.94340346e-05,-2.90906453e-05,-5.19118866e-05, 2.94659301e-05,
 -4.51298531e-05,-1.49946958e-05,-3.23023276e-05, 2.75087171e-05,
  6.37137080e-03,-1.39545774e-03,-4.90317787e+00, 3.18968831e-03,
  1.18359713e-02,-6.81896878e-04]


--- Step 1580 ---
qpos:
[ 0.01860776, 0.03002698,-0.00944149,-0.02527639,-0.00245594, 0.84446863,
 -0.03751837, 0.76592449, 0.0115375 , 0.02749238,-0.00824671, 0.02647173,
  1.35602956, 0.00762877, 1.23060789, 0.0447846 , 0.00300916,-0.07205237,
  0.17326829, 0.95817411,-0.01141018,-0.2489554 ,-0.14068897]

qacc:
[-8.75953557e-02, 7.51975182e-01, 2.94796270e-01,-9.00402413e+00,
  3.32500942e-01,-6.06218239e+01, 2.78688822e+02,-6.83777972e+02,
  2.05993011e+00, 3.90373000e+00,-1.47481046e+01, 2.21848533e+01,
 -5.95555336e-01, 7.63426955e-01, 2.80390775e+00,-9.73629850e+00,
 -1.25397862e+00, 4.83350092e-02,-7.96147186e-01, 3.76864922e+00,
 -1.14947107e+01,-3.79877345e+00]

qfrc_actuator:
[ 7.73188858e-05, 9.15152165e-04, 1.11590396e-04,-2.61694824e-05,
 -7.56646513e-04, 1.77066663e-01, 1.87833244e-02, 1.47917983e-01,
 -1.07077914e-04, 7.15153121e-04, 1.82195994e-04, 8.38063162e-05,
  3.06365041e-03,-1.57809469e-03, 0.00000000e+00,-1.44295988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024887418563748764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11524526e-13,  2.23049052e-13,  1.00000000e+00,  2.48754399e-26,
        1.00000000e+00, -2.23049052e-13, -1.00000000e+00,  0.00000000e+00,
       -1.11524526e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02636015, -0.07392121,  0.06199564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.03856026e-05,-1.15711025e-03,-4.96842563e-04,-1.79327609e-03,
  1.26573653e-05, 1.79568524e-05,-5.04362040e-05, 1.70890210e-05,
 -4.25428389e-05, 5.57046373e-06,-1.36704670e-05,-5.07277045e-05,
  6.48898579e-03,-1.41442667e-03,-4.90310590e+00, 3.24255958e-03,
  1.18329319e-02,-6.91652515e-04]


--- Step 1581 ---
qpos:
[ 0.0186086 , 0.03002681,-0.00944176,-0.02527598,-0.0024711 , 0.84746674,
 -0.03731843, 0.76881748, 0.01153663, 0.02748995,-0.0082478 , 0.02647242,
  1.35616257, 0.00762826, 1.23075292, 0.04478644, 0.00251909,-0.07196873,
  0.17316621, 0.95748767,-0.01151715,-0.25108931,-0.14155877]

qacc:
[ 5.87807931e+00,-5.24698857e-01, 1.46909539e+00,-9.32280002e-01,
  2.49985194e-01,-4.98636893e+01, 2.00715078e+02,-4.52010687e+02,
 -1.51193804e+00, 3.02069646e+00,-1.12567518e+01, 1.63228927e+01,
 -6.57543393e-02,-2.42273204e-02,-2.61619501e+00, 8.59701476e+00,
 -1.27985727e+00, 5.27906817e-02,-8.20475079e-01, 3.83962617e+00,
 -1.17772167e+01,-3.86989002e+00]

qfrc_actuator:
[ 1.12556511e-04, 8.94165903e-04, 1.15756303e-04,-2.43707086e-05,
 -7.40423569e-04, 1.76110229e-01, 1.85757522e-02, 1.46815658e-01,
 -1.16400903e-04, 7.24420004e-04, 1.41699055e-04, 9.51414148e-05,
  3.05505018e-03,-1.58373538e-03, 0.00000000e+00,-1.40045270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000245760940892098
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12937294e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.12937294e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02635883, -0.0739247 ,  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:
[ 3.52397653e-05,-9.11623190e-06, 7.06639996e-06, 1.88210311e-06,
  4.49151860e-05,-1.83251401e-03,-5.74386771e-04,-1.19754217e-03,
 -8.95320440e-06, 9.72411799e-06,-4.23760078e-05, 1.06970341e-05,
 -2.96417497e-05,-1.37966759e-05,-1.53067397e-05, 3.71684608e-05,
  6.61045428e-03,-1.43408989e-03,-4.90303105e+00, 3.29712894e-03,
  1.18298732e-02,-7.01707656e-04]


--- Step 1582 ---
qpos:
[ 0.01860917, 0.03002643,-0.00944162,-0.02527589,-0.00248606, 0.85044898,
 -0.03712162, 0.77168994, 0.01153531, 0.02748768,-0.00824936, 0.02647289,
  1.35629519, 0.0076282 , 1.23089756, 0.0447911 , 0.00202379,-0.07188486,
  0.17306076, 0.95678853,-0.01161799,-0.25324604,-0.14243305]

qacc:
[-2.32965673e+00,-2.11760473e+00, 8.56220562e+00,-1.48308522e+01,
  1.10359471e-01,-4.83722752e+01, 1.87760602e+02,-4.21297809e+02,
 -3.85356550e+00, 1.04671526e+00,-2.48317393e+00,-7.78976951e-01,
 -3.71306822e-01, 6.11723855e-01,-9.04742155e+00, 3.08827643e+01,
 -1.30589894e+00, 5.72247803e-02,-8.45303663e-01, 3.91251211e+00,
 -1.20597099e+01,-3.94260546e+00]

qfrc_actuator:
[ 9.74459639e-05, 8.81709668e-04, 1.36021260e-04,-4.12344704e-05,
 -7.42660655e-04, 1.75161651e-01, 1.83547366e-02, 1.45773509e-01,
 -1.39295089e-04, 7.30799079e-04, 1.18313421e-04, 8.37758233e-05,
  3.04511358e-03,-1.55137450e-03, 0.00000000e+00,-1.25186061e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024258342169174163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28833244e-13, -1.14416622e-13,  1.00000000e+00, -2.61823267e-26,
        1.00000000e+00,  1.14416622e-13, -1.00000000e+00,  0.00000000e+00,
       -2.28833244e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02635744, -0.07392823,  0.06199574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.90257426e-05,-2.19337817e-03,-7.12479390e-04,-1.14974013e-03,
 -2.31605616e-05, 3.61507480e-06,-2.61872070e-05,-1.22004179e-05,
 -2.87085350e-05, 2.16232475e-05,-5.38390431e-06, 1.48129094e-04,
  6.73583142e-03,-1.45445743e-03,-4.90295320e+00, 3.35343721e-03,
  1.18267989e-02,-7.12067549e-04]


--- Step 1583 ---
qpos:
[ 0.01860886, 0.03002645,-0.00944176,-0.02527604,-0.00250087, 0.85341554,
 -0.03692854, 0.77453379, 0.01153338, 0.0274859 ,-0.0082511 , 0.0264728 ,
  1.35642758, 0.00762847, 1.23104234, 0.0447958 , 0.00152316,-0.07180075,
  0.17295182, 0.95607637,-0.01171262,-0.25542611,-0.14331186]

qacc:
[-7.52325319e+00, 8.70638826e-01,-1.34462727e+00,-2.51261793e+00,
  7.99199581e-02,-6.06034122e+01, 2.49382513e+02,-5.79836075e+02,
 -5.21429183e+00, 1.66293711e-02, 3.22213198e+00,-1.28378013e+01,
 -4.15390941e-01, 6.42052708e-01, 9.80272327e-02, 4.28309332e-02,
 -1.33207332e+00, 6.16349609e-02,-8.70702648e-01, 3.98742895e+00,
 -1.23427393e+01,-4.01709235e+00]

qfrc_actuator:
[ 5.28105167e-05, 9.27768687e-04, 1.30119954e-04,-5.11866470e-05,
 -7.38140966e-04, 1.74403278e-01, 1.81630293e-02, 1.44331102e-01,
 -1.69986645e-04, 7.88703702e-04, 1.22938519e-04, 5.91525292e-05,
  3.03972408e-03,-1.53220131e-03, 0.00000000e+00,-1.25501523e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023934098436485807
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.31933329e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.31933329e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02635597, -0.07393182,  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:
[-4.50505397e-05, 4.03828093e-05,-7.41031011e-06,-1.02983578e-05,
  1.33664761e-05,-2.22862760e-03,-7.69327913e-04,-1.56541778e-03,
 -3.13761230e-05, 5.40813068e-05, 1.76761340e-06,-2.56036879e-05,
 -1.48200338e-05, 1.85083209e-05, 1.12993221e-05, 3.78961102e-06,
  6.86518037e-03,-1.47554076e-03,-4.90287222e+00, 3.41152973e-03,
  1.18237132e-02,-7.22737473e-04]


--- Step 1584 ---
qpos:
[ 1.86087158e-02, 3.00266939e-02,-9.44198723e-03,-2.52756085e-02,
 -2.51552961e-03, 8.56364744e-01,-3.67389468e-02, 7.77351519e-01,
  1.15314394e-02, 2.74841631e-02,-8.25208937e-03, 2.64727615e-02,
  1.35655996e+00, 7.62847029e-03, 1.23118726e+00, 4.47994304e-02,
  1.01710057e-03,-7.17163695e-02, 1.72839294e-01, 9.55350847e-01,
 -1.18009320e-02,-2.57630021e-01,-1.44195247e-01]

qacc:
[ 1.33747983e+00, 1.71237159e+00,-8.12012799e+00, 1.81053073e+01,
  8.74058453e-02,-5.91329518e+01, 2.35022805e+02,-5.33391143e+02,
 -5.09266548e-02,-1.93174585e+00, 6.79776384e+00,-7.27715991e+00,
  8.90035004e-02,-2.76761411e-01, 3.43478747e+00,-1.17221412e+01,
 -1.35835381e+00, 6.60190583e-02,-8.96734913e-01, 4.06448407e+00,
 -1.26267395e+01,-4.09349321e+00]

qfrc_actuator:
[ 6.21816645e-05, 9.37406851e-04, 1.26811161e-04,-2.14547004e-05,
 -7.29589068e-04, 1.73498892e-01, 1.79730130e-02, 1.43019879e-01,
 -1.69511644e-04, 7.88359266e-04, 1.62017975e-04, 6.24950333e-05,
  3.03173724e-03,-1.55651353e-03, 0.00000000e+00,-1.31207387e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023603210699731092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35184746e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.35184746e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02635444, -0.07393547,  0.06199585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.47021013e-05,-2.41934842e-03,-7.93885947e-04,-1.44615677e-03,
 -4.32006034e-07, 2.92340823e-05, 4.96231709e-05, 5.23194485e-06,
 -1.12167100e-05,-2.25096821e-05, 1.53649563e-06,-5.63396076e-05,
  6.99857080e-03,-1.49735256e-03,-4.90278798e+00, 3.47145583e-03,
  1.18206209e-02,-7.33722762e-04]


--- Step 1585 ---
qpos:
[ 1.86083356e-02, 3.00268819e-02,-9.44183913e-03,-2.52748196e-02,
 -2.52999945e-03, 8.59294489e-01,-3.65531385e-02, 7.80146003e-01,
  1.15298671e-02, 2.74820884e-02,-8.25177479e-03, 2.64720806e-02,
  1.35669189e+00, 7.62884113e-03, 1.23133242e+00, 4.48003470e-02,
  5.05501525e-04,-7.16317085e-02, 1.72723075e-01, 9.54611603e-01,
 -1.18828265e-02,-2.59858291e-01,-1.45083266e-01]

qacc:
[-1.97341135e+00,-3.77123146e-01,-2.57831884e-01, 5.86823580e+00,
  1.03355941e-01,-5.60036070e+01, 2.13471249e+02,-4.74915229e+02,
  3.16095047e+00,-5.41774316e+00, 2.13518226e+01,-3.42344704e+01,
 -8.27311249e-01, 1.09348271e+00, 8.66698470e+00,-2.95943085e+01,
 -1.38471660e+00, 7.03750294e-02,-9.23457531e-01, 4.14377379e+00,
 -1.29120550e+01,-4.17192714e+00]

qfrc_actuator:
[ 5.00172635e-05, 9.25205567e-04, 1.42716989e-04,-4.13597616e-06,
 -7.18689015e-04, 1.72443842e-01, 1.77497508e-02, 1.41849589e-01,
 -1.50693882e-04, 7.53312141e-04, 2.20919379e-04, 2.89860892e-05,
  3.00087611e-03,-1.53543439e-03, 0.00000000e+00,-1.45363862e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023265453044797602
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.19299528e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.19299528e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02635284, -0.07393917,  0.06199591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.76850236e-05,-2.67568592e-03,-8.63779313e-04,-1.30965219e-03,
  1.88065618e-05,-8.15645526e-06, 7.12632330e-05,-3.04315079e-05,
 -4.22748674e-05, 1.22052961e-05,-9.05265890e-06,-1.45327140e-04,
  7.13607771e-03,-1.51990653e-03,-4.90270034e+00, 3.53326844e-03,
  1.18175271e-02,-7.45028823e-04]


--- Step 1586 ---
qpos:
[ 1.86078125e-02, 3.00271339e-02,-9.44119535e-03,-2.52745436e-02,
 -2.54425547e-03, 8.62211716e-01,-3.63746347e-02, 7.82918718e-01,
  1.15278429e-02, 2.74803072e-02,-8.25122337e-03, 2.64709963e-02,
  1.35682338e+00, 7.62949773e-03, 1.23147737e+00, 4.48008922e-02,
 -1.17420806e-05,-7.15467486e-02, 1.72603051e-01, 9.53858279e-01,
 -1.19581977e-02,-2.62111430e-01,-1.45975970e-01]

qacc:
[-1.21260134e+00,-2.35525944e+00, 1.06833284e+01,-2.03902803e+01,
  1.11525268e-01,-3.47846111e+01, 1.50488323e+02,-4.02585861e+02,
 -3.85392376e+00,-1.09687071e+00, 6.18991400e+00,-1.37795256e+01,
 -5.50385796e-01, 7.12390084e-01, 8.47213144e-01,-3.31715914e+00,
 -1.41113999e+00, 7.47009069e-02,-9.50922658e-01, 4.22538610e+00,
 -1.31989597e+01,-4.25249506e+00]

qfrc_actuator:
[ 4.30095910e-05, 9.35594819e-04, 1.69729564e-04,-2.97798673e-05,
 -7.06473851e-04, 1.72319337e-01, 1.75614945e-02, 1.40789177e-01,
 -1.74498684e-04, 7.86575867e-04, 2.37599066e-04, 9.53655765e-06,
  2.97763489e-03,-1.52315639e-03, 0.00000000e+00,-1.46630326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022920537891692183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21094783e-13,  1.21094783e-13,  1.00000000e+00, -1.46639465e-26,
        1.00000000e+00, -1.21094783e-13, -1.00000000e+00,  0.00000000e+00,
        1.21094783e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02635118, -0.07394293,  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:
[-7.35532012e-06, 1.99028256e-05, 3.20001976e-05,-2.41581708e-05,
  2.04260337e-05,-1.89565435e-03,-8.83219947e-04,-1.20743587e-03,
 -2.32645540e-05, 4.21934543e-05, 2.27391253e-05,-1.79211925e-05,
 -4.27840834e-05, 6.16199242e-06,-2.44788706e-05,-2.28554397e-05,
  7.27778048e-03,-1.54321731e-03,-4.90260915e+00, 3.59702384e-03,
  1.18144378e-02,-7.56661143e-04]


--- Step 1587 ---
qpos:
[ 1.86082433e-02, 3.00275189e-02,-9.44022300e-03,-2.52749198e-02,
 -2.55827789e-03, 8.65121844e-01,-3.62029592e-02, 7.85668992e-01,
  1.15252044e-02, 2.74788323e-02,-8.25107787e-03, 2.64704211e-02,
  1.35695490e+00, 7.62948699e-03, 1.23162215e+00, 4.48012379e-02,
 -5.34736101e-04,-7.14614727e-02, 1.72479111e-01, 9.53090503e-01,
 -1.20269350e-02,-2.64389953e-01,-1.46873410e-01]

qacc:
[ 8.19226569e+00,-2.10206160e+00, 1.04676469e+01,-2.23305678e+01,
  1.19962365e-01,-3.01231574e+01, 1.45464380e+02,-4.09963722e+02,
 -5.25762188e+00, 2.59783819e+00,-1.08073961e+01, 2.00236729e+01,
  4.60843936e-01,-9.65953628e-01, 3.02777091e-01,-1.54524227e+00,
 -1.43760377e+00, 7.89947610e-02,-9.79178300e-01, 4.30940289e+00,
 -1.34876715e+01,-4.33528380e+00]

qfrc_actuator:
[ 9.23579169e-05, 9.41689154e-04, 1.85382189e-04,-6.27214553e-05,
 -6.93570628e-04, 1.72452207e-01, 1.73992745e-02, 1.39696001e-01,
 -2.05453327e-04, 7.89317804e-04, 2.11738947e-04, 3.40478475e-05,
  2.97495759e-03,-1.56948160e-03, 0.00000000e+00,-1.47389731e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002256812626800775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02634946, -0.07394675,  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:
[ 4.91391413e-05, 2.27803835e-05, 2.28583176e-05,-3.14549697e-05,
  2.25671389e-05,-1.20461353e-03,-7.00439306e-04,-1.21168473e-03,
 -3.16271036e-05, 3.03118448e-05,-1.49480876e-05, 2.67632021e-05,
 -2.37824414e-05,-5.43470134e-05,-1.64589193e-05,-1.26016248e-05,
  7.42376208e-03,-1.56730033e-03,-4.90251425e+00, 3.66278140e-03,
  1.18113591e-02,-7.68625305e-04]


--- Step 1588 ---
qpos:
[ 1.86089178e-02, 3.00278417e-02,-9.43900312e-03,-2.52749662e-02,
 -2.57205148e-03, 8.68021380e-01,-3.60337375e-02, 7.88396953e-01,
  1.15235938e-02, 2.74773054e-02,-8.25080414e-03, 2.64701538e-02,
  1.35708628e+00, 7.62896095e-03, 1.23176678e+00, 4.48017960e-02,
 -1.06358648e-03,-7.13758639e-02, 1.72351138e-01, 9.52307895e-01,
 -1.20889227e-02,-2.66694376e-01,-1.47775642e-01]

qacc:
[ 2.09962455e+00,-9.88138439e-02,-1.16356573e+00, 6.52298702e+00,
  1.31471100e-01,-4.63046402e+01, 1.92843900e+02,-4.49283427e+02,
  8.77427477e+00, 1.89464867e-01,-2.10447855e+00, 7.29699361e+00,
  2.60488309e-01,-6.77645580e-01,-9.01634387e-01, 2.74650495e+00,
 -1.46408877e+00, 8.32546673e-02,-1.00826897e+00, 4.39590165e+00,
 -1.37783649e+01,-4.42036933e+00]

qfrc_actuator:
[ 1.03469565e-04, 9.27359313e-04, 1.94187683e-04,-4.64394021e-05,
 -6.80359894e-04, 1.71851457e-01, 1.72551219e-02, 1.38574791e-01,
 -1.51591675e-04, 7.73616539e-04, 2.14160853e-04, 4.86791613e-05,
  2.96328911e-03,-1.59687201e-03, 0.00000000e+00,-1.46071967e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022207836529079816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49961995e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.49961995e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02634766, -0.07395063,  0.06199608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.40290719e-05,-1.51754099e-03,-5.23187584e-04,-1.21045363e-03,
  5.29403210e-05,-6.57909598e-07, 7.78353867e-06, 1.59389904e-05,
 -3.71818280e-05,-4.82428472e-05,-1.12190393e-05, 9.83497185e-06,
  7.57410841e-03,-1.59217176e-03,-4.90241550e+00, 3.73060346e-03,
  1.18082979e-02,-7.80926995e-04]


--- Step 1589 ---
qpos:
[ 0.01860869, 0.03002809,-0.00943764,-0.02527481,-0.00258575, 0.87090815,
 -0.03586675, 0.79110187, 0.01152299, 0.02747587,-0.00825052, 0.02646971,
  1.35721737, 0.00762855, 1.23191115, 0.04480383,-0.0015984 ,-0.07128991,
  0.17221901, 0.95151007,-0.01214404,-0.26902521,-0.14868272]

qacc:
[-7.76453918e+00,-5.04415115e-02,-7.96214937e-01, 4.13470528e+00,
  4.38446066e-02,-5.10269620e+01, 2.06558918e+02,-4.68986820e+02,
  8.55205615e+00,-2.80439410e-01, 1.89963168e+00,-5.02638760e+00,
 -1.87544910e-01, 2.05927609e-01,-4.80400548e+00, 1.63047754e+01,
 -1.49057644e+00, 8.74786804e-02,-1.03823627e+00, 4.48495680e+00,
 -1.40711796e+01,-4.50781932e+00]

qfrc_actuator:
[ 5.64626336e-05, 9.18669643e-04, 1.98834512e-04,-3.68495051e-05,
 -6.84825945e-04, 1.71118665e-01, 1.71024140e-02, 1.37410106e-01,
 -1.01494473e-04, 7.82590358e-04, 2.15427567e-04, 3.96275714e-05,
  2.96221685e-03,-1.57728140e-03, 0.00000000e+00,-1.38215329e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021839251727387432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27090323e-13,  2.54180646e-13,  1.00000000e+00,  3.23039005e-26,
        1.00000000e+00, -2.54180646e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27090323e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0263458 , -0.07395458,  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:
[-4.66442159e-05,-3.83138457e-06, 7.47173168e-06, 1.05278918e-05,
  7.04818177e-06,-1.78721517e-03,-5.72938497e-04,-1.25891938e-03,
  5.16426503e-05, 1.09627826e-05, 2.65248154e-06,-8.49939313e-06,
 -3.18419297e-05,-2.75177833e-06,-6.73638759e-06, 7.70603087e-05,
  7.72890774e-03,-1.61784838e-03,-4.90231271e+00, 3.80055523e-03,
  1.18052618e-02,-7.93572008e-04]


--- Step 1590 ---
qpos:
[ 0.01860824, 0.03002799,-0.00943605,-0.0252752 ,-0.00259938, 0.8737822 ,
 -0.03570342, 0.79377981, 0.01152161, 0.027474  ,-0.00825024, 0.02646888,
  1.35734823, 0.0076285 , 1.2320555 , 0.04480642,-0.00213928,-0.07120358,
  0.17208261, 0.95069661,-0.01219216,-0.27138299,-0.1495947 ]

qacc:
[-1.84733646e+00,-2.24297402e+00, 9.64613098e+00,-1.92458823e+01,
  3.76105454e-02,-5.39536283e+01, 2.25989036e+02,-5.35244126e+02,
 -6.58192394e+00,-1.34474359e+00, 5.58636456e+00,-1.18756459e+01,
 -3.67949755e-01, 6.05421928e-01,-1.73451026e+00, 6.08745773e+00,
 -1.51704858e+00, 9.16648112e-02,-1.06911936e+00, 4.57664080e+00,
 -1.43662281e+01,-4.59769508e+00]

qfrc_actuator:
[ 4.66469585e-05, 8.77894799e-04, 2.00995124e-04,-6.67868159e-05,
 -6.82071901e-04, 1.70490581e-01, 1.69098278e-02, 1.36051470e-01,
 -1.42804922e-04, 7.17482265e-04, 1.98318323e-04, 1.67287858e-05,
  2.96752224e-03,-1.54767631e-03, 0.00000000e+00,-1.35446039e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002146192580979589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29324721e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.29324721e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02634387, -0.07395859,  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:
[-1.11791615e-05,-4.09642112e-05, 2.63671775e-06,-2.96397905e-05,
  5.97521368e-06,-1.84308429e-03,-6.73419237e-04,-1.46445648e-03,
 -3.97974891e-05,-5.87282509e-05,-1.48003247e-05,-2.25013224e-05,
 -1.17133983e-05, 2.13694026e-05, 2.63783043e-06, 3.04764370e-05,
  7.88825030e-03,-1.64434762e-03,-4.90220571e+00, 3.87270472e-03,
  1.18022587e-02,-8.06566255e-04]


--- Step 1591 ---
qpos:
[ 0.01860871, 0.03002729,-0.00943456,-0.02527588,-0.00261291, 0.87664283,
 -0.03554392, 0.7964297 , 0.01151974, 0.02747154,-0.00825012, 0.02646886,
  1.35747877, 0.00762885, 1.23220004, 0.04480766,-0.00268633,-0.07111687,
  0.1719418 , 0.94986713,-0.01223316,-0.27376822,-0.15051163]

qacc:
[ 7.89747883e+00,-1.13880296e+00, 4.11632456e+00,-8.60563578e+00,
  5.73482030e-02,-5.62853585e+01, 2.35025596e+02,-5.55850750e+02,
 -4.12467703e+00, 1.31368267e+00,-9.17291953e+00, 2.36785048e+01,
 -6.46130217e-01, 9.38924082e-01, 4.47804982e+00,-1.50944008e+01,
 -1.54348706e+00, 9.58110076e-02,-1.10095539e+00, 4.67102495e+00,
 -1.46636015e+01,-4.69005315e+00]

qfrc_actuator:
[ 9.43247102e-05, 8.18171436e-04, 1.83759146e-04,-8.42644615e-05,
 -6.75005077e-04, 1.69823873e-01, 1.67133895e-02, 1.34642863e-01,
 -1.66575683e-04, 6.79428151e-04, 1.87941809e-04, 5.68062136e-05,
  2.94470287e-03,-1.53010981e-03, 0.00000000e+00,-1.42798953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021075388799754458
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31696624e-13,  1.31696624e-13,  1.00000000e+00,  1.73440009e-26,
        1.00000000e+00, -1.31696624e-13, -1.00000000e+00,  0.00000000e+00,
       -1.31696624e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02634187, -0.07396267,  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:
[ 4.73375893e-05,-8.33712778e-05,-2.64129238e-05,-1.97193915e-05,
  9.76840440e-06,-1.93913818e-03,-7.06121202e-04,-1.52379635e-03,
 -2.49616523e-05,-7.48687705e-05,-2.50885665e-05, 3.66174483e-05,
 -2.38402001e-05, 2.09585431e-05, 1.16341856e-06,-7.22826640e-05,
  8.05222783e-03,-1.67168743e-03,-4.90209433e+00, 3.94712270e-03,
  1.17992974e-02,-8.19915766e-04]


--- Step 1592 ---
qpos:
[ 0.01860941, 0.03002632,-0.00943373,-0.02527644,-0.00262629, 0.87948791,
 -0.03538725, 0.79904848, 0.01151795, 0.02746904,-0.00825037, 0.02646925,
  1.3576091 , 0.00762923, 1.2323446 , 0.04480767,-0.00323967,-0.07102976,
  0.17179646, 0.94902119,-0.01226689,-0.27618143,-0.15143358]

qacc:
[ 1.89726642e+00, 1.77017596e+00,-7.38551895e+00, 1.09715207e+01,
  8.15084114e-02,-6.71007802e+01, 2.74739116e+02,-6.28319877e+02,
  6.13416487e-01, 1.84928680e+00,-8.46597992e+00, 1.64330785e+01,
 -2.74939931e-01, 2.79683426e-01, 3.76156749e+00,-1.30463249e+01,
 -1.56987356e+00, 9.99151372e-02,-1.13377991e+00, 4.76818011e+00,
 -1.49633734e+01,-4.78494649e+00]

qfrc_actuator:
[ 1.04438200e-04, 8.18490899e-04, 1.55131918e-04,-7.65454794e-05,
 -6.65415052e-04, 1.68962242e-01, 1.65340197e-02, 1.33074117e-01,
 -1.62049277e-04, 7.11189697e-04, 1.81760126e-04, 8.03834337e-05,
  2.92632957e-03,-1.53771209e-03, 0.00000000e+00,-1.48953528e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020679151103167315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.68440184e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.68440184e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0263398 , -0.07396682,  0.06199633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.41475392e-05,-2.19516037e-03,-7.13406786e-04,-1.68932402e-03,
  3.76069779e-06,-1.36457585e-05,-2.34436207e-05, 2.02192872e-05,
 -2.60272416e-05,-7.04295639e-06,-1.15826358e-05,-6.63476855e-05,
  8.22093321e-03,-1.69988627e-03,-4.90197836e+00, 4.02388270e-03,
  1.17963872e-02,-8.33626694e-04]


--- Step 1593 ---
qpos:
[ 0.01860953, 0.03002545,-0.00943349,-0.0252766 ,-0.00263967, 0.88231563,
 -0.0352326 , 0.80163239, 0.01151623, 0.02746673,-0.0082511 , 0.02646956,
  1.35773936, 0.00762927, 1.23248858, 0.04481095,-0.00379939,-0.07094224,
  0.17164645, 0.94815836,-0.01229321,-0.27862314,-0.1523606 ]

qacc:
[-4.93883514e+00, 2.60696726e+00,-1.07408246e+01, 1.83629219e+01,
  1.03331513e-02,-7.82685785e+01, 3.17876361e+02,-7.12829172e+02,
  5.58576763e-01, 1.43586208e+00,-4.39134628e+00, 3.52069007e+00,
  4.50806380e-01,-7.73284133e-01,-1.07827978e+01, 3.63410829e+01,
 -1.59618942e+00, 1.03974973e-01,-1.16762710e+00, 4.86817722e+00,
 -1.52656039e+01,-4.88242544e+00]

qfrc_actuator:
[ 7.45893490e-05, 8.54730808e-04, 1.38017464e-04,-5.40220825e-05,
 -6.72149771e-04, 1.68026669e-01, 1.64009381e-02, 1.31317053e-01,
 -1.58660747e-04, 7.31270988e-04, 1.60617831e-04, 7.63632229e-05,
  2.92127697e-03,-1.56018810e-03, 0.00000000e+00,-1.31270208e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020272707059917905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36911048e-13,  1.36911048e-13,  1.00000000e+00, -1.87446350e-26,
        1.00000000e+00, -1.36911048e-13, -1.00000000e+00,  0.00000000e+00,
        1.36911048e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02633765, -0.07397105,  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:
[-2.95288447e-05,-3.29305235e-06,-3.40052052e-05, 1.86061317e-05,
 -4.43271008e-08,-2.41755540e-03,-7.23598395e-04,-1.88999745e-03,
  3.48597516e-06, 8.56245540e-06,-2.61197476e-05,-5.01792454e-06,
 -2.06232860e-05,-3.03360620e-05,-1.58892220e-05, 1.70926127e-04,
  8.39446019e-03,-1.72896308e-03,-4.90185760e+00, 4.10306104e-03,
  1.17935382e-02,-8.47705317e-04]


--- Step 1594 ---
qpos:
[ 0.01860963, 0.03002506,-0.00943372,-0.02527655,-0.00265321, 0.88512474,
 -0.03507993, 0.80417908, 0.01151456, 0.02746472,-0.00825221, 0.02647015,
  1.35786918, 0.00762964, 1.23263273, 0.04481393,-0.0043656 ,-0.07085428,
  0.17149163, 0.94727819,-0.01231199,-0.28109388,-0.15329275]

qacc:
[-1.45062354e-01, 2.36668417e+00,-8.39408400e+00, 1.24116896e+01,
 -7.39473675e-02,-8.40280637e+01, 3.40381154e+02,-7.60827020e+02,
  4.42450427e-01, 2.00740076e+00,-7.71347928e+00, 1.27752497e+01,
 -6.00493155e-01, 7.90903703e-01, 1.18853570e+00,-3.65693636e+00,
 -1.62241548e+00, 1.07988180e-01,-1.20253013e+00, 4.97108771e+00,
 -1.55703421e+01,-4.98253844e+00]

qfrc_actuator:
[ 7.47281309e-05, 9.12271058e-04, 1.28011529e-04,-4.06786536e-05,
 -6.88595199e-04, 1.67054760e-01, 1.62781873e-02, 1.29445459e-01,
 -1.55978674e-04, 7.61884606e-04, 1.48520510e-04, 9.16321458e-05,
  2.89758204e-03,-1.53798577e-03, 0.00000000e+00,-1.33413677e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019855537848625926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.59150315e-13,  4.19362736e-13,  1.00000000e+00, -2.34486806e-25,
        1.00000000e+00, -4.19362736e-13, -1.00000000e+00,  0.00000000e+00,
        5.59150315e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02633543, -0.07397534,  0.06199647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.19691101e-07, 4.94906621e-05,-1.42216006e-05, 1.23912357e-05,
 -1.67518224e-05,-2.58540887e-03,-7.64457855e-04,-2.01659888e-03,
  2.78044509e-06, 2.98787070e-05,-1.36863798e-05, 1.46400600e-05,
 -4.13492969e-05, 8.67052164e-06, 1.02351615e-05,-1.43048523e-05,
  8.57290301e-03,-1.75893726e-03,-4.90173186e+00, 4.18473684e-03,
  1.17907610e-02,-8.62158041e-04]


--- Step 1595 ---
qpos:
[ 0.01861078, 0.03002528,-0.00943389,-0.02527673,-0.00266688, 0.88791508,
 -0.03492978, 0.8066891 , 0.01151362, 0.02746304,-0.00825293, 0.02647051,
  1.35799852, 0.00763051, 1.23277736, 0.04481296,-0.0049384 ,-0.07076588,
  0.17133185, 0.94638024,-0.01232306,-0.28359418,-0.15423009]

qacc:
[ 8.86704018e+00, 1.35924364e-01, 1.64293796e+00,-6.25620388e+00,
 -5.45228550e-02,-8.18291124e+01, 3.31100601e+02,-7.44360147e+02,
  6.27076398e+00,-1.13453637e+00, 5.57327573e+00,-1.02509494e+01,
 -1.03622565e+00, 1.42923366e+00, 1.27721452e+01,-4.33803999e+01,
 -1.64853190e+00, 1.11952302e-01,-1.23852133e+00, 5.07698384e+00,
 -1.58776277e+01,-5.08533258e+00]

qfrc_actuator:
[ 1.28035063e-04, 9.64411845e-04, 1.40128359e-04,-5.05715769e-05,
 -6.92948031e-04, 1.66158008e-01, 1.61624210e-02, 1.27610202e-01,
 -1.18228428e-04, 7.98622841e-04, 1.77435046e-04, 8.26457178e-05,
  2.87871595e-03,-1.50724960e-03, 0.00000000e+00,-1.54329501e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019427113839226573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.14305448e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.14305448e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02633313, -0.07397971,  0.06199654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.33047177e-05, 7.74246322e-05, 2.10224350e-05,-8.02347620e-06,
 -1.29213421e-05,-2.61498842e-03,-7.99058750e-04,-1.98977416e-03,
  3.78347014e-05, 5.13267957e-05, 3.39405150e-05,-7.88943732e-06,
 -3.80448753e-05, 2.34988021e-05,-1.32779117e-06,-2.09646502e-04,
  8.75635617e-03,-1.78982863e-03,-4.90160091e+00, 4.26899207e-03,
  1.17880674e-02,-8.76991402e-04]


--- Step 1596 ---
qpos:
[ 0.01861289, 0.03002571,-0.00943346,-0.02527737,-0.00268057, 0.89068759,
 -0.03478314, 0.80916173, 0.01151349, 0.02746158,-0.00825325, 0.02647077,
  1.3581277 , 0.00763144, 1.23292227, 0.04480716,-0.0055179 ,-0.07067701,
  0.17116697, 0.94546403,-0.01232626,-0.28612457,-0.15517267]

qacc:
[ 8.38151530e+00,-2.33383880e+00, 1.05976686e+01,-1.94638882e+01,
 -9.00178123e-03,-7.91873759e+01, 3.25365268e+02,-7.48120837e+02,
  6.87320636e+00,-1.02660312e+00, 4.48633206e+00,-6.97628663e+00,
 -5.44966830e-01, 6.45442347e-01, 1.50808837e+01,-5.20449010e+01,
 -1.67451809e+00, 1.15864753e-01,-1.27563243e+00, 5.18593899e+00,
 -1.61874932e+01,-5.19085408e+00]

qfrc_actuator:
[ 1.76694531e-04, 9.59743480e-04, 1.65186960e-04,-7.40418903e-05,
 -6.90018827e-04, 1.65367202e-01, 1.60166523e-02, 1.25740062e-01,
 -7.78918321e-05, 8.03396241e-04, 1.94838640e-04, 7.72434570e-05,
  2.87341687e-03,-1.50721531e-03, 0.00000000e+00,-1.79030309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00018986896476716475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.1927419e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.1927419e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02633074, -0.07398416,  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:
[ 5.02387618e-05, 4.26345182e-05, 4.33575075e-05,-1.95864459e-05,
 -3.76526169e-06,-2.53047924e-03,-8.37659843e-04,-2.02590693e-03,
  4.14560436e-05, 4.02273839e-05, 3.19382172e-05,-2.17906255e-06,
 -2.00684241e-05,-1.82991241e-06,-2.88193814e-05,-2.59951716e-04,
  8.94491407e-03,-1.82165740e-03,-4.90146452e+00, 4.35591161e-03,
  1.17854697e-02,-8.92212064e-04]


--- Step 1597 ---
qpos:
[ 0.01861454, 0.03002604,-0.00943282,-0.02527822,-0.00269386, 0.89344263,
 -0.03463984, 0.81159441, 0.01151384, 0.02746048,-0.00825338, 0.02647061,
  1.35825676, 0.00763216, 1.23306677, 0.04480042,-0.0061042 ,-0.07058766,
  0.17099684, 0.94452908,-0.01232143,-0.28868558,-0.15612056]

qacc:
[-3.99278481e+00,-1.14272487e+00, 4.79413967e+00,-8.70402094e+00,
  2.14405935e-01,-8.35759440e+01, 3.46442270e+02,-7.98484409e+02,
  4.13712272e+00,-9.44046886e-01, 5.80911941e+00,-1.35898099e+01,
 -8.75291785e-05,-1.70219651e-01, 2.23460259e+00,-8.69544884e+00,
 -1.70035252e+00, 1.19722802e-01,-1.31389469e+00, 5.29802788e+00,
 -1.64999647e+01,-5.29914862e+00]

qfrc_actuator:
[ 1.51200474e-04, 9.21137775e-04, 1.61940191e-04,-8.75983251e-05,
 -6.47257326e-04, 1.64575531e-01, 1.58726381e-02, 1.23740129e-01,
 -5.41201173e-05, 8.24462995e-04, 2.05173417e-04, 5.62050440e-05,
  2.86026987e-03,-1.52535324e-03, 0.00000000e+00,-1.82677083e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00018534339769346597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.73884756e-13,  2.99504336e-13,  1.00000000e+00, -2.01831406e-25,
        1.00000000e+00, -2.99504336e-13, -1.00000000e+00,  0.00000000e+00,
        6.73884756e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02632827, -0.07398869,  0.06199669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40178542e-05,-6.65704249e-06, 1.02082232e-05,-1.06153834e-05,
  4.06033633e-05,-2.49244583e-03,-8.24267575e-04,-2.15465715e-03,
  2.49943348e-05, 5.01362698e-05, 2.25212690e-05,-1.82501715e-05,
 -2.53056245e-05,-2.27042365e-05,-4.53576490e-05,-5.53599586e-05,
  9.13867079e-03,-1.85444414e-03,-4.90132246e+00, 4.44558331e-03,
  1.17829810e-02,-9.07826826e-04]


--- Step 1598 ---
qpos:
[ 0.01861553, 0.03002625,-0.00943243,-0.02527919,-0.00270663, 0.89617819,
 -0.03449833, 0.81398778, 0.01151413, 0.02745972,-0.00825281, 0.02647017,
  1.35838553, 0.00763252, 1.23321027, 0.04479925,-0.00669741,-0.07049782,
  0.17082129, 0.9435749 ,-0.01230839,-0.29127774,-0.1570738 ]

qacc:
[-5.69053592e+00, 2.97048301e-01,-7.97927612e-01,-7.52042961e-01,
  2.65389238e-01,-8.92865980e+01, 3.60087677e+02,-8.00775794e+02,
 -5.13979873e-01,-2.08552301e+00, 9.27322596e+00,-1.55185546e+01,
  4.86014138e-01,-8.93601171e-01,-1.83983662e+01, 6.20596891e+01,
 -1.72601270e+00, 1.23523569e-01,-1.35333910e+00, 5.41332674e+00,
 -1.68150629e+01,-5.41026153e+00]

qfrc_actuator:
[ 1.17771010e-04, 8.97894450e-04, 1.41855058e-04,-9.52672169e-05,
 -6.16533636e-04, 1.63559325e-01, 1.57664247e-02, 1.21768597e-01,
 -5.80421140e-05, 8.55075903e-04, 2.46808963e-04, 4.38944395e-05,
  2.83176478e-03,-1.55414708e-03, 0.00000000e+00,-1.52584602e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00018068891445680024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.07219463e-13,  1.53609731e-13,  1.00000000e+00, -4.71918992e-26,
        1.00000000e+00, -1.53609731e-13, -1.00000000e+00,  0.00000000e+00,
        3.07219463e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02632571, -0.0739933 ,  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:
[-3.41331890e-05,-2.53434248e-05,-2.05803087e-05,-7.80705810e-06,
  5.05998705e-05,-2.69671425e-03,-7.80892120e-04,-2.12725665e-03,
 -3.17594390e-06, 6.25708122e-05, 5.41483862e-05,-9.73588417e-06,
 -4.79110072e-05,-4.07212287e-05,-2.81880220e-05, 2.91769613e-04,
  9.33771975e-03,-1.88820980e-03,-4.90117449e+00, 4.53809804e-03,
  1.17806156e-02,-9.23842615e-04]


--- Step 1599 ---
qpos:
[ 0.01861611, 0.03002629,-0.00943205,-0.02527921,-0.00271928, 0.89889164,
 -0.03435856, 0.81634367, 0.01151403, 0.02745916,-0.00825168, 0.02647031,
  1.35851405, 0.00763253, 1.23335376, 0.04479996,-0.00729762,-0.07040747,
  0.17064017, 0.94260099,-0.01228698,-0.29390159,-0.15803248]

qacc:
[-3.50407068e+00, 1.76057226e+00,-1.05330768e+01, 2.68953532e+01,
  7.56957749e-02,-8.96743172e+01, 3.52223187e+02,-7.68242194e+02,
 -3.34454403e+00,-8.17177360e-02,-1.73314494e+00, 1.06249809e+01,
  1.66497242e-01,-5.03461216e-01,-5.69026066e+00, 1.98374714e+01,
 -1.75147501e+00, 1.27264009e-01,-1.39399644e+00, 5.53191343e+00,
 -1.71328035e+01,-5.52423805e+00]

qfrc_actuator:
[ 9.77157638e-05, 9.01697724e-04, 1.47551329e-04,-4.61542343e-05,
 -6.28802580e-04, 1.62328637e-01, 1.56294160e-02, 1.19882701e-01,
 -7.82273431e-05, 8.55793613e-04, 2.71142172e-04, 7.23579534e-05,
  2.82069282e-03,-1.57135865e-03, 0.00000000e+00,-1.43692958e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00017589993837356654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.73375532e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.73375532e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02632306, -0.073998  ,  0.06199685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.25977985e-05,-3.01403532e-03,-8.45881541e-04,-2.04630653e-03,
 -2.02601596e-05, 4.64972892e-05, 4.35943092e-05, 3.28306146e-05,
 -4.49451610e-05,-4.02496506e-05, 1.89678647e-05, 1.01446725e-04,
  9.54215340e-03,-1.92297563e-03,-4.90102035e+00, 4.63354982e-03,
  1.17783886e-02,-9.40266494e-04]


--- Step 1600 ---
qpos:
[ 0.01861679, 0.03002625,-0.00943166,-0.02527832,-0.00273205, 0.90158111,
 -0.03422102, 0.81866163, 0.01151438, 0.02745863,-0.00825013, 0.02647081,
  1.3586423 , 0.00763249, 1.23349744, 0.04480074,-0.00790494,-0.0703166 ,
  0.1704533 , 0.94160681,-0.012257  ,-0.29655766,-0.15899663]

qacc:
[ 8.54529227e-01, 1.74795003e+00,-1.02820909e+01, 2.62609158e+01,
 -5.72685155e-02,-9.15457745e+01, 3.56112147e+02,-7.75172506e+02,
  3.83698101e+00,-4.11857192e-01,-5.87002876e-02, 5.78696830e+00,
 -1.75736458e-01, 1.02230514e-01, 5.96255083e-02, 2.19825562e-01,
 -1.77671467e+00, 1.30940907e-01,-1.43589742e+00, 5.65386761e+00,
 -1.74531981e+01,-5.64112344e+00]

qfrc_actuator:
[ 1.03448863e-04, 9.04060023e-04, 1.50825247e-04, 5.12916220e-07,
 -6.48939347e-04, 1.61032936e-01, 1.54745895e-02, 1.17973315e-01,
 -5.45562591e-05, 8.38574157e-04, 2.84963001e-04, 8.90376595e-05,
  2.82008892e-03,-1.56372226e-03, 0.00000000e+00,-1.43824137e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00017097084537347207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.24681972e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.24681972e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02632032, -0.07400278,  0.06199694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.42019142e-05,-3.26428938e-03,-9.31242465e-04,-2.08034096e-03,
  2.30899389e-05, 1.91935302e-05, 2.99248179e-05, 2.08189054e-05,
 -3.26651318e-05,-1.46505745e-05, 1.60465176e-05, 5.87708767e-06,
  9.75206293e-03,-1.95876319e-03,-4.90085977e+00, 4.73203584e-03,
  1.17763161e-02,-9.57105653e-04]


--- Step 1601 ---
qpos:
[ 0.01861787, 0.03002629,-0.00943154,-0.02527756,-0.00274496, 0.90424498,
 -0.03408585, 0.82094232, 0.01151501, 0.02745796,-0.00824824, 0.02647085,
  1.35877029, 0.00763249, 1.23364088, 0.04480386,-0.00851947,-0.07022519,
  0.17026052, 0.94059185,-0.01221825,-0.2992465 ,-0.15996633]

qacc:
[ 3.48971328e+00, 5.48481030e-01,-1.22110131e+00,-8.34117791e-01,
 -5.72737975e-02,-9.21323174e+01, 3.53472837e+02,-7.62703511e+02,
  2.41070818e+00,-2.07659268e+00, 9.10838017e+00,-1.76064088e+01,
 -5.47119721e-02, 1.10328246e-02,-7.43443667e+00, 2.54995258e+01,
 -1.80170558e+00, 1.34550867e-01,-1.47907275e+00, 5.77927082e+00,
 -1.77762541e+01,-5.76096306e+00]

qfrc_actuator:
[ 1.24310387e-04, 9.05546234e-04, 1.34873181e-04,-7.90350976e-06,
 -6.55830051e-04, 1.59691190e-01, 1.53280179e-02, 1.16100783e-01,
 -4.07609817e-05, 8.10685915e-04, 2.92375106e-04, 6.31149604e-05,
  2.80979737e-03,-1.55909147e-03, 0.00000000e+00,-1.31511630e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016589596877797375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.34614226e-13,  3.34614226e-13,  1.00000000e+00, -1.11966680e-25,
        1.00000000e+00, -3.34614226e-13, -1.00000000e+00,  0.00000000e+00,
        3.34614226e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02631747, -0.07400765,  0.06199702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.43576277e-05,-3.46628697e-03,-9.83109913e-04,-2.05496385e-03,
  1.44764520e-05,-1.00724236e-05, 1.57693364e-05,-2.36638884e-05,
 -3.03731050e-05,-7.28134003e-06, 3.72845773e-06, 1.24534534e-04,
  9.96753788e-03,-1.99559431e-03,-4.90069247e+00, 4.83365658e-03,
  1.17744153e-02,-9.74367416e-04]


--- Step 1602 ---
qpos:
[ 0.01861886, 0.03002636,-0.0094316 ,-0.02527691,-0.00275758, 0.90688242,
 -0.03395396, 0.82318782, 0.01151545, 0.02745759,-0.00824698, 0.0264706 ,
  1.35889813, 0.00763248, 1.23378433, 0.04480808,-0.0091413 ,-0.07013323,
  0.17006164, 0.93955554,-0.01217056,-0.30196863,-0.16094162]

qacc:
[-8.89625126e-01, 3.51738427e-01,-7.36925439e-01,-8.26531183e-01,
  1.56731391e-01,-8.71405597e+01, 3.30237487e+02,-7.14568028e+02,
 -1.59496879e+00, 1.54044657e+00,-3.67815410e+00,-6.76082560e-01,
 -2.66902817e-02,-1.73934561e-02,-3.33011134e+00, 1.16760210e+01,
 -1.82642032e+00, 1.38090302e-01,-1.52355320e+00, 5.90820654e+00,
 -1.81019753e+01,-5.88380246e+00]

qfrc_actuator:
[ 1.18395442e-04, 9.06375117e-04, 1.25410265e-04,-1.31711218e-05,
 -6.19213052e-04, 1.58350776e-01, 1.51519231e-02, 1.14335883e-01,
 -5.06560237e-05, 8.29804605e-04, 2.60360830e-04, 4.78250975e-05,
  2.80968123e-03,-1.55633909e-03, 0.00000000e+00,-1.26164707e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016066960266190866
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.63746943e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.63746943e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02631453, -0.07401262,  0.06199711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.30184193e-06,-1.89314776e-06,-1.13241200e-05,-5.88620048e-06,
  2.90355254e-05,-3.58539894e-03,-1.05742020e-03,-1.95482626e-03,
 -9.47419970e-06, 1.57383580e-05,-3.29857015e-05,-1.56397133e-05,
 -1.71243937e-05,-6.58864998e-06, 1.24965181e-05, 6.01826769e-05,
  1.01886659e-02,-2.03349107e-03,-4.90051818e+00, 4.93851590e-03,
  1.17727045e-02,-9.92059239e-04]


--- Step 1603 ---
qpos:
[ 0.01861976, 0.0300263 ,-0.00943169,-0.02527666,-0.00276978, 0.90949501,
 -0.03382669, 0.82540259, 0.01151543, 0.02745726,-0.00824606, 0.02647017,
  1.3590258 , 0.0076325 , 1.23392807, 0.04481092,-0.00977053,-0.0700407 ,
  0.16985648, 0.93849734,-0.01211369,-0.30472459,-0.16192257]

qacc:
[-6.70085769e-01,-9.20885137e-01, 4.72109457e+00,-1.15300492e+01,
  2.13023355e-01,-7.36365599e+01, 2.77128125e+02,-6.11876951e+02,
 -3.99108590e+00, 6.59872387e-01,-1.52161865e+00,-9.52343254e-01,
 -2.82640726e-01, 3.08866703e-01, 4.64570842e+00,-1.55879977e+01,
 -1.85083000e+00, 1.41555424e-01,-1.56936966e+00, 6.04076028e+00,
 -1.84303615e+01,-6.00968739e+00]

qfrc_actuator:
[ 1.14514910e-04, 8.89069833e-04, 1.19868871e-04,-3.42804643e-05,
 -5.92374033e-04, 1.57270775e-01, 1.49777220e-02, 1.12808167e-01,
 -7.44125106e-05, 8.23500811e-04, 2.41029376e-04, 3.89325125e-05,
  2.79969128e-03,-1.55467804e-03, 0.00000000e+00,-1.33843627e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001552860041410392
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.14953695e-13,  5.36215271e-13,  1.00000000e+00, -3.83369090e-25,
        1.00000000e+00, -5.36215271e-13, -1.00000000e+00,  0.00000000e+00,
        7.14953695e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02631147, -0.07401768,  0.0619972 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.03528222e-06,-2.09630475e-05,-7.53310387e-06,-2.16982555e-05,
  4.09886120e-05,-3.40133767e-03,-1.08415020e-03,-1.72138466e-03,
 -2.40265786e-05,-4.98907542e-06,-2.06933384e-05,-9.66474895e-06,
 -2.01205622e-05,-4.32671617e-06, 8.77808549e-06,-7.26829932e-05,
  1.04155321e-02,-2.07247576e-03,-4.90033659e+00, 5.04672110e-03,
  1.17712034e-02,-1.01018870e-03]


--- Step 1604 ---
qpos:
[ 0.01862061, 0.03002624,-0.00943189,-0.02527703,-0.00278157, 0.91209359,
 -0.03370797, 0.82759376, 0.01151443, 0.0274567 ,-0.00824533, 0.0264707 ,
  1.35915333, 0.00763253, 1.23407191, 0.04481216,-0.01040727,-0.06994759,
  0.16964486, 0.93741666,-0.01204745,-0.30751494,-0.16290924]

qacc:
[-4.64723230e-01,-9.37309642e-01, 5.93532545e+00,-1.63491726e+01,
  2.04415255e-01,-3.63841685e+01, 1.54280295e+02,-4.19561039e+02,
 -8.31078258e+00, 2.21207000e+00,-1.23489169e+01, 2.93835608e+01,
 -2.37075925e-01, 2.49830152e-01, 5.01351940e+00,-1.72557701e+01,
 -1.87490420e+00, 1.44942239e-01,-1.61655319e+00, 6.17701966e+00,
 -1.87614091e+01,-6.13866385e+00]

qfrc_actuator:
[ 1.11871488e-04, 8.96545501e-04, 1.16598875e-04,-6.45560778e-05,
 -5.71637778e-04, 1.57367910e-01, 1.48428231e-02, 1.11680918e-01,
 -1.23882504e-04, 8.02066661e-04, 2.29263627e-04, 8.71287204e-05,
  2.79443657e-03,-1.55370999e-03, 0.00000000e+00,-1.42031555e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00014973939489029697
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.78038812e-13,  1.85359208e-13,  1.00000000e+00, -5.15370539e-26,
        1.00000000e+00, -1.85359208e-13, -1.00000000e+00,  0.00000000e+00,
        2.78038812e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02630831, -0.07402283,  0.0619973 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76686960e-06,-6.73294891e-06,-9.27756976e-06,-3.18565184e-05,
  4.09398858e-05,-2.11843403e-03,-1.00372615e-03,-1.31017977e-03,
 -5.01746672e-05,-2.89191864e-05,-1.56845665e-05, 4.70789323e-05,
 -1.68464899e-05,-4.86341773e-06,-8.26149670e-06,-8.57723931e-05,
  1.06482191e-02,-2.11257085e-03,-4.90014739e+00, 5.15838307e-03,
  1.17699327e-02,-1.02876353e-03]


--- Step 1605 ---
qpos:
[ 0.01862074, 0.03002618,-0.00943218,-0.02527741,-0.00279282, 0.91468686,
 -0.03359697, 0.82976383, 0.01151353, 0.02745596,-0.00824507, 0.02647251,
  1.35928078, 0.00763276, 1.23421551, 0.04481373,-0.0110516 ,-0.06985388,
  0.16942658, 0.93631292,-0.01197161,-0.3103402 ,-0.16390168]

qacc:
[-6.24641666e+00, 2.16066447e-01,-6.78334685e-01, 5.08882273e-01,
  2.68954431e-01,-2.28353176e+01, 1.17579107e+02,-3.61509154e+02,
  8.73547033e-01, 3.68985002e+00,-1.89171599e+01, 4.19296162e+01,
 -1.52497344e-01, 2.83358325e-01,-1.34298337e+00, 4.23958122e+00,
 -1.89861089e+00, 1.48246530e-01,-1.66513503e+00, 6.31707440e+00,
 -1.90951106e+01,-6.27077804e+00]

qfrc_actuator:
[ 7.44718427e-05, 9.01049794e-04, 1.14786262e-04,-6.44550624e-05,
 -5.36971958e-04, 1.57850889e-01, 1.47372769e-02, 1.10674839e-01,
 -1.17076075e-04, 7.89567057e-04, 2.04271505e-04, 1.50764146e-04,
  2.80267720e-03,-1.53539195e-03, 0.00000000e+00,-1.39796953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001440239621625372
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.85429969e-13,  1.92714984e-13,  1.00000000e+00,  7.42781304e-26,
        1.00000000e+00, -1.92714984e-13, -1.00000000e+00,  0.00000000e+00,
       -3.85429969e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02630503, -0.07402809,  0.0619974 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.50330529e-05,-9.90225529e-04,-6.97616903e-04,-1.13476285e-03,
  5.32395549e-06,-2.99039958e-05,-3.12709345e-05, 6.27699769e-05,
 -2.12081071e-06, 1.32561210e-05,-1.66572630e-05, 1.57428987e-05,
  1.08868062e-02,-2.15379898e-03,-4.89995025e+00, 5.27361633e-03,
  1.17689146e-02,-1.04779154e-03]


--- Step 1606 ---
qpos:
[ 0.01862041, 0.03002627,-0.00943261,-0.02527711,-0.00280337, 0.91727345,
 -0.03348879, 0.83191207, 0.01151411, 0.02745513,-0.00824486, 0.02647468,
  1.35940811, 0.007633  , 1.23435888, 0.04481654,-0.01170361,-0.06975957,
  0.16920144, 0.9351855 ,-0.01188593,-0.31320091,-0.16489994]

qacc:
[-3.86264859e+00, 1.97018099e+00,-9.61606695e+00, 2.14824772e+01,
  3.45944949e-01,-3.90911985e+01, 1.70573372e+02,-4.17291309e+02,
  1.25123631e+01, 7.72459107e-01,-4.47695463e+00, 1.09202420e+01,
 -1.12260972e-03,-2.47834670e-02,-4.07422732e+00, 1.37274965e+01,
 -1.92191636e+00, 1.51463856e-01,-1.71514661e+00, 6.46101643e+00,
 -1.94314548e+01,-6.40607640e+00]

qfrc_actuator:
[ 5.24192526e-05, 9.21526317e-04, 1.13864617e-04,-2.87267672e-05,
 -4.94248322e-04, 1.57603624e-01, 1.46341784e-02, 1.09588634e-01,
 -4.16864433e-05, 8.00230996e-04, 2.07204178e-04, 1.69702276e-04,
  2.78706018e-03,-1.54236255e-03, 0.00000000e+00,-1.33213582e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00013813385955063762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00466228e-13, -2.00932456e-13,  1.00000000e+00,  2.01869259e-26,
        1.00000000e+00,  2.00932456e-13, -1.00000000e+00,  0.00000000e+00,
        1.00466228e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02630163, -0.07403345,  0.0619975 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31448416e-05, 1.78766103e-05,-2.14940904e-06, 3.54124033e-05,
  7.03641383e-05,-1.02738466e-03,-4.30348943e-04,-1.16429218e-03,
  7.55321104e-05,-9.80921966e-06,-4.92371962e-06, 1.77928745e-05,
 -1.40069259e-05,-3.45761387e-06,-8.16365806e-06, 6.40464127e-05,
  1.11313690e-02,-2.19618288e-03,-4.89974485e+00, 5.39253917e-03,
  1.17681726e-02,-1.06728072e-03]


--- Step 1607 ---
qpos:
[ 0.01862017, 0.03002661,-0.00943281,-0.02527678,-0.00281346, 0.91985184,
 -0.03338228, 0.83403587, 0.01151524, 0.02745448,-0.00824473, 0.02647668,
  1.35953519, 0.00763305, 1.23450221, 0.04481975,-0.01236341,-0.06966465,
  0.16896923, 0.93403379,-0.0117902 ,-0.31609762,-0.16590409]

qacc:
[ 7.08200058e-01,-1.71825938e-01, 9.57389804e-01,-8.26068804e-01,
  2.33544446e-01,-4.87976829e+01, 2.06220564e+02,-4.80263538e+02,
  4.72760845e+00, 9.33355097e-02, 6.91366229e-01,-3.57507164e+00,
 -3.82469957e-02,-1.50831139e-01,-1.29447973e+00, 4.45257072e+00,
 -1.94478511e+00, 1.54589534e-01,-1.76661959e+00, 6.60893989e+00,
 -1.97704268e+01,-6.54460552e+00]

qfrc_actuator:
[ 5.73403805e-05, 9.51450657e-04, 1.31315696e-04,-2.55703332e-05,
 -4.82563897e-04, 1.57152491e-01, 1.45307462e-02, 1.08356996e-01,
 -1.53143497e-05, 8.24762009e-04, 2.08916204e-04, 1.62228164e-04,
  2.75713528e-03,-1.56440542e-03, 0.00000000e+00,-1.31224610e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00013206320771058655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.15253310e-13,  2.10168874e-13,  1.00000000e+00,  6.62564332e-26,
        1.00000000e+00, -2.10168874e-13, -1.00000000e+00,  0.00000000e+00,
       -3.15253310e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02629811, -0.07403891,  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:
[ 4.25165722e-06, 4.09873062e-05, 2.21082749e-05, 4.53817091e-06,
  4.71115476e-05,-1.19929444e-03,-4.07702186e-04,-1.30338309e-03,
  2.85792860e-05, 1.88418985e-05,-3.05052126e-07,-7.72504790e-06,
 -3.80445390e-05,-2.62517056e-05, 8.53581190e-07, 2.18233974e-05,
  1.13819791e-02,-2.23974535e-03,-4.89953083e+00, 5.51527372e-03,
  1.17677318e-02,-1.08723914e-03]


--- Step 1608 ---
qpos:
[ 0.01862033, 0.03002707,-0.00943242,-0.0252771 ,-0.00282338, 0.92242046,
 -0.03327687, 0.83613199, 0.01151667, 0.02745386,-0.0082451 , 0.02647862,
  1.35966196, 0.00763311, 1.23464557, 0.04482284,-0.01303107,-0.06956909,
  0.16872974, 0.93285714,-0.01168415,-0.31903086,-0.16691418]

qacc:
[ 3.49472047e+00,-2.90929233e+00, 1.33517490e+01,-2.58173231e+01,
  8.71622051e-02,-5.79743022e+01, 2.41503349e+02,-5.50285900e+02,
  2.61544010e+00, 1.31051737e+00,-4.35818599e+00, 4.11382828e+00,
 -2.64991668e-01, 2.31160242e-01, 4.29025453e-01,-1.40734299e+00,
 -1.96717979e+00, 1.57618635e-01,-1.81958582e+00, 6.76094115e+00,
 -2.01120073e+01,-6.68641214e+00]

qfrc_actuator:
[ 7.80937451e-05, 9.51354101e-04, 1.59493508e-04,-5.93398823e-05,
 -4.89551566e-04, 1.56600991e-01, 1.44448328e-02, 1.06960685e-01,
 -2.74972016e-07, 8.04132433e-04, 1.74433556e-04, 1.57043234e-04,
  2.74527052e-03,-1.55978157e-03, 0.00000000e+00,-1.31959727e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00012580609524481812
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.20621867e-13,  2.20621867e-13,  1.00000000e+00, -4.86740082e-26,
        1.00000000e+00, -2.20621867e-13, -1.00000000e+00,  0.00000000e+00,
        2.20621867e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02629446, -0.07404448,  0.06199771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.67198128e-05,-1.39468278e-03,-4.25643712e-04,-1.47604951e-03,
  1.58821244e-05,-1.04558973e-05,-3.08937678e-05,-4.54264156e-06,
 -3.76205638e-05,-1.17880794e-05,-5.98233525e-07,-6.81093206e-06,
  1.16387033e-02,-2.28450923e-03,-4.89930782e+00, 5.64194607e-03,
  1.17676189e-02,-1.10767502e-03]


--- Step 1609 ---
qpos:
[ 0.01862143, 0.03002763,-0.00943219,-0.02527812,-0.00283286, 0.92497645,
 -0.03317262, 0.83819884, 0.01151862, 0.0274532 ,-0.00824615, 0.02648086,
  1.35978858, 0.00763291, 1.23478905, 0.04482447,-0.01370543,-0.06947082,
  0.16848274, 0.93165396,-0.01157727,-0.32201503,-0.1679083 ]

qacc:
[ 8.03289334e+00,-8.52273876e-01, 6.13927026e+00,-1.79259483e+01,
  2.17207070e-01,-6.43543838e+01, 2.61462617e+02,-5.85271777e+02,
  4.36748784e+00, 2.43702542e+00,-1.00254903e+01, 1.62264420e+01,
 -6.50165448e-02,-1.24831991e-01, 4.60347611e+00,-1.58168719e+01,
 -1.67393968e+00, 6.78508585e-01,-1.87825050e+00, 7.02659526e+00,
 -2.80118306e+01, 4.80574334e+00]

qfrc_actuator:
[ 1.25743029e-04, 9.33298278e-04, 1.40377881e-04,-9.68271699e-05,
 -4.54371896e-04, 1.55798835e-01, 1.43162780e-02, 1.05478584e-01,
  2.57418482e-05, 7.91976805e-04, 1.36435462e-04, 1.70942729e-04,
  2.73893063e-03,-1.57478866e-03, 0.00000000e+00,-1.39617902e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.159008  , -0.45534493, -4.13400635, -0.45534493,  8.75770165,
       -0.50652846, -4.13400635, -0.50652846,  4.21480017,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001214932918011391
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.56907130e-13,  9.13814259e-13,  1.00000000e+00,  4.17528250e-25,
        1.00000000e+00, -9.13814259e-13, -1.00000000e+00,  0.00000000e+00,
       -4.56907130e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02519473, -0.08304816,  0.06199779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.35064113e-05,-1.76251961e-03,-5.14109379e-04,-1.57257978e-03,
  2.64780271e-05,-2.45465909e-05,-4.41123101e-05, 1.22915326e-05,
 -2.85747813e-05,-2.71310553e-05,-4.62745266e-06,-7.78591611e-05,
  1.19016033e-02,-2.33049733e-03,-4.89907546e+00, 5.77268637e-03,
  1.17678621e-02,-1.12859668e-03]


--- Step 1610 ---
qpos:
[ 0.0186224 , 0.03002828,-0.00943222,-0.02527888,-0.00284172, 0.9275174 ,
 -0.03306951, 0.8402335 , 0.01152087, 0.02745227,-0.00824702, 0.02648321,
  1.35991511, 0.00763227, 1.23493253, 0.04482483,-0.01438679,-0.0693698 ,
  0.16822805, 0.93042444,-0.01146955,-0.32504785,-0.16888667]

qacc:
[-1.09412333e+00, 1.38243953e+00,-5.84158227e+00, 1.06624706e+01,
  3.17568293e-01,-7.25895114e+01, 2.91426286e+02,-6.45770790e+02,
  2.54427786e+00,-6.23561509e-01, 1.18015434e+00, 8.13472940e-01,
  1.25742767e-01,-4.57034882e-01, 3.82093914e+00,-1.34212287e+01,
 -1.74783435e+00, 6.87054970e-01,-1.92317808e+00, 6.86168497e+00,
 -2.69251830e+01, 4.70484199e+00]

qfrc_actuator:
[ 1.17825479e-04, 9.39929231e-04, 1.28913602e-04,-8.29904526e-05,
 -4.11974575e-04, 1.54906314e-01, 1.41981360e-02, 1.03851158e-01,
  4.02633400e-05, 7.84973966e-04, 1.49969398e-04, 1.78212377e-04,
  2.73057612e-03,-1.60131348e-03, 0.00000000e+00,-1.45965943e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.15635854,  0.85216771,  4.06806176,  0.85216771, 18.7475127 ,
       -3.05651957,  4.06806176, -3.05651957,  4.79663084,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011914064615664577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.6592958e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.6592958e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02517408, -0.08305212,  0.06199782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.50958834e-06, 5.44683291e-06,-1.30286778e-05, 1.29880860e-05,
  6.42970122e-05,-2.07704420e-03,-5.89453802e-04,-1.73470667e-03,
  1.52873048e-05,-2.92682311e-05, 3.47136184e-06, 4.92871589e-06,
 -2.98731048e-05,-4.07632228e-05,-1.42653665e-05,-6.92129122e-05,
  1.22271334e-02,-2.40631004e-03,-4.89883715e+00, 5.82817795e-03,
  1.17615447e-02,-1.15151815e-03]


--- Step 1611 ---
qpos:
[ 0.01862224, 0.03002883,-0.00943179,-0.02527915,-0.00285032, 0.93004384,
 -0.03296793, 0.84223386, 0.01152327, 0.02745103,-0.00824711, 0.02648491,
  1.36004141, 0.00763133, 1.23507567, 0.04482642,-0.01507538,-0.069266  ,
  0.16796546, 0.92916862,-0.01136094,-0.32812765,-0.16984947]

qacc:
[-9.73098728e+00,-4.09537665e-01,-7.67812506e-01, 8.54362798e+00,
  1.31031366e-01,-7.45073603e+01, 3.03319220e+02,-6.81909286e+02,
  1.36617204e+00,-3.92647966e+00, 1.62151621e+01,-2.86746116e+01,
  1.19101522e-01,-3.96921463e-01,-4.22681250e+00, 1.40070116e+01,
 -1.80942912e+00, 6.93572614e-01,-1.97465679e+00, 6.76401921e+00,
 -2.61422216e+01, 4.60965911e+00]

qfrc_actuator:
[ 5.95039014e-05, 9.43592917e-04, 1.57708346e-04,-5.67874053e-05,
 -4.18880240e-04, 1.54251069e-01, 1.41399523e-02, 1.02133412e-01,
  4.78991500e-05, 7.81312570e-04, 1.93835768e-04, 1.46055080e-04,
  2.71568740e-03,-1.61670444e-03, 0.00000000e+00,-1.39061306e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.15256047,  0.91944642,  4.04949093,  0.91944642, 22.5365461 ,
       -4.17412708,  4.04949093, -4.17412708,  5.10030582,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011567974251541768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.79869250e-13,  4.79869250e-13,  1.00000000e+00,  2.30274497e-25,
        1.00000000e+00, -4.79869250e-13, -1.00000000e+00,  0.00000000e+00,
       -4.79869250e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02515675, -0.08305666,  0.06199788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.85112674e-05, 4.54784611e-06, 2.87581340e-05, 2.62387996e-05,
  2.55712922e-05,-2.03387690e-03,-6.05142414e-04,-1.84112951e-03,
  8.06980235e-06,-1.90488802e-05, 3.84362304e-05,-3.31969502e-05,
 -4.04160770e-05,-3.37665134e-05,-1.70897467e-05, 6.27063384e-05,
  1.25419026e-02,-2.48143332e-03,-4.89859680e+00, 5.87893646e-03,
  1.17533219e-02,-1.17479913e-03]


--- Step 1612 ---
qpos:
[ 0.01862103, 0.03002898,-0.00943111,-0.02527905,-0.00285897, 0.93255724,
 -0.03286843, 0.84419903, 0.01152575, 0.02744968,-0.00824724, 0.02648555,
  1.3601675 , 0.00762995, 1.23521847, 0.04483045,-0.01577141,-0.06915942,
  0.16769474, 0.9278864 ,-0.01125136,-0.33125321,-0.17079682]

qacc:
[-8.93007549e+00,-4.13521209e-01,-8.23580771e-01, 7.11066421e+00,
 -1.97780553e-02,-7.26515777e+01, 3.01494410e+02,-6.91721154e+02,
  6.22507623e-01,-2.21925453e+00, 1.21434444e+01,-3.02651891e+01,
  3.33328997e-01,-7.42931673e-01,-7.95613297e+00, 2.70157667e+01,
 -1.86118890e+00, 6.98468878e-01,-2.03128553e+00, 6.71997992e+00,
 -2.56002518e+01, 4.51882177e+00]

qfrc_actuator:
[ 7.50542197e-06, 8.92373559e-04, 1.56777290e-04,-4.12524769e-05,
 -4.37488700e-04, 1.53743690e-01, 1.40830829e-02, 1.00376452e-01,
  5.14249470e-05, 7.62035717e-04, 1.84222388e-04, 9.09745113e-05,
  2.70222014e-03,-1.64314277e-03, 0.00000000e+00,-1.26179027e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.1478564 ,  1.00328494,  4.0246903 ,  1.00328494, 27.23982786,
       -5.75642483,  4.0246903 , -5.75642483,  5.58283248,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001112357341889747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.99040633e-13,  4.99040633e-13,  1.00000000e+00,  2.49041554e-25,
        1.00000000e+00, -4.99040633e-13, -1.00000000e+00,  0.00000000e+00,
       -4.99040633e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02514202, -0.08306167,  0.06199796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.37062941e-05,-4.16576542e-05, 4.44947973e-06, 1.72364260e-05,
 -5.79409342e-06,-1.86805442e-03,-6.00040914e-04,-1.88168060e-03,
  3.75177208e-06,-2.33597546e-05,-9.94877446e-06,-5.52137173e-05,
 -4.23669308e-05,-4.54654010e-05,-3.11101665e-06, 1.29613427e-04,
  1.28494179e-02,-2.55628457e-03,-4.89835278e+00, 5.92618120e-03,
  1.17434545e-02,-1.19840782e-03]


--- Step 1613 ---
qpos:
[ 0.0186199 , 0.03002878,-0.00943067,-0.02527908,-0.00286755, 0.93506303,
 -0.03277402, 0.84612889, 0.01152791, 0.02744792,-0.0082471 , 0.02648588,
  1.36029331, 0.00762847, 1.23536168, 0.0448323 ,-0.01647506,-0.06905002,
  0.16741566, 0.92657752,-0.01114073,-0.3344237 ,-0.17172879]

qacc:
[ 6.39740361e-01,-6.79706577e-02, 1.42099443e-01,-1.80958486e+00,
  3.70134886e-02,-5.75670423e+01, 2.60565482e+02,-6.59101201e+02,
 -2.72745200e+00,-1.92738565e+00, 7.37795967e+00,-1.27748794e+01,
 -3.49228931e-01, 2.68809682e-01, 7.24427448e+00,-2.44085608e+01,
 -1.90504902e+00, 7.02063598e-01,-2.09200386e+00, 6.71880444e+00,
 -2.52497851e+01, 4.43126792e+00]

qfrc_actuator:
[ 1.29195471e-05, 8.61821844e-04, 1.38053022e-04,-4.99471860e-05,
 -4.27408134e-04, 1.53737667e-01, 1.39571486e-02, 9.86283393e-02,
  3.47532405e-05, 7.33328133e-04, 1.96284235e-04, 7.60569789e-05,
  2.69493751e-03,-1.64043381e-03, 0.00000000e+00,-1.38286260e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.14248187,  1.10862877,  3.991378  ,  1.10862877, 33.04809033,
       -8.02870317,  3.991378  , -8.02870317,  6.37250152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010591848114460678
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.24093158e-13, -5.24093158e-13,  1.00000000e+00, -2.74673638e-25,
        1.00000000e+00,  5.24093158e-13, -1.00000000e+00,  0.00000000e+00,
       -5.24093158e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02512932, -0.08306706,  0.06199805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.83251978e-06,-5.22177349e-05,-2.61901055e-05,-9.98827114e-06,
  6.93453418e-06,-1.27442751e-03,-6.36633718e-04,-1.86806768e-03,
 -1.65715066e-05,-4.61334946e-05, 4.11903942e-06,-1.73351649e-05,
 -3.95068831e-05,-2.03221622e-05, 1.04194342e-05,-1.14846728e-04,
  1.31525459e-02,-2.63121674e-03,-4.89810367e+00, 5.97087467e-03,
  1.17321423e-02,-1.22231991e-03]


--- Step 1614 ---
qpos:
[ 0.01861919, 0.03002855,-0.0094306 ,-0.02527924,-0.00287584, 0.93757085,
 -0.03268725, 0.84802409, 0.01152984, 0.02744573,-0.00824598, 0.02648633,
  1.36041884, 0.00762696, 1.23550501, 0.04483204,-0.01718649,-0.06893781,
  0.16712795, 0.92524166,-0.01102896,-0.33763854,-0.17264543]

qacc:
[ 3.57238324e+00, 7.00120998e-01,-2.02721530e+00, 3.60855981e-01,
  1.43785037e-01,-3.68398051e+01, 2.06211570e+02,-6.08550131e+02,
 -1.81274757e+00,-3.07141420e+00, 9.64395177e+00,-8.88799308e+00,
 -3.61003347e-01, 3.40563471e-01, 6.60953180e+00,-2.27774133e+01,
 -1.94252476e+00, 7.04606552e-01,-2.15601890e+00, 6.75198776e+00,
 -2.50517427e+01, 4.34617069e+00]

qfrc_actuator:
[ 3.43283410e-05, 8.79279617e-04, 1.26785019e-04,-5.50716717e-05,
 -4.00215803e-04, 1.54547077e-01, 1.38291182e-02, 9.69352208e-02,
  2.40808398e-05, 7.34805601e-04, 2.56557824e-04, 8.49070237e-05,
  2.68605456e-03,-1.63815127e-03, 0.00000000e+00,-1.49043766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.13665962,   1.24212991,   3.94576559,   1.24212991,
        40.15686579, -11.33918743,   3.94576559, -11.33918743,
         7.70624417,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -9.982394372665127e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.56090545e-13, -5.56090545e-13,  1.00000000e+00,  3.09236694e-25,
        1.00000000e+00,  5.56090545e-13, -1.00000000e+00,  0.00000000e+00,
        5.56090545e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0251182 , -0.08307276,  0.06199816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.06138429e-05,-1.36069064e-04,-5.24836332e-04,-1.79444896e-03,
 -1.11788329e-05,-2.41503570e-05, 5.06726263e-05, 6.68216333e-06,
 -3.42382331e-05,-1.26308455e-05,-1.26707008e-05,-1.13703797e-04,
  1.34536222e-02,-2.70652703e-03,-4.89784821e+00, 6.01377843e-03,
  1.17195379e-02,-1.24651695e-03]


--- Step 1615 ---
qpos:
[ 0.01861908, 0.03002807,-0.00943039,-0.02527879,-0.00288361, 0.94008457,
 -0.03260518, 0.8498851 , 0.01153198, 0.02744371,-0.00824434, 0.0264865 ,
  1.36054415, 0.00762524, 1.23564788, 0.04483348,-0.01790581,-0.06882277,
  0.16683135, 0.92387841,-0.01091594,-0.34089742,-0.17354676]

qacc:
[ 5.21726486e+00, 5.42699541e-01,-5.02985440e+00, 1.57141755e+01,
  2.48402387e-01,-3.89085420e+01, 2.17947921e+02,-6.15530751e+02,
  1.72675964e+00,-1.79144673e+00, 7.91331465e+00,-1.38129963e+01,
  1.18528906e-01,-3.45839816e-01,-5.86670389e+00, 1.94966693e+01,
 -1.97479812e+00, 7.06291476e-01,-2.22274694e+00, 6.81280956e+00,
 -2.49752516e+01, 4.26288153e+00]

qfrc_actuator:
[ 6.49611468e-05, 8.72120965e-04, 1.37972336e-04,-2.24954489e-05,
 -3.63012264e-04, 1.55271059e-01, 1.37576944e-02, 9.52530861e-02,
  3.47846204e-05, 7.72329380e-04, 2.91681682e-04, 7.22137177e-05,
  2.67089392e-03,-1.65391646e-03, 0.00000000e+00,-1.39383513e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -9.303550338152222e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.96666318e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.96666318e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02510829, -0.08307872,  0.06199828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.28767859e-05, 4.34648121e-04,-2.27697865e-04,-1.74135353e-03,
  1.03598156e-05, 3.48395611e-05, 3.66216625e-05,-1.18426765e-05,
 -3.63812762e-05,-2.70568647e-05,-2.19028895e-05, 8.78656517e-05,
  1.37545462e-02,-2.78246485e-03,-4.89758530e+00, 6.05549689e-03,
  1.17057562e-02,-1.27098505e-03]


--- Step 1616 ---
qpos:
[ 0.01862072, 0.03002724,-0.00942966,-0.02527865,-0.00289088, 0.94260104,
 -0.03252414, 0.851714  , 0.01153389, 0.02744225,-0.00824274, 0.02648615,
  1.36066893, 0.0076239 , 1.23579074, 0.04483503,-0.01863315,-0.0687049 ,
  0.16652558, 0.92248726,-0.01080156,-0.3442002 ,-0.17443278]

qacc:
[ 1.50119367e+01,-2.59430662e+00, 9.84071697e+00,-1.57965787e+01,
  2.47817164e-01,-4.93267468e+01, 2.42019278e+02,-6.09282766e+02,
 -2.00174474e+00,-2.47490582e-01, 4.12767230e+00,-1.33900153e+01,
 -6.71854074e-01, 8.89482268e-01,-2.59852790e-01, 1.02130915e+00,
 -2.00278664e+00, 7.07267310e-01,-2.29176689e+00, 6.89596016e+00,
 -2.49959086e+01, 4.18088734e+00]

qfrc_actuator:
[ 1.54029760e-04, 8.50410263e-04, 1.62266005e-04,-3.90092252e-05,
 -3.37888382e-04, 1.55335507e-01, 1.36848263e-02, 9.36441826e-02,
  2.24778571e-05, 8.13305650e-04, 2.94046838e-04, 4.69518391e-05,
  2.64664702e-03,-1.62705151e-03, 0.00000000e+00,-1.39073544e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -8.562520851232436e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.48303837e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.48303837e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02509932, -0.08308489,  0.06199841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.22949191e-05, 1.52400937e-04,-8.01760250e-05,-1.63939386e-03,
 -1.19967585e-05, 6.75801811e-05, 1.36686760e-05,-2.27317091e-05,
 -4.94988483e-05, 1.07237389e-05,-2.12370212e-06, 4.76589593e-06,
  1.40568596e-02,-2.85923900e-03,-4.89731393e+00, 6.09651148e-03,
  1.16908827e-02,-1.29571384e-03]


--- Step 1617 ---
qpos:
[ 0.01862273, 0.03002646,-0.00942879,-0.02527908,-0.00289788, 0.94511748,
 -0.03244319, 0.85351034, 0.01153529, 0.02744173,-0.00824191, 0.02648619,
  1.36079324, 0.0076231 , 1.23593389, 0.04483391,-0.01936859,-0.0685842 ,
  0.16621036, 0.92106768,-0.01068569,-0.34754688,-0.17530347]

qacc:
[ 3.14167836e+00,-1.51631740e+00, 7.92824318e+00,-1.81001581e+01,
  1.29043364e-01,-5.63166625e+01, 2.61423857e+02,-6.30080910e+02,
 -4.36701698e+00, 4.23939676e+00,-1.49515004e+01, 2.22891973e+01,
 -9.44583998e-01, 1.33048412e+00, 8.57926380e+00,-2.91500405e+01,
 -2.02719795e+00, 7.07647211e-01,-2.36278331e+00, 6.99724473e+00,
 -2.50944114e+01, 4.09977838e+00]

qfrc_actuator:
[ 1.70261098e-04, 8.73437874e-04, 1.76241218e-04,-6.65369845e-05,
 -3.37964047e-04, 1.55200316e-01, 1.36270571e-02, 9.20020411e-02,
 -3.28130691e-06, 8.73646728e-04, 2.59331806e-04, 6.77474261e-05,
  2.63296164e-03,-1.59287684e-03, 0.00000000e+00,-1.53157294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -7.765494319962596e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.14843756e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.14843756e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02509104, -0.08309123,  0.06199856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88436042e-05, 8.74721592e-06, 9.35792434e-06,-2.85019618e-05,
  2.68051070e-05,-1.70876410e-04,-1.00597190e-04,-1.67501612e-03,
 -2.60897718e-05, 1.00018506e-04,-1.98567998e-05, 2.37235478e-05,
 -3.66457770e-05, 2.57097429e-05,-4.25092999e-06,-1.41693245e-04,
  1.43618123e-02,-2.93702385e-03,-4.89703318e+00, 6.13720757e-03,
  1.16749798e-02,-1.32069572e-03]


--- Step 1618 ---
qpos:
[ 0.01862285, 0.0300257 ,-0.00942772,-0.02528018,-0.00290473, 0.94763327,
 -0.03236321, 0.85527282, 0.01153671, 0.02744167,-0.00824134, 0.02648651,
  1.36091743, 0.00762216, 1.23607704, 0.04483078,-0.02011223,-0.06846067,
  0.1658854 , 0.91961906,-0.01056822,-0.35093756,-0.17615879]

qacc:
[-1.61949326e+01,-1.86464384e+00, 9.52545986e+00,-2.14308183e+01,
  7.97988411e-02,-5.69345890e+01, 2.65254378e+02,-6.48149111e+02,
  1.98703649e-01, 1.90306193e+00,-7.06119865e+00, 1.18956009e+01,
 -1.51379825e-01, 6.32585767e-02, 6.10678465e+00,-2.13369921e+01,
 -2.04857306e+00, 7.07515768e-01,-2.43559709e+00, 7.11334946e+00,
 -2.52554806e+01, 4.01922402e+00]

qfrc_actuator:
[ 7.24620593e-05, 8.69773377e-04, 1.84187365e-04,-1.00289470e-04,
 -3.35362444e-04, 1.55142304e-01, 1.35600676e-02, 9.03000117e-02,
 -1.23947774e-06, 8.73987854e-04, 2.38637527e-04, 7.99710901e-05,
  2.62562661e-03,-1.60787743e-03, 0.00000000e+00,-1.63178566e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -6.917751717684661e-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([ 0.02508327, -0.08309771,  0.06199871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.72444458e-05, 1.95819632e-06, 9.91611873e-06,-3.36096811e-05,
  1.63818028e-05,-2.77860783e-04,-1.77048202e-04,-1.74677676e-03,
  1.31129270e-06, 5.31914425e-05,-1.66014553e-06, 1.62850667e-05,
 -2.06804641e-05,-1.59227603e-05,-2.20636841e-05,-1.09621074e-04,
  1.46704159e-02,-3.01596468e-03,-4.89674222e+00, 6.17789540e-03,
  1.16580914e-02,-1.34592517e-03]


--- Step 1619 ---
qpos:
[ 0.01862248, 0.03002547,-0.00942709,-0.0252817 ,-0.00291146, 0.950146  ,
 -0.03228437, 0.85700354, 0.01153815, 0.02744149,-0.008241  , 0.0264867 ,
  1.36104155, 0.00762083, 1.2362198 , 0.04482845,-0.02086414,-0.06833431,
  0.1655504 , 0.91814076,-0.01044901,-0.35437245,-0.17699869]

qacc:
[-4.17725315e+00, 1.06660489e+00,-9.80351729e-01,-6.02236258e+00,
  6.27016023e-02,-5.60060577e+01, 2.53191540e+02,-6.09724008e+02,
  1.11576914e-01, 2.22268638e-01,-4.84424096e-01,-1.26350245e+00,
  2.92285588e-01,-6.16261170e-01,-3.02658039e+00, 9.67467597e+00,
 -2.06732061e+00, 7.06934772e-01,-2.51008231e+00, 7.24165673e+00,
 -2.54670100e+01, 3.93895466e+00]

qfrc_actuator:
[ 5.03735865e-05, 9.21136023e-04, 1.70663082e-04,-1.19700169e-04,
 -3.31157315e-04, 1.54864930e-01, 1.34529634e-02, 8.87006334e-02,
 -5.99103599e-07, 8.20680737e-04, 2.08396480e-04, 6.92599849e-05,
  2.61676084e-03,-1.63417326e-03, 0.00000000e+00,-1.58293542e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -6.023767656124224e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.60767699e-13, -9.21535398e-13,  1.00000000e+00, -4.24613745e-25,
        1.00000000e+00,  9.21535398e-13, -1.00000000e+00,  0.00000000e+00,
       -4.60767699e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02507586, -0.08310431,  0.06199887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.26282632e-05,-5.73730205e-04,-2.49200470e-04,-1.65149326e-03,
  6.97188890e-07,-2.32074541e-05,-1.88998719e-05,-8.17377543e-06,
 -2.40800024e-05,-3.52749531e-05,-2.49881472e-05, 3.93128752e-05,
  1.49834877e-02,-3.09618206e-03,-4.89644025e+00, 6.21882662e-03,
  1.16402471e-02,-1.37139831e-03]


--- Step 1620 ---
qpos:
[ 0.01862288, 0.03002596,-0.00942708,-0.02528311,-0.00291824, 0.95265068,
 -0.03220507, 0.85870413, 0.01153924, 0.0274413 ,-0.00824159, 0.0264868 ,
  1.36116552, 0.00761921, 1.23636223, 0.04482801,-0.02162438,-0.06820513,
  0.16520506, 0.91663207,-0.01032793,-0.35785183,-0.17782309]

qacc:
[ 6.58423994e+00, 2.89024308e+00,-9.42134902e+00, 1.18496566e+01,
 -2.22004889e-02,-6.40720252e+01, 2.67682237e+02,-5.99155585e+02,
 -2.99854916e+00, 2.40856694e+00,-8.21916158e+00, 8.11554821e+00,
  2.23757953e-01,-4.98232247e-01,-6.25302692e+00, 2.10956538e+01,
 -2.08374404e+00, 7.05947821e-01,-2.58616800e+00, 7.38009904e+00,
 -2.57193971e+01, 3.85874796e+00]

qfrc_actuator:
[ 9.08153886e-05, 9.69474519e-04, 1.44804508e-04,-1.12732384e-04,
 -3.43770266e-04, 1.54192322e-01, 1.33756043e-02, 8.71742913e-02,
 -1.85508500e-05, 8.06591805e-04, 1.54748568e-04, 6.28329276e-05,
  2.60697622e-03,-1.64918290e-03, 0.00000000e+00,-1.48216210e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -5.087303605877391e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.72792601e-12,  1.09117040e-12,  1.00000000e+00, -2.97663212e-24,
        1.00000000e+00, -1.09117040e-12, -1.00000000e+00,  0.00000000e+00,
        2.72792601e-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([ 0.02506869, -0.08311101,  0.06199905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.14545349e-06,-1.14374450e-03,-2.83182525e-04,-1.58799828e-03,
 -1.79384794e-05,-3.13142032e-05,-6.10533530e-05,-8.23515655e-06,
 -3.08914565e-05,-3.05179941e-05,-8.74618637e-06, 9.93856234e-05,
  1.53016853e-02,-3.17777556e-03,-4.89612650e+00, 6.26020721e-03,
  1.16214651e-02,-1.39711247e-03]


--- Step 1621 ---
qpos:
[ 0.01862308, 0.03002647,-0.0094274 ,-0.02528401,-0.00292527, 0.95514194,
 -0.03212416, 0.86037438, 0.01154011, 0.02744097,-0.00824281, 0.02648647,
  1.36128929, 0.0076176 , 1.23650474, 0.04482742,-0.02239301,-0.06807313,
  0.16484905, 0.91509227,-0.01020485,-0.36137602,-0.17863193]

qacc:
[-1.78971838e+00, 2.03365901e+00,-9.35423801e+00, 1.87031983e+01,
 -1.10847618e-01,-7.45204657e+01, 2.93660323e+02,-6.20815248e+02,
 -1.92575609e+00, 6.85610482e-01,-8.77953797e-01,-5.46931529e+00,
 -1.81321078e-01, 1.70334684e-01, 5.98452944e-01,-1.88481473e+00,
 -2.09806311e+00, 7.04583989e-01,-2.66382391e+00, 7.52704358e+00,
 -2.60050154e+01, 3.77841856e+00]

qfrc_actuator:
[ 7.89506113e-05, 9.26838537e-04, 1.11899428e-04,-9.03034200e-05,
 -3.66343210e-04, 1.53200024e-01, 1.33326901e-02, 8.56318343e-02,
 -2.95489365e-05, 7.98226095e-04, 1.23359473e-04, 4.12396969e-05,
  2.60730299e-03,-1.63961557e-03, 0.00000000e+00,-1.49367188e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.1114934501373934e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02521852e-12, -1.35014568e-12,  1.00000000e+00,  2.73434004e-24,
        1.00000000e+00,  1.35014568e-12, -1.00000000e+00,  0.00000000e+00,
        2.02521852e-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([ 0.02506165, -0.08311778,  0.06199923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06818719e-05,-4.18969838e-06,-1.93569850e-05, 2.51863617e-05,
 -2.58552438e-05,-1.78357866e-03,-3.63133159e-04,-1.62202370e-03,
 -1.15329939e-05,-3.88302313e-05,-4.56515380e-05,-2.52054396e-05,
 -2.26840782e-05,-6.39358177e-06, 4.70524971e-06,-7.62445053e-06,
  1.56255356e-02,-3.26082680e-03,-4.89580025e+00, 6.30220763e-03,
  1.16017547e-02,-1.42306592e-03]


--- Step 1622 ---
qpos:
[ 0.01862314, 0.03002677,-0.009428  ,-0.02528426,-0.0029327 , 0.95761855,
 -0.03204378, 0.86201378, 0.01154083, 0.02744024,-0.00824405, 0.02648588,
  1.36141295, 0.00761605, 1.23664733, 0.04482603,-0.02317009,-0.06793832,
  0.16448208, 0.91352061,-0.01007963,-0.36494538,-0.17942512]

qacc:
[-1.23335106e+00, 1.82772265e+00,-9.64314765e+00, 2.14276651e+01,
 -1.85147107e-01,-7.12650854e+01, 2.81947587e+02,-6.15184187e+02,
 -1.17737434e+00,-1.01978450e+00, 3.96588266e+00,-8.17937082e+00,
 -1.84604104e-01, 2.17063695e-01, 2.54951992e+00,-8.71380280e+00,
 -2.11043096e+00, 7.02860753e-01,-2.74304938e+00, 7.68120101e+00,
 -2.63177982e+01, 3.69781022e+00]

qfrc_actuator:
[ 7.18771475e-05, 9.01038872e-04, 9.24897779e-05,-5.90408017e-05,
 -3.94680994e-04, 1.52361800e-01, 1.32558647e-02, 8.40742120e-02,
 -3.63599956e-05, 7.75663735e-04, 1.23139651e-04, 2.86733750e-05,
  2.60837945e-03,-1.63324393e-03, 0.00000000e+00,-1.53575510e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -3.0989216549731635e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79130541e-12, -1.79130541e-12,  1.00000000e+00,  3.20877507e-24,
        1.00000000e+00,  1.79130541e-12, -1.00000000e+00,  0.00000000e+00,
        1.79130541e-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([ 0.02505467, -0.08312462,  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:
[-7.38757918e-06,-3.10791402e-05,-2.17875711e-05, 3.09059805e-05,
 -4.18892040e-05,-2.00054028e-03,-5.33446790e-04,-1.66089117e-03,
 -7.16196133e-06,-5.47611253e-05,-1.47156579e-05,-1.62956459e-05,
 -1.21628632e-05,-6.91076494e-07,-2.33117154e-06,-4.27314572e-05,
  1.59554570e-02,-3.34540186e-03,-4.89546079e+00, 6.34497080e-03,
  1.15811178e-02,-1.44925758e-03]


--- Step 1623 ---
qpos:
[ 0.01862414, 0.03002706,-0.00942864,-0.02528417,-0.00294029, 0.96007962,
 -0.03196498, 0.86362505, 0.01154216, 0.02743899,-0.00824525, 0.02648515,
  1.36153624, 0.00761469, 1.23678972, 0.04482549,-0.02395565,-0.06780071,
  0.16410381, 0.91191627,-0.00995212,-0.36856032,-0.18020256]

qacc:
[ 8.13757374e+00, 7.57024098e-01,-4.16144892e+00, 1.00432179e+01,
 -7.47023756e-02,-6.49016726e+01, 2.53114951e+02,-5.55405604e+02,
  5.14535716e+00,-1.08697425e+00, 3.45944013e+00,-5.50899142e+00,
 -3.50106740e-01, 4.32852803e-01,-2.80535411e+00, 9.46486233e+00,
 -2.12094747e+00, 7.00786307e-01,-2.82386467e+00, 7.84155343e+00,
 -2.66529109e+01, 3.61678988e+00]

qfrc_actuator:
[ 1.20955162e-04, 9.21069593e-04, 9.90013612e-05,-4.05718536e-05,
 -3.90720977e-04, 1.51551614e-01, 1.31601867e-02, 8.26621634e-02,
 -5.14910189e-06, 7.44912118e-04, 1.23515685e-04, 2.15279949e-05,
  2.57795069e-03,-1.62882582e-03, 0.00000000e+00,-1.48895888e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -2.0516944164689077e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.76406179e-12, -2.70562472e-12,  1.00000000e+00,  1.83010128e-23,
        1.00000000e+00,  2.70562472e-12, -1.00000000e+00,  0.00000000e+00,
        6.76406179e-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([ 0.02504767, -0.08313151,  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:
[ 4.88512011e-05,-5.31149569e-07,-1.51712541e-06, 1.69878675e-05,
 -1.79401046e-05,-2.12711328e-03,-6.15720580e-04,-1.52821475e-03,
  3.09795271e-05,-6.50702887e-05,-1.32866223e-05,-1.03122670e-05,
 -3.71771136e-05, 1.57744825e-06,-9.15349337e-06, 4.33584536e-05,
  1.62917775e-02,-3.43155329e-03,-4.89510742e+00, 6.38861833e-03,
  1.15595510e-02,-1.47568687e-03]


--- Step 1624 ---
qpos:
[ 0.01862607, 0.0300276 ,-0.00942931,-0.02528425,-0.00294775, 0.9625217 ,
 -0.03188642, 0.86521096, 0.01154351, 0.02743801,-0.00824706, 0.02648429,
  1.36165913, 0.00761368, 1.23693244, 0.04482213,-0.02474973,-0.0676603 ,
  0.16371392, 0.91027844,-0.00982219,-0.37222126,-0.18096414]

qacc:
[ 7.93099941e+00, 9.83821232e-02, 7.70634509e-01,-3.60998997e+00,
  7.27423430e-02,-6.81895741e+01, 2.51862813e+02,-5.18240978e+02,
  1.34784770e-01, 1.80955504e+00,-5.38419368e+00, 3.87123928e+00,
 -7.81336795e-01, 1.03501176e+00, 9.05784310e+00,-3.07845479e+01,
 -2.12966999e+00, 6.98361396e-01,-2.90630436e+00, 8.00729742e+00,
 -2.70064920e+01, 3.53524316e+00]

qfrc_actuator:
[ 1.67184297e-04, 9.50732968e-04, 1.03184121e-04,-4.74777666e-05,
 -3.67453366e-04, 1.50445458e-01, 1.30899538e-02, 8.13825822e-02,
 -5.06801468e-06, 7.98275469e-04, 1.06441284e-04, 1.76149460e-05,
  2.56060091e-03,-1.60799750e-03, 0.00000000e+00,-1.63869320e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -9.715042016578135e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02504061, -0.08313845,  0.06199982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.76515427e-05, 2.97909831e-05, 4.47481943e-06,-6.65197520e-06,
  1.37484979e-05,-2.50450321e-03,-6.20433685e-04,-1.39918457e-03,
  9.61758269e-07, 1.38648017e-05,-3.24786727e-05,-7.35595375e-06,
 -3.61669078e-05, 1.26550692e-05,-2.33127287e-06,-1.49149609e-04,
  1.66347489e-02,-3.51932170e-03,-4.89473944e+00, 6.43325552e-03,
  1.15370461e-02,-1.50235351e-03]


--- Step 1625 ---
qpos:
[ 0.0186275 , 0.03002836,-0.00943018,-0.02528508,-0.00295515, 0.96494459,
 -0.0318094 , 0.86677002, 0.01154416, 0.02743751,-0.00824929, 0.02648369,
  1.36178184, 0.00761284, 1.23707526, 0.04481601,-0.02554368,-0.06751993,
  0.16328487, 0.90862582,-0.00968558,-0.3758765 ,-0.18172   ]

qacc:
[-4.25078930e+00,-7.28614552e-01, 6.22324873e+00,-1.91989164e+01,
  3.66363523e-02,-6.75455166e+01, 2.52634579e+02,-5.36261697e+02,
 -5.98304294e+00, 2.31220873e+00,-8.40890007e+00, 1.32001207e+01,
 -4.65808148e-01, 6.21643052e-01, 8.56675749e+00,-2.96538652e+01,
  3.24463186e-02,-9.38008109e-03,-9.78787212e+00, 3.51317997e+00,
  4.13453622e-01, 5.02795007e-02]

qfrc_actuator:
[ 1.40337670e-04, 9.50413166e-04, 8.82352209e-05,-8.70014009e-05,
 -3.68343700e-04, 1.49473164e-01, 1.29987845e-02, 8.00311932e-02,
 -4.10748632e-05, 8.48281116e-04, 9.72967974e-05, 3.34452456e-05,
  2.56176642e-03,-1.59530355e-03, 0.00000000e+00,-1.77876726e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.54485864e-05, 1.69774521e-05,-8.47721413e-06,-3.82247506e-05,
  6.00325108e-06,-2.57580067e-03,-7.12176765e-04,-1.48020112e-03,
 -3.59773551e-05, 5.07980813e-05,-1.04994311e-05, 1.51659075e-05,
 -1.49978942e-05, 8.15010536e-06,-2.20204449e-05,-1.49649994e-04,
  1.69845579e-02,-3.60873694e-03,-4.89435617e+00, 6.47897517e-03,
  1.15135917e-02,-1.52925743e-03]


--- Step 1626 ---
qpos:
[ 0.0186286 , 0.0300289 ,-0.00943104,-0.02528634,-0.00296249, 0.96735176,
 -0.03173597, 0.86829954, 0.01154368, 0.02743637,-0.00825061, 0.02648368,
  1.36190433, 0.00761221, 1.23721778, 0.04480956,-0.02634796,-0.06737622,
  0.16284901, 0.90693418,-0.00954708,-0.37958978,-0.18245779]

qacc:
[-2.84672810e+00,-1.18406023e+00, 5.60896883e+00,-1.28218875e+01,
  3.10743497e-02,-6.21052261e+01, 2.46396536e+02,-5.65095241e+02,
 -9.56466653e+00,-2.11965168e+00, 3.87947483e+00, 5.35188472e+00,
 -3.16760777e-01, 4.34487388e-01, 5.62692776e-01,-2.53110246e+00,
 -2.58276388e+00, 8.35708892e-01,-1.70416308e+00, 9.33973455e+00,
 -3.36144340e+01, 4.02731284e+00]

qfrc_actuator:
[ 1.23952807e-04, 9.14282937e-04, 7.97283530e-05,-1.09927513e-04,
 -3.65956537e-04, 1.48926303e-01, 1.28964467e-02, 7.85595862e-02,
 -9.80245326e-05, 7.71682885e-04, 1.28446981e-04, 6.07802441e-05,
  2.54740556e-03,-1.58746156e-03, 0.00000000e+00,-1.78768961e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -2.0350387079509646e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.72776881e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.72776881e-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([ 0.02500828, -0.08314756,  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:
[-1.71199331e-05,-3.00528205e-05,-7.36429245e-06,-2.32340015e-05,
  5.25582733e-06,-2.20996557e-03,-7.50151454e-04,-1.60718740e-03,
 -5.79902701e-05,-4.96754340e-05, 4.09101320e-05, 2.94528138e-05,
 -2.11125257e-05, 7.15522697e-06,-2.97046129e-05,-2.07349243e-05,
  1.68900082e-02,-3.59844516e-03,-4.89421743e+00, 6.46856888e-03,
  1.14782030e-02,-1.55744336e-03]


--- Step 1627 ---
qpos:
[ 0.01863053, 0.0300285 ,-0.00943112,-0.02528713,-0.00296943, 0.96974588,
 -0.03166542, 0.86979788, 0.01154322, 0.02743462,-0.00825141, 0.02648367,
  1.36202664, 0.00761168, 1.23736028, 0.04480167,-0.02716234,-0.06722926,
  0.16240514, 0.90520307,-0.00940641,-0.38335997,-0.18317766]

qacc:
[ 7.15540351e+00,-2.46759664e+00, 4.99360529e+00, 2.56913498e+00,
  1.99476488e-01,-6.32760252e+01, 2.58118265e+02,-5.96688955e+02,
  1.08889613e-01,-2.24026639e+00, 6.77337086e+00,-7.00491125e+00,
 -3.16231286e-01, 3.97599586e-01, 4.37519876e+00,-1.52794356e+01,
 -2.52514909e+00, 8.11122278e-01,-2.00237888e+00, 9.38747659e+00,
 -3.31832378e+01, 3.84316307e+00]

qfrc_actuator:
[ 1.67138557e-04, 8.39258900e-04, 1.10465496e-04,-8.74200124e-05,
 -3.26114476e-04, 1.48532377e-01, 1.28433239e-02, 7.70115307e-02,
 -9.58232360e-05, 7.26556976e-04, 1.47123777e-04, 5.90776565e-05,
  2.53971781e-03,-1.58261968e-03, 0.00000000e+00,-1.86128369e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -3.521888313251509e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.5761758e-12,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.5761758e-12, -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([ 0.02498609, -0.0831506 ,  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:
[ 4.26770644e-05,-9.43612065e-05, 2.28254454e-05, 2.05175766e-05,
  4.23670424e-05,-1.86529221e-03,-6.36691548e-04,-1.67585584e-03,
  4.77083304e-07,-6.31571731e-05, 1.45041803e-05,-1.83483276e-06,
 -1.75217289e-05, 2.29664466e-06,-1.79130496e-05,-7.89802969e-05,
  1.73460867e-02,-3.71125376e-03,-4.89375449e+00, 6.53040044e-03,
  1.14560969e-02,-1.58448360e-03]


--- Step 1628 ---
qpos:
[ 0.01863297, 0.0300275 ,-0.00943064,-0.02528733,-0.00297607, 0.97212798,
 -0.03159744, 0.87126731, 0.01154416, 0.02743302,-0.00825224, 0.0264829 ,
  1.36214868, 0.00761128, 1.23750283, 0.0447916 ,-0.02798661,-0.06707915,
  0.16195217, 0.90343198,-0.00926331,-0.38718613,-0.18387972]

qacc:
[ 4.33787498e+00,-1.14236361e+00, 4.14781178e-01, 9.38395700e+00,
  1.45095925e-01,-5.89306974e+01, 2.40138094e+02,-5.53706234e+02,
  1.20051115e+01,-1.34436450e+00, 8.28567977e+00,-2.16488709e+01,
 -4.65123248e-01, 5.59062672e-01, 6.73407222e+00,-2.33410380e+01,
 -2.47266918e+00, 7.88821857e-01,-2.27401043e+00, 9.45432513e+00,
 -3.28619672e+01, 3.67075835e+00]

qfrc_actuator:
[ 1.91780075e-04, 8.30477088e-04, 1.46227150e-04,-5.61272684e-05,
 -3.17432067e-04, 1.48074055e-01, 1.27672185e-02, 7.55730780e-02,
 -2.33110609e-05, 7.71561053e-04, 1.58341328e-04, 2.25468596e-05,
  2.52005961e-03,-1.57957036e-03, 0.00000000e+00,-1.97242618e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.417810806653377e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.14132687e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.14132687e-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([ 0.02496643, -0.08315442,  0.06199915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.58519691e-05,-5.59288279e-05, 1.97977026e-05, 2.84426579e-05,
  3.06150091e-05,-1.71790226e-03,-5.80412350e-04,-1.55330534e-03,
  7.24972631e-05, 1.26750188e-05,-7.61263972e-08,-3.87655978e-05,
 -2.87928530e-05,-5.03820106e-08,-1.97890309e-05,-1.18445595e-04,
  1.77977292e-02,-3.82341210e-03,-4.89327875e+00, 6.59144526e-03,
  1.14324755e-02,-1.61182273e-03]


--- Step 1629 ---
qpos:
[ 0.01863499, 0.03002687,-0.00943042,-0.02528756,-0.00298265, 0.97449885,
 -0.03153228, 0.87270873, 0.01154562, 0.02743121,-0.00825229, 0.02648203,
  1.36227048, 0.00761074, 1.23764525, 0.04478024,-0.02882058,-0.06692596,
  0.16148912, 0.90162031,-0.00911752,-0.39106752,-0.18456403]

qacc:
[-3.55842254e+00, 1.13641722e+00,-3.14766033e+00, 2.58112078e+00,
  3.16649521e-02,-5.55838657e+01, 2.28239404e+02,-5.32433904e+02,
  4.44374581e+00,-2.66241534e+00, 9.51209809e+00,-1.23101734e+01,
 -1.86774815e-01, 5.84421878e-02, 3.70347514e+00,-1.31929111e+01,
 -2.42447140e+00, 7.68439150e-01,-2.52288563e+00, 9.53794610e+00,
 -3.26366271e+01, 3.50870771e+00]

qfrc_actuator:
[ 1.69785005e-04, 8.96978832e-04, 1.49405234e-04,-5.53801897e-05,
 -3.27495583e-04, 1.47616808e-01, 1.26603906e-02, 7.41750866e-02,
  1.22296714e-06, 7.63613474e-04, 2.00925336e-04, 1.91528730e-05,
  2.49855981e-03,-1.59541165e-03, 0.00000000e+00,-2.03376900e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.807544521569229e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.77333720e-13,  3.46400232e-12,  1.00000000e+00,  1.99988534e-24,
        1.00000000e+00, -3.46400232e-12, -1.00000000e+00,  0.00000000e+00,
       -5.77333720e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02494889, -0.08315891,  0.06199907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12605017e-05, 4.05660461e-05,-4.94768982e-06,-4.08596791e-07,
  5.77317519e-06,-1.61947921e-03,-5.71606243e-04,-1.50359108e-03,
  2.66580852e-05,-2.43880977e-06, 4.38797671e-05,-3.60356400e-06,
 -3.70836041e-05,-2.22075256e-05,-2.52985302e-05,-7.11302552e-05,
  1.82460875e-02,-3.93511104e-03,-4.89278912e+00, 6.65207319e-03,
  1.14073900e-02,-1.63945177e-03]


--- Step 1630 ---
qpos:
[ 0.01863707, 0.03002676,-0.00943081,-0.02528813,-0.00298873, 0.97685759,
 -0.03146857, 0.87412119, 0.01154667, 0.02742907,-0.00825146, 0.02648148,
  1.36239214, 0.00760997, 1.23778734, 0.04476953,-0.02966406,-0.06676978,
  0.16101505, 0.89976741,-0.00896881,-0.39500353,-0.18523063]

qacc:
[ 5.34412263e-01, 1.73539183e+00,-3.84383503e+00,-1.17188704e+00,
  2.44516919e-01,-6.21051049e+01, 2.50216039e+02,-5.62513919e+02,
 -3.42932422e+00,-2.23860313e+00, 5.99130559e+00,-1.59724981e+00,
  1.03077836e-01,-3.02853678e-01,-2.47541815e+00, 7.91370792e+00,
 -2.37982823e+00, 7.49664963e-01,-2.75219738e+00, 9.63645754e+00,
 -3.24956193e+01, 3.35578407e+00]

qfrc_actuator:
[ 1.73780426e-04, 9.19149338e-04, 1.15869740e-04,-7.25659734e-05,
 -2.77677152e-04, 1.47022189e-01, 1.25896744e-02, 7.27232711e-02,
 -2.04557094e-05, 7.41934276e-04, 2.43778406e-04, 3.52773103e-05,
  2.49726589e-03,-1.60460979e-03, 0.00000000e+00,-1.99425212e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.764692030279072e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.16505224e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.16505224e-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([ 0.02493316, -0.08316398,  0.06199907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.39203325e-06, 4.38218796e-05,-2.57767644e-05,-1.56261931e-05,
  5.26883307e-05,-1.69842851e-03,-5.13326811e-04,-1.55281455e-03,
 -2.09060233e-05,-1.40516438e-05, 4.76533203e-05, 1.74733262e-05,
 -2.62745533e-05,-2.38989819e-05,-2.19857393e-05, 3.17945667e-05,
  1.86921607e-02,-4.04652065e-03,-4.89228454e+00, 6.71260441e-03,
  1.13808798e-02,-1.66736289e-03]


--- Step 1631 ---
qpos:
[ 0.01863953, 0.03002681,-0.00943153,-0.02528852,-0.00299424, 0.9792041 ,
 -0.03140611, 0.87550531, 0.0115478 , 0.02742705,-0.00825023, 0.02648076,
  1.36251363, 0.00760908, 1.23792882, 0.04476302,-0.0305169 ,-0.06661066,
  0.16052912, 0.89787255,-0.00881692,-0.39899367,-0.18587953]

qacc:
[ 3.21741934e+00, 1.43810084e+00,-5.50298747e+00, 8.74811199e+00,
  2.74453297e-01,-6.17048146e+01, 2.47217012e+02,-5.52159064e+02,
  6.61511107e-01,-1.30034577e+00, 5.59504254e+00,-9.30306449e+00,
  3.07737882e-01,-5.04258451e-01,-1.36385018e+01, 4.63092558e+01,
 -2.33809682e+00, 7.32232845e-01,-2.96466600e+00, 9.74831735e+00,
 -3.24291421e+01, 3.21087915e+00]

qfrc_actuator:
[ 1.93056753e-04, 9.14442072e-04, 9.62811639e-05,-6.47036937e-05,
 -2.45655900e-04, 1.46457057e-01, 1.25403830e-02, 7.13045703e-02,
 -1.58878400e-05, 7.65489653e-04, 2.68627916e-04, 2.72264707e-05,
  2.49211740e-03,-1.60969133e-03, 0.00000000e+00,-1.77137147e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.35313251889724e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.37600061e-13, -2.55040025e-12,  1.00000000e+00,  1.62613535e-24,
        1.00000000e+00,  2.55040025e-12, -1.00000000e+00,  0.00000000e+00,
        6.37600061e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02491891, -0.08316955,  0.06199915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93930169e-05, 1.38093713e-05,-1.42482028e-05, 8.54424060e-06,
  5.94704042e-05,-1.70224673e-03,-5.02022656e-04,-1.52151589e-03,
  3.94177130e-06, 2.63549198e-05, 2.84394235e-05,-6.65888328e-06,
 -2.46489355e-05,-1.78842464e-05,-8.46966745e-06, 2.21433380e-04,
  1.91368151e-02,-4.15779203e-03,-4.89176395e+00, 6.77331931e-03,
  1.13529752e-02,-1.69554913e-03]


--- Step 1632 ---
qpos:
[ 0.01864221, 0.03002693,-0.00943187,-0.02528886,-0.0029996 , 0.98153981,
 -0.03134567, 0.87686263, 0.01155001, 0.02742486,-0.00824937, 0.02647969,
  1.36263489, 0.00760813, 1.23807037, 0.04475786,-0.03137894,-0.06644868,
  0.16003054, 0.89593495,-0.00866164,-0.40303759,-0.1865107 ]

qacc:
[ 1.82926707e+00,-8.00589229e-01, 2.70343977e+00,-2.21625478e+00,
  8.01826201e-02,-5.50654555e+01, 2.24059721e+02,-5.13464552e+02,
  9.20723632e+00, 7.97919944e-02, 8.07591031e-01,-6.01725551e+00,
 -5.46819527e-02,-3.68521628e-02,-3.98279138e+00, 1.40672028e+01,
 -2.29869310e+00, 7.15908066e-01,-3.16264767e+00, 9.87224046e+00,
 -3.24287668e+01, 3.07297829e+00]

qfrc_actuator:
[ 2.03411848e-04, 9.29243962e-04, 1.20505464e-04,-5.99264891e-05,
 -2.60083017e-04, 1.46056591e-01, 1.24865796e-02, 6.99699727e-02,
  3.96134299e-05, 7.09348108e-04, 2.29551906e-04, 5.03634510e-06,
  2.47933795e-03,-1.61230094e-03, 0.00000000e+00,-1.70856837e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -3.628221618098837e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.29497356e-12,  1.52998237e-12,  1.00000000e+00, -3.51126910e-24,
        1.00000000e+00, -1.52998237e-12, -1.00000000e+00,  0.00000000e+00,
        2.29497356e-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([ 0.02490589, -0.08317554,  0.06199929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09258603e-05, 1.99531599e-05, 2.56224359e-05, 5.04293884e-06,
  1.66174072e-05,-1.53592294e-03,-5.04814063e-04,-1.43641729e-03,
  5.56197960e-05,-3.57491348e-05,-3.03476604e-05,-2.02028383e-05,
 -2.92329223e-05,-1.36764762e-05, 1.90707023e-05, 7.36976278e-05,
  1.95807984e-02,-4.26905823e-03,-4.89122629e+00, 6.83446608e-03,
  1.13236986e-02,-1.72400413e-03]


--- Step 1633 ---
qpos:
[ 0.01864499, 0.03002713,-0.00943162,-0.0252895 ,-0.00300493, 0.9838658 ,
 -0.03128745, 0.87819299, 0.01155217, 0.02742243,-0.00824951, 0.02647876,
  1.36275596, 0.00760712, 1.23821238, 0.04475016,-0.03225002,-0.0662839 ,
  0.15951857, 0.89395378,-0.00850273,-0.40713501,-0.18712409]

qacc:
[ 9.05354327e-01,-2.20698919e+00, 9.27871588e+00,-1.55238431e+01,
  1.39106753e-02,-5.33672519e+01, 2.20423988e+02,-5.12558364e+02,
 -3.75092730e-01, 2.76878413e+00,-1.09195764e+01, 1.51331053e+01,
 -3.24740094e-01, 2.99952779e-01, 8.39733690e+00,-2.82944888e+01,
 -2.26107559e+00, 7.00480255e-01,-3.34820736e+00, 1.00071380e+01,
 -3.24871380e+01, 2.94114700e+00]

qfrc_actuator:
[ 2.08428045e-04, 9.38036923e-04, 1.52713740e-04,-7.47176855e-05,
 -2.66693828e-04, 1.45687368e-01, 1.24135770e-02, 6.86246088e-02,
  3.58773840e-05, 6.76644112e-04, 1.70480370e-04, 1.01087065e-05,
  2.47264339e-03,-1.61345559e-03, 0.00000000e+00,-1.84715624e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -2.6378290106432445e-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([ 0.02489385, -0.0831819 ,  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:
[ 5.34031794e-06, 2.54540838e-05, 3.96596370e-05,-1.29519570e-05,
  1.97891794e-06,-1.40982345e-03,-4.88756566e-04,-1.43998652e-03,
 -2.12313416e-06,-5.97315434e-05,-7.08749770e-05, 2.10060927e-06,
 -2.44948715e-05,-1.20967036e-05, 1.29728765e-05,-1.32920496e-04,
  2.00247488e-02,-4.38043458e-03,-4.89067051e+00, 6.89626671e-03,
  1.12930659e-02,-1.75272205e-03]


--- Step 1634 ---
qpos:
[ 0.01864746, 0.03002769,-0.00943135,-0.02529065,-0.00301027, 0.98618143,
 -0.03123092, 0.87949627, 0.01155359, 0.0274201 ,-0.00825005, 0.02647851,
  1.36287684, 0.00760609, 1.23835394, 0.04474491,-0.03313   ,-0.06611638,
  0.15899251, 0.89192815,-0.00833998,-0.41128574,-0.18771961]

qacc:
[-2.63298273e+00,-6.27026275e-01, 5.12859077e+00,-1.43645617e+01,
  1.34311551e-03,-5.59149308e+01, 2.27963028e+02,-5.20274759e+02,
 -6.42103086e+00, 2.63877074e+00,-1.20498448e+01, 2.42602491e+01,
  6.70565350e-02,-1.50362268e-01,-8.06352311e+00, 2.72124178e+01,
 -2.22473541e+00, 6.85758449e-01,-3.52316867e+00, 1.01520727e+01,
 -3.25977606e+01, 2.81452393e+00]

qfrc_actuator:
[ 1.92511953e-04, 9.60944925e-04, 1.53825873e-04,-1.00908240e-04,
 -2.68539992e-04, 1.45180372e-01, 1.23300730e-02, 6.72659101e-02,
 -2.71218637e-06, 7.29145024e-04, 1.71197353e-04, 4.89430542e-05,
  2.46427754e-03,-1.61370971e-03, 0.00000000e+00,-1.71267632e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -1.4232478984826935e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90031500e-12,  3.90031500e-12,  1.00000000e+00, -1.52124571e-23,
        1.00000000e+00, -3.90031500e-12, -1.00000000e+00,  0.00000000e+00,
        3.90031500e-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([ 0.02488259, -0.08318856,  0.06199972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57534127e-05, 4.47626853e-05, 1.07988179e-05,-2.39811698e-05,
 -9.31988184e-07,-1.47421156e-03,-4.72463648e-04,-1.44886497e-03,
 -3.86778342e-05, 4.64613212e-06,-2.02440237e-05, 3.38714659e-05,
 -2.41083438e-05,-9.28085376e-06,-1.34862901e-05, 1.27703743e-04,
  2.04692028e-02,-4.49201883e-03,-4.89009555e+00, 6.95892171e-03,
  1.12610878e-02,-1.78169731e-03]


--- Step 1635 ---
qpos:
[ 0.01864903, 0.03002855,-0.00943161,-0.02529171,-0.00301543, 0.98848487,
 -0.03117475, 0.88077394, 0.01155488, 0.02741796,-0.00825041, 0.02647867,
  1.3629973 , 0.0076056 , 1.23849531, 0.04474193,-0.03401873,-0.06594617,
  0.15845169, 0.88985712,-0.00817317,-0.41548968,-0.18829718]

qacc:
[-7.73662597e+00, 2.08259593e+00,-7.21519444e+00, 9.37468987e+00,
  8.75091481e-02,-5.92337436e+01, 2.32439146e+02,-5.04784115e+02,
 -1.10221879e+00, 6.25251298e-01,-3.60967443e+00, 1.03549676e+01,
 -5.05443701e-01, 8.12108122e-01,-7.15733038e+00, 2.47303883e+01,
 -2.18919028e+00, 6.71567716e-01,-3.68914890e+00, 1.03062263e+01,
 -3.27548466e+01, 2.69231726e+00]

qfrc_actuator:
[ 1.46652190e-04, 9.56488998e-04, 1.18866224e-04,-9.80989850e-05,
 -2.49755783e-04, 1.44524227e-01, 1.22938707e-02, 6.59811457e-02,
 -8.22957699e-06, 7.61521181e-04, 1.89833936e-04, 7.19399503e-05,
  2.44959109e-03,-1.57793656e-03, 0.00000000e+00,-1.59584511e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -1.9999722300489964e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04084854e-10, -2.77559610e-10,  1.00000000e+00, -2.88897514e-20,
        1.00000000e+00,  2.77559610e-10, -1.00000000e+00,  0.00000000e+00,
       -1.04084854e-10])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02487192, -0.08319547,  0.062     ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.63044952e-05, 2.17440740e-05,-2.52234703e-05, 4.63324803e-06,
  1.81606814e-05,-1.65563820e-03,-4.36047503e-04,-1.37663195e-03,
 -6.65754280e-06, 3.23264382e-05, 1.83119688e-05, 2.31635901e-05,
 -2.92008005e-05, 2.74762751e-05, 6.05611982e-06, 1.21792116e-04,
  2.09145995e-02,-4.60389095e-03,-4.88950037e+00, 7.02261396e-03,
  1.12277705e-02,-1.81092458e-03]


--- Step 1636 ---
qpos:
[ 0.01864935, 0.03002927,-0.00943185,-0.02529237,-0.00302021, 0.99077636,
 -0.03111959, 0.88202496, 0.01155609, 0.02741618,-0.0082509 , 0.02647876,
  1.36311741, 0.00760576, 1.23863682, 0.04473904,-0.03490731,-0.06577601,
  0.15787177, 0.88776678,-0.00799907,-0.41968479,-0.18886724]

qacc:
[-1.07332787e+01, 6.17537578e-01,-4.12340740e+00, 1.11333583e+01,
  1.85914393e-01,-5.90844800e+01, 2.34571329e+02,-5.19328716e+02,
 -6.65192219e-01, 6.70474806e-01,-1.36840717e+00, 2.51917579e-04,
 -7.07320904e-01, 1.14831940e+00, 5.65272961e-02, 3.02958682e-01,
  4.07693604e-02,-1.17356916e-02,-9.77675156e+00, 3.89868651e+00,
  5.67822265e-01, 3.96096737e-02]

qfrc_actuator:
[ 8.35417694e-05, 9.35544871e-04, 1.16069438e-04,-7.82891593e-05,
 -2.18771155e-04, 1.43962076e-01, 1.22499015e-02, 6.46435603e-02,
 -1.19773985e-05, 7.81690458e-04, 1.83306865e-04, 6.76724161e-05,
  2.44179158e-03,-1.53884392e-03, 0.00000000e+00,-1.59693986e-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,
  4.04107585e-05,-1.65214734e-03,-4.72985915e-04,-1.43240373e-03,
 -3.94043661e-06, 4.31049697e-05, 3.23796195e-06,-1.79203688e-06,
 -1.59376168e-05, 3.99895626e-05, 1.29451774e-05, 5.72475798e-06,
  2.13612840e-02,-4.71611296e-03,-4.88888390e+00, 7.08751172e-03,
  1.11931163e-02,-1.84039860e-03]


--- Step 1637 ---
qpos:
[ 0.0186496 , 0.03002993,-0.00943129,-0.0252932 ,-0.0030246 , 0.99305581,
 -0.03106586, 0.88325028, 0.01155656, 0.02741494,-0.00825129, 0.0264791 ,
  1.36323743, 0.00760611, 1.23877836, 0.04473617,-0.03579572,-0.0656059 ,
  0.15725274, 0.88565718,-0.00781768,-0.42387099,-0.18942975]

qacc:
[-5.78704790e-01,-2.67488969e+00, 1.01218598e+01,-1.42457247e+01,
  1.89824476e-01,-5.63157494e+01, 2.23061519e+02,-4.97137929e+02,
 -6.35462882e+00, 9.73520858e-01,-3.51702934e+00, 7.40090145e+00,
 -1.96534067e-01, 3.32950035e-01,-8.69455192e-03, 1.38470907e-01,
  4.04265939e-02,-1.16790363e-02,-9.77635223e+00, 3.89805645e+00,
  5.74580300e-01, 3.90297235e-02]

qfrc_actuator:
[ 8.18033143e-05, 9.58274564e-04, 1.67733110e-04,-8.41345765e-05,
 -1.98497679e-04, 1.43389969e-01, 1.21843015e-02, 6.33566008e-02,
 -5.01696077e-05, 8.29786393e-04, 1.97409850e-04, 8.28741421e-05,
  2.43813271e-03,-1.53359196e-03, 0.00000000e+00,-1.59648819e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-3.62414605e-06, 1.55386585e-05, 4.93386177e-05,-6.08984396e-06,
  4.14619606e-05,-1.66877162e-03,-4.99667016e-04,-1.38398850e-03,
 -3.82987860e-05, 7.28647944e-05, 2.33714072e-05, 1.71313586e-05,
 -2.33010345e-06, 1.29733226e-05, 2.35498483e-06, 1.48990315e-06,
  2.12008237e-02,-4.69126503e-03,-4.88868318e+00, 7.07558769e-03,
  1.11411332e-02,-1.87144883e-03]


--- Step 1638 ---
qpos:
[ 0.01864948, 0.03003071,-0.00943017,-0.0252941 ,-0.00302882, 0.99532082,
 -0.03101257, 0.88445155, 0.01155587, 0.02741429,-0.00825131, 0.02648029,
  1.36335744, 0.00760611, 1.23892009, 0.04473166,-0.03669616,-0.06543214,
  0.1566269 , 0.883488  ,-0.00763283,-0.42813804,-0.18996975]

qacc:
[-3.14475696e+00,-1.54168117e+00, 6.03500429e+00,-8.24826902e+00,
  8.53648831e-02,-5.93245057e+01, 2.25314127e+02,-4.77733560e+02,
 -9.82107104e+00, 1.50988370e+00,-7.76648124e+00, 2.12813701e+01,
  8.74162761e-02,-3.24158898e-01, 5.24535664e+00,-1.79901325e+01,
 -3.00697871e+00, 9.11508223e-01,-1.70063224e+00, 1.37247079e+01,
 -4.81933985e+01, 3.28076440e+00]

qfrc_actuator:
[ 6.29497502e-05, 9.71684756e-04, 1.98022665e-04,-8.72111646e-05,
 -2.02566193e-04, 1.42568213e-01, 1.21243135e-02, 6.21452156e-02,
 -1.08330520e-04, 8.76575211e-04, 2.23721892e-04, 1.27208154e-04,
  2.42096963e-03,-1.56620487e-03, 0.00000000e+00,-1.68384699e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.10060301, -0.56812976, -4.06105573, -0.56812976, 35.77572525,
       -4.43125648, -4.06105573, -4.43125648,  4.72052277,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.61316008042445e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20332159e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.20332159e-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([ 0.02477251, -0.08319941,  0.06199907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89579965e-05, 3.19978238e-05, 3.93521060e-05,-8.23681108e-07,
  1.77011586e-05,-1.93084685e-03,-4.98735159e-04,-1.30857931e-03,
 -5.92635039e-05, 9.31340962e-05, 4.48550931e-05, 4.86031978e-05,
 -1.54598000e-05,-2.93490670e-05,-2.01720898e-06,-8.77130054e-05,
  2.10385390e-02,-4.66589273e-03,-4.88848413e+00, 7.06358773e-03,
  1.10882711e-02,-1.90260561e-03]


--- Step 1639 ---
qpos:
[ 0.01864879, 0.03003149,-0.00942917,-0.02529461,-0.00303329, 0.99756816,
 -0.03095931, 0.88562929, 0.01155518, 0.0274141 ,-0.00825091, 0.02648167,
  1.36347732, 0.00760581, 1.23906199, 0.04472445,-0.03760798,-0.06525494,
  0.15599219, 0.88125959,-0.00744416,-0.43248189,-0.19048764]

qacc:
[-4.89149526e+00, 1.12776674e+00,-5.61132486e+00, 1.23487294e+01,
 -1.11556823e-01,-6.37701009e+01, 2.33417528e+02,-4.76316495e+02,
 -2.12726177e-02,-1.79339433e-01, 7.28480360e-01, 1.53217995e+00,
 -1.15694430e-01,-9.39147697e-02, 8.39629142e+00,-2.89805413e+01,
 -2.84550952e+00, 8.57630096e-01,-2.21875768e+00, 1.34959299e+01,
 -4.63268863e+01, 3.02428230e+00]

qfrc_actuator:
[ 3.41531572e-05, 9.43840657e-04, 1.79907153e-04,-7.09031499e-05,
 -2.38926484e-04, 1.41497358e-01, 1.20495131e-02, 6.09523080e-02,
 -1.06757414e-04, 8.86798829e-04, 2.39296741e-04, 1.35075791e-04,
  2.40635167e-03,-1.58556531e-03, 0.00000000e+00,-1.82222850e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.11897147,  1.81105321,  3.69946107,  1.81105321, 19.93014441,
       -7.74028297,  3.69946107, -7.74028297,  7.90818943,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.833161770981478e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06300277e-12,  7.08668515e-13,  1.00000000e+00, -7.53316597e-25,
        1.00000000e+00, -7.08668515e-13, -1.00000000e+00,  0.00000000e+00,
        1.06300277e-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([ 0.02472463, -0.08319712,  0.0619984 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.71659453e-05,-2.32199912e-03,-5.62568845e-04,-1.29656529e-03,
 -1.36382431e-07, 7.36514358e-05, 4.20264528e-05, 1.43579151e-05,
 -2.99291926e-05,-3.11786864e-05,-1.40527798e-05,-1.44290151e-04,
  2.17522823e-02,-4.83712079e-03,-4.88762800e+00, 7.17131492e-03,
  1.10593405e-02,-1.93181789e-03]


--- Step 1640 ---
qpos:
[ 0.01864846, 0.03003217,-0.00942865,-0.02529386,-0.00303792, 0.99980006,
 -0.03090773, 0.88678384, 0.01155521, 0.0274143 ,-0.00825021, 0.0264828 ,
  1.36359684, 0.00760557, 1.23920355, 0.04471764,-0.03853058,-0.06507452,
  0.15534674, 0.87897204,-0.00725127,-0.43689905,-0.19098374]

qacc:
[ 2.98483851e+00, 3.84287620e+00,-1.92592071e+01, 4.21231601e+01,
 -6.69146389e-02,-5.58002651e+01, 2.09985574e+02,-4.52625762e+02,
  6.08686091e+00,-8.32299462e-01, 4.69902282e+00,-9.61371474e+00,
 -2.78160681e-01, 2.65342361e-01,-1.65279178e+00, 5.11955180e+00,
 -2.69535821e+00, 8.08268021e-01,-2.68478005e+00, 1.33278240e+01,
 -4.47678078e+01, 2.78655642e+00]

qfrc_actuator:
[ 5.29973929e-05, 9.26826644e-04, 1.50959287e-04,-7.88086851e-06,
 -2.41051610e-04, 1.40889653e-01, 1.20188556e-02, 5.97973415e-02,
 -7.00314532e-05, 8.92729289e-04, 2.48227381e-04, 1.21379582e-04,
  2.38794658e-03,-1.57912102e-03, 0.00000000e+00,-1.79424650e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  4.13549604,   2.67878904,   3.15062165,   2.67878904,
        26.02980084, -18.61544493,   3.15062165, -18.61544493,
        19.96311849,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -9.855884125149761e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.22421397e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.22421397e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02468402, -0.08319682,  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:
[ 1.79846194e-05,-1.86968151e-05,-2.95270327e-05, 6.30776161e-05,
 -1.67333427e-05,-2.08716675e-03,-6.02202642e-04,-1.27252306e-03,
  3.67454400e-05, 5.64100544e-05, 2.98113265e-05,-8.81004788e-06,
 -4.18852599e-05,-9.13696058e-06,-2.57445727e-05, 1.74244149e-05,
  2.24336159e-02,-5.00170601e-03,-4.88676379e+00, 7.27483732e-03,
  1.10274745e-02,-1.96144121e-03]


--- Step 1641 ---
qpos:
[ 0.01864904, 0.03003254,-0.00942839,-0.02529234,-0.00304245, 1.00202095,
 -0.03085868, 0.88791523, 0.01155568, 0.02741489,-0.00824998, 0.0264845 ,
  1.3637159 , 0.00760545, 1.23934449, 0.04471485,-0.0394634 ,-0.06489104,
  0.15468887, 0.8766253 ,-0.00705383,-0.44138651,-0.19145829]

qacc:
[ 7.87202606e+00, 1.83653331e+00,-1.03687263e+01, 2.41652273e+01,
  4.58566995e-02,-4.76153514e+01, 1.90101482e+02,-4.37349637e+02,
  3.73708556e+00, 2.97960079e+00,-1.22804777e+01, 2.25930650e+01,
 -1.05475556e-01, 6.38808118e-02,-1.30924904e+01, 4.44730642e+01,
 -2.55492551e+00, 7.62743403e-01,-3.10583871e+00, 1.32114295e+01,
 -4.34717007e+01, 2.56560626e+00]

qfrc_actuator:
[ 9.97349165e-05, 8.98651959e-04, 1.33675076e-04, 2.88662035e-05,
 -2.22632934e-04, 1.40688942e-01, 1.20163402e-02, 5.86564567e-02,
 -4.84339132e-05, 8.95980438e-04, 2.17624036e-04, 1.48358296e-04,
  2.36196872e-03,-1.57519622e-03, 0.00000000e+00,-1.57968689e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00010862305176188858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.66565895e-13,  3.83282947e-13,  1.00000000e+00, -2.93811635e-25,
        1.00000000e+00, -3.83282947e-13, -1.00000000e+00,  0.00000000e+00,
        7.66565895e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0246496 , -0.08319824,  0.06199776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.35209721e-06,-1.55658481e-03,-5.31429383e-04,-1.25161560e-03,
  2.26944724e-05, 4.05715766e-05,-1.55984235e-05, 3.02501033e-05,
 -5.00426743e-05,-8.29339365e-06,-1.20445062e-05, 2.11773344e-04,
  2.30859473e-02,-5.16022489e-03,-4.88588895e+00, 7.37518857e-03,
  1.09928962e-02,-1.99144063e-03]


--- Step 1642 ---
qpos:
[ 0.01865052, 0.03003247,-0.00942821,-0.02529108,-0.00304681, 1.00423197,
 -0.03081143, 0.88902403, 0.0115564 , 0.02741574,-0.00825001, 0.02648583,
  1.36383443, 0.00760587, 1.23948528, 0.04471495,-0.04040591,-0.06470469,
  0.15401705, 0.87421912,-0.00685147,-0.44594168,-0.19191147]

qacc:
[ 7.73284242e+00,-8.55180639e-01, 3.25065183e+00,-7.15229687e+00,
  8.19104491e-02,-4.70797543e+01, 1.88799571e+02,-4.29939487e+02,
  2.17080611e+00, 3.05073987e-01, 9.81543315e-01,-7.23723893e+00,
 -5.53773153e-01, 8.39819165e-01,-8.91666485e+00, 3.09866194e+01,
 -2.42298159e+00, 7.20526649e-01,-3.48759869e+00, 1.31398102e+01,
 -4.24036407e+01, 2.35975951e+00]

qfrc_actuator:
[ 1.44747619e-04, 8.64031274e-04, 1.23346414e-04, 1.43463662e-05,
 -2.09822504e-04, 1.40343608e-01, 1.19789739e-02, 5.75332669e-02,
 -3.59259464e-05, 8.97456834e-04, 1.99445158e-04, 1.28017138e-04,
  2.34744656e-03,-1.53736175e-03, 0.00000000e+00,-1.43449783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00011010287681802178
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.52087651e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.52087651e-13, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02462039, -0.08320113,  0.06199771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.76411548e-05,-1.39221399e-03,-4.52863463e-04,-1.21458056e-03,
  1.31888174e-05, 2.22199695e-05,-1.06867133e-05,-1.85600027e-05,
 -4.17241451e-05, 2.35464943e-05, 1.60034272e-05, 1.55012983e-04,
  2.37122392e-02,-5.31319299e-03,-4.88500112e+00, 7.47323810e-03,
  1.09557888e-02,-2.02178566e-03]


--- Step 1643 ---
qpos:
[ 0.01865149, 0.03003199,-0.00942816,-0.02529035,-0.00305084, 1.00643397,
 -0.03076628, 0.89010967, 0.01155692, 0.02741654,-0.00824924, 0.02648584,
  1.36395252, 0.00760672, 1.23962619, 0.04471613,-0.04135762,-0.0645156 ,
  0.15332989, 0.8717531 ,-0.00664389,-0.45056233,-0.19234337]

qacc:
[-4.33374765e+00,-1.29799516e+00, 6.09607725e+00,-1.48077213e+01,
  1.63065319e-01,-4.61550496e+01, 1.88292751e+02,-4.36546364e+02,
 -1.68151912e+00,-5.00930458e+00, 2.33772111e+01,-4.75583024e+01,
 -5.51060137e-01, 8.01886539e-01,-3.03431397e+00, 1.10004082e+01,
 -2.29847511e+00, 6.81173318e-01,-3.83480320e+00, 1.31074434e+01,
 -4.15352161e+01, 2.16748724e+00]

qfrc_actuator:
[ 1.17364750e-04, 8.43551918e-04, 1.17138490e-04,-1.24696358e-05,
 -1.82737404e-04, 1.39985780e-01, 1.19032353e-02, 5.63761281e-02,
 -4.66160318e-05, 8.97850143e-04, 2.41967963e-04, 6.22485984e-05,
  2.32916954e-03,-1.51515292e-03, 0.00000000e+00,-1.38466366e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.14097256, -1.1760437 ,  3.97046281, -1.1760437 , 17.46586474,
        3.94680827,  3.97046281,  3.94680827,  5.31000982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010437421295882154
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.97771063e-13, -6.64809219e-13,  1.00000000e+00,  5.30365558e-25,
        1.00000000e+00,  6.64809219e-13, -1.00000000e+00,  0.00000000e+00,
        7.97771063e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02459555, -0.08320526,  0.06199782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60516088e-05,-5.96776769e-05,-2.19684811e-05,-3.04751381e-05,
  3.63453468e-05,-1.29656319e-03,-4.48560926e-04,-1.24012639e-03,
 -1.02918243e-05, 9.78960065e-06, 4.51418869e-05,-6.55524955e-05,
 -3.34494645e-05, 1.88850075e-05, 2.06878750e-05, 5.96582965e-05,
  2.43150877e-02,-5.46107522e-03,-4.88409802e+00, 7.56972757e-03,
  1.09163036e-02,-2.05244930e-03]


--- Step 1644 ---
qpos:
[ 0.01865213, 0.03003123,-0.00942854,-0.02528994,-0.00305452, 1.00862762,
 -0.03072333, 0.89117299, 0.01155696, 0.02741743,-0.00824828, 0.02648508,
  1.36407057, 0.00760729, 1.23976745, 0.04471557,-0.04231805,-0.06432394,
  0.15262612, 0.86922673,-0.00643077,-0.45524655,-0.19275404]

qacc:
[-2.88695760e+00, 1.85431513e-01, 1.72560869e-01,-4.85404217e+00,
  1.64724008e-01,-4.35769327e+01, 1.79005377e+02,-4.18811195e+02,
 -4.06394297e+00,-1.98624097e+00, 1.04846609e+01,-2.40797846e+01,
 -1.74548871e-03,-1.87466766e-01, 5.76158896e+00,-1.94091630e+01,
 -2.18042960e+00, 6.44287900e-01,-4.15158891e+00, 1.31098032e+01,
 -4.08425555e+01, 1.98733079e+00]

qfrc_actuator:
[ 1.00848402e-04, 8.31701592e-04, 9.57103755e-05,-2.85323508e-05,
 -1.65080999e-04, 1.39659057e-01, 1.18232355e-02, 5.52614758e-02,
 -7.08715345e-05, 8.97791047e-04, 2.48944893e-04, 2.35813304e-05,
  2.32462657e-03,-1.53793299e-03, 0.00000000e+00,-1.48015139e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.13025127, -0.61306836,  4.08449785, -0.61306836, 20.91247429,
        2.51895101,  4.08449785,  2.51895101,  4.50833671,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.263373051972279e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.99254191e-13,  5.99254191e-13,  1.00000000e+00, -3.59105585e-25,
        1.00000000e+00, -5.99254191e-13, -1.00000000e+00,  0.00000000e+00,
        5.99254191e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02457433, -0.08321046,  0.06199805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72928341e-05,-5.10604740e-05,-3.75101659e-05,-1.99710836e-05,
  3.68956054e-05,-1.21204806e-03,-4.34109817e-04,-1.19505249e-03,
 -2.45493761e-05, 1.18908576e-05, 1.22736645e-05,-3.79645372e-05,
 -1.68159431e-05,-2.53967961e-05, 1.16612712e-05,-9.05171192e-05,
  2.48967702e-02,-5.60429027e-03,-4.88317746e+00, 7.66529760e-03,
  1.08745667e-02,-2.08340718e-03]


--- Step 1645 ---
qpos:
[ 0.01865291, 0.0300303 ,-0.00942899,-0.02528977,-0.0030579 , 1.01081318,
 -0.03068186, 0.89221465, 0.01155637, 0.02741805,-0.0082471 , 0.02648425,
  1.36418851, 0.00760783, 1.239909  , 0.04471189,-0.04328675,-0.06412985,
  0.15190459, 0.86663934,-0.00621181,-0.45999269,-0.19314348]

qacc:
[ 1.21347775e+00,-5.26460790e-01, 2.52731833e+00,-6.34370317e+00,
  1.40674421e-01,-4.39806522e+01, 1.79161635e+02,-4.10894675e+02,
 -5.41201475e+00,-1.13714802e+00, 3.83724407e+00,-5.20478925e+00,
 -3.25879974e-01, 3.38150592e-01, 9.92533271e+00,-3.40253363e+01,
 -2.06789321e+00, 6.09504547e-01,-4.44165835e+00, 1.31430784e+01,
 -4.03050567e+01, 1.81787940e+00]

qfrc_actuator:
[ 1.08636783e-04, 8.42813848e-04, 1.01017890e-04,-3.81399252e-05,
 -1.53222793e-04, 1.39336186e-01, 1.17771266e-02, 5.41807572e-02,
 -1.02909516e-04, 8.61842051e-04, 2.52632493e-04, 1.88955726e-05,
  2.32297905e-03,-1.53390590e-03, 0.00000000e+00,-1.64269759e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.11725969, -0.31481392,  4.1052064 , -0.31481392, 25.07448653,
        1.60713643,  4.1052064 ,  1.60713643,  4.24050536,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.591915949527184e-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([ 0.02455609, -0.08321655,  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:
[ 7.27170665e-06,-2.60194384e-05,-1.05364837e-05,-1.34781529e-05,
  3.14207806e-05,-1.15671379e-03,-3.80413079e-04,-1.15697019e-03,
 -3.27483378e-05,-2.84413313e-05, 6.32309047e-06,-4.49175933e-06,
 -1.65001457e-05,-7.09488303e-06,-8.87183798e-06,-1.67048143e-04,
  2.54592734e-02,-5.74321161e-03,-4.88223729e+00, 7.76050762e-03,
  1.08306837e-02,-2.11463706e-03]


--- Step 1646 ---
qpos:
[ 0.01865343, 0.03002924,-0.00942913,-0.02529009,-0.00306122, 1.01299285,
 -0.03064258, 0.89323547, 0.0115554 , 0.02741809,-0.00824601, 0.02648412,
  1.36430619, 0.00760866, 1.24005094, 0.0447026 ,-0.04426421,-0.06393359,
  0.15116599, 0.86398814,-0.00598574,-0.46480131,-0.1935159 ]

qacc:
[-2.19882072e+00,-2.03468879e+00, 9.10485100e+00,-1.80615239e+01,
  3.41896587e-02,-3.78144285e+01, 1.60621231e+02,-3.86096386e+02,
 -3.23108036e+00, 9.77600067e-01,-7.54528893e+00, 2.02937139e+01,
 -8.40211650e-01, 1.11601723e+00, 1.76449252e+01,-6.06634360e+01,
 -2.19020186e+00, 5.39864583e-01,-4.26523260e+00, 1.28321629e+01,
 -4.11210906e+01,-6.11002774e-01]

qfrc_actuator:
[ 9.51600970e-05, 8.49958602e-04, 1.22174896e-04,-6.15854983e-05,
 -1.62682931e-04, 1.39231741e-01, 1.17337702e-02, 5.31464078e-02,
 -1.21514799e-04, 8.04683993e-04, 2.36477814e-04, 5.19615344e-05,
  2.31242526e-03,-1.51393508e-03, 0.00000000e+00,-1.93215312e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.10461873, -2.15900072,  3.49093265, -2.15900072, 31.1792234 ,
       16.74454845,  3.49093265, 16.74454845, 14.46044502,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.4836580918283e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.03592035e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.03592035e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02381663, -0.08127921,  0.06199883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.20824777e-06,-8.95474536e-04,-3.59311100e-04,-1.10636066e-03,
 -1.95717074e-05,-7.19967118e-05,-2.14248213e-05, 3.19775671e-05,
 -2.14962302e-05, 1.44495425e-05,-2.62636941e-05,-3.00714008e-04,
  2.60043095e-02,-5.87816660e-03,-4.88127543e+00, 7.85585091e-03,
  1.07847433e-02,-2.14611828e-03]


--- Step 1647 ---
qpos:
[ 0.01865379, 0.03002806,-0.00942932,-0.02529032,-0.00306471, 1.01516913,
 -0.03060597, 0.89423647, 0.01155456, 0.0274177 ,-0.0082457 , 0.02648443,
  1.36442374, 0.00760949, 1.24019254, 0.04469156,-0.0452508 ,-0.06373547,
  0.15041086, 0.86127023,-0.00575093,-0.46967306,-0.19387554]

qacc:
[-1.41876715e+00, 1.52789808e-01,-1.16132668e+00, 2.89114722e+00,
 -7.77189177e-02,-3.14255909e+01, 1.41315314e+02,-3.58279654e+02,
  1.08268889e+00, 2.47556216e+00,-1.14801843e+01, 2.04605137e+01,
 -2.13448017e-01, 2.07707816e-01, 4.79142315e+00,-1.74599462e+01,
 -2.28239066e+00, 4.65030861e-01,-4.13463165e+00, 1.26551628e+01,
 -4.19621704e+01,-3.16167357e+00]

qfrc_actuator:
[ 8.70194140e-05, 8.36991123e-04, 1.16990229e-04,-5.74745142e-05,
 -1.84825936e-04, 1.39277128e-01, 1.16755944e-02, 5.21654830e-02,
 -1.14309723e-04, 7.70715567e-04, 1.90904441e-04, 7.14287749e-05,
  2.30187000e-03,-1.52021549e-03, 0.00000000e+00,-2.00998055e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.80450738472582e-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([ 0.02311083, -0.0794437 ,  0.06199896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.83654675e-05,-5.94857550e-04,-3.18653206e-04,-1.04293854e-03,
  6.60732755e-06,-7.73086688e-05,-6.19909667e-05, 1.62612871e-05,
 -1.96500530e-05,-6.47081028e-06,-4.91272590e-05,-9.87374209e-05,
  2.65575767e-02,-6.01775896e-03,-4.88025730e+00, 7.99171240e-03,
  1.07416852e-02,-2.17700258e-03]


--- Step 1648 ---
qpos:
[ 0.01865336, 0.03002691,-0.00942963,-0.02529052,-0.00306839, 1.01734064,
 -0.03056962, 0.89521692, 0.01155381, 0.02741696,-0.00824515, 0.02648419,
  1.36454127, 0.00760977, 1.24033348, 0.04468261,-0.04624586,-0.06353563,
  0.14963779, 0.85848475,-0.00550665,-0.47460643,-0.19422241]

qacc:
[-6.78187032e+00, 4.79453394e-01,-1.78775529e+00, 2.58320136e+00,
 -9.02347505e-02,-4.09919688e+01, 1.72031695e+02,-3.93114513e+02,
  8.01719315e-01,-2.24234841e+00, 9.63774598e+00,-1.91786794e+01,
  5.45089176e-01,-9.93368340e-01,-7.36040190e+00, 2.41828777e+01,
 -2.11496071e+00, 4.31322857e-01,-4.48523311e+00, 1.28561927e+01,
 -4.15275750e+01,-3.44499716e+00]

qfrc_actuator:
[ 4.65859643e-05, 8.47510755e-04, 1.13981942e-04,-5.49700749e-05,
 -1.96615427e-04, 1.39039478e-01, 1.16631570e-02, 5.11351615e-02,
 -1.09727514e-04, 7.86261523e-04, 2.17161730e-04, 4.72256314e-05,
  2.29131287e-03,-1.55981256e-03, 0.00000000e+00,-1.89143909e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09657347, -0.65737314,  4.04348547, -0.65737314, 27.45988659,
        3.79831078,  4.04348547,  3.79831078,  4.71408712,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.527906757352928e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57348692e-12, -1.57348692e-12,  1.00000000e+00,  2.47586107e-24,
        1.00000000e+00,  1.57348692e-12, -1.00000000e+00,  0.00000000e+00,
        1.57348692e-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([ 0.02309159, -0.07944692,  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:
[-4.06836867e-05, 1.75117890e-08,-7.11705982e-06, 1.64029822e-06,
 -2.16559508e-05,-7.01092694e-04,-2.07085031e-04,-1.08024311e-03,
  4.74978073e-06,-3.97842125e-05, 3.21447162e-06,-2.93455255e-05,
 -2.33982765e-05,-4.54774436e-05,-3.47193944e-05, 1.06508498e-04,
  2.71182322e-02,-6.16028600e-03,-4.87917948e+00, 8.17198685e-03,
  1.07027524e-02,-2.20728818e-03]


--- Step 1649 ---
qpos:
[ 0.01865279, 0.03002612,-0.00943016,-0.02529072,-0.00307224, 1.01950677,
 -0.03053335, 0.89617852, 0.01155313, 0.02741624,-0.0082445 , 0.02648397,
  1.36465871, 0.00761002, 1.24047415, 0.04467541,-0.04724874,-0.06333419,
  0.1488455 , 0.85563076,-0.00525228,-0.47960007,-0.19455639]

qacc:
[-1.18825131e+00, 1.06895681e+00,-3.06939911e+00, 3.01198819e+00,
 -7.04055128e-02,-3.93599916e+01, 1.61898193e+02,-3.63456664e+02,
  5.18959295e-01,-2.04142854e-01, 6.65174581e-01,-4.67529875e-01,
  9.38939956e-02,-1.60706582e-01,-5.72614295e+00, 1.94252864e+01,
 -1.95927028e+00, 3.99283616e-01,-4.80341906e+00, 1.30506466e+01,
 -4.11829783e+01,-3.68736729e+00]

qfrc_actuator:
[ 4.07254461e-05, 8.89772152e-04, 1.12378199e-04,-5.34120736e-05,
 -2.02094880e-04, 1.38776753e-01, 1.16590660e-02, 5.01903742e-02,
 -1.06734227e-04, 8.13838716e-04, 2.32551094e-04, 5.08785998e-05,
  2.30205113e-03,-1.54785520e-03, 0.00000000e+00,-1.80023546e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09227802, -0.52494933,  4.05846863, -0.52494933, 32.57095172,
        3.6836211 ,  4.05846863,  3.6836211 ,  4.56874208,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7351499274106952e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59960676e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.59960676e-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([ 0.02307457, -0.0794512 ,  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:
[-7.04180720e-06, 4.09045520e-05,-2.40024702e-06, 1.34994187e-06,
 -1.71281583e-05,-7.63939324e-04,-2.07843984e-04,-9.95539544e-04,
  3.11785829e-06, 4.75596685e-06, 6.55361949e-06, 1.48876447e-06,
 -1.23461210e-05,-6.41478342e-06,-4.72319906e-06, 9.25642400e-05,
  2.76592386e-02,-6.29686674e-03,-4.87807487e+00, 8.35729055e-03,
  1.06632794e-02,-2.23786827e-03]


--- Step 1650 ---
qpos:
[ 0.01865319, 0.0300255 ,-0.00943037,-0.02529091,-0.00307618, 1.02166917,
 -0.03049857, 0.89712197, 0.01155145, 0.02741548,-0.00824424, 0.02648418,
  1.36477583, 0.00761067, 1.24061443, 0.04467203,-0.04825142,-0.06313281,
  0.1480142 , 0.85274919,-0.00498926,-0.48457815,-0.19487931]

qacc:
[ 8.31235845e+00,-6.74946005e-01, 2.63975501e+00,-3.06032332e+00,
 -4.46395002e-02,-3.22104221e+01, 1.39478631e+02,-3.36211499e+02,
 -8.48082970e+00, 1.93090602e+00,-8.76010184e+00, 1.68437631e+01,
 -2.03022077e-01, 3.92783023e-01,-1.20889739e+01, 4.14875728e+01,
  5.35214975e-02,-1.55039518e-02,-9.75265747e+00, 4.76997945e+00,
  8.51561183e-01, 1.97704411e-02]

qfrc_actuator:
[ 9.07769880e-05, 8.97468339e-04, 1.29506180e-04,-5.23928112e-05,
 -2.03750722e-04, 1.38714530e-01, 1.16244000e-02, 4.92856788e-02,
 -1.57957211e-04, 7.95159865e-04, 2.05964813e-04, 7.08984821e-05,
  2.28829408e-03,-1.52301057e-03, 0.00000000e+00,-1.60166969e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.98637072e-05, 3.01659452e-05, 2.53438550e-05, 2.71759120e-06,
 -1.08969121e-05,-5.95408788e-04,-2.48214734e-04,-9.55474749e-04,
 -5.11319719e-05,-1.45837975e-05,-2.47446035e-05, 2.04798232e-05,
 -2.15581005e-05, 2.00996694e-05, 5.73060906e-06, 2.02592455e-04,
  2.81809171e-02,-6.42794809e-03,-4.87694223e+00, 8.54741704e-03,
  1.06231748e-02,-2.26874421e-03]


--- Step 1651 ---
qpos:
[ 0.01865418, 0.03002518,-0.00943042,-0.02529109,-0.00308034, 1.02382809,
 -0.03046458, 0.89804652, 0.01154985, 0.02741446,-0.00824363, 0.02648426,
  1.36489279, 0.00761093, 1.24075533, 0.04466568,-0.04926234,-0.06292975,
  0.14716532, 0.84978876,-0.00471463,-0.48963057,-0.19518899]

qacc:
[ 5.12066499e+00,-2.76660286e-02, 6.56252249e-01,-1.02956219e+00,
 -9.62051325e-02,-3.50122395e+01, 1.50653573e+02,-3.54978421e+02,
  7.67570421e-01,-1.59661665e+00, 5.74583590e+00,-8.37419649e+00,
 -1.31514624e-01,-1.28771936e-01, 9.90641914e+00,-3.32812728e+01,
 -2.06302889e+00, 4.20526455e-01,-4.39612774e+00, 1.51996300e+01,
 -4.96980872e+01,-5.03561418e+00]

qfrc_actuator:
[ 1.20067634e-04, 9.19993735e-04, 1.39675362e-04,-5.17108984e-05,
 -2.20859575e-04, 1.38613348e-01, 1.16083284e-02, 4.83408678e-02,
 -1.51917917e-04, 7.84284322e-04, 2.25648122e-04, 6.48143956e-05,
  2.25986359e-03,-1.56185771e-03, 0.00000000e+00,-1.76750518e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09091169, -0.87737607, -3.99571892, -0.87737607, 20.92822305,
       -3.69712043, -3.99571892, -3.69712043,  4.90272179,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.563048700226505e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.33978498e-11,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.33978498e-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([ 0.02301456, -0.07945534,  0.06199998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.30011069e-05,-5.47449686e-04,-1.99805809e-04,-9.90595825e-04,
  4.53417661e-06,-2.32635800e-05, 1.43374347e-05,-7.16421438e-06,
 -3.41605768e-05,-3.83888195e-05, 2.24230519e-05,-1.54414977e-04,
  2.78491169e-02,-6.36463724e-03,-4.87662208e+00, 8.53320024e-03,
  1.05433658e-02,-2.30372225e-03]


--- Step 1652 ---
qpos:
[ 0.01865587, 0.03002524,-0.00943065,-0.02529125,-0.00308452, 1.02598084,
 -0.03042981, 0.89895276, 0.01154972, 0.02741319,-0.0082425 , 0.02648425,
  1.36500957, 0.00761099, 1.24089638, 0.04465711,-0.05027305,-0.06272676,
  0.14627743, 0.84679998,-0.00443118,-0.4946665 ,-0.19548712]

qacc:
[ 5.89688522e+00, 1.02991398e+00,-3.08060638e+00, 3.54085685e+00,
 -9.44405507e-03,-4.17560360e+01, 1.67096716e+02,-3.60653277e+02,
  1.25024621e+01,-1.99251820e+00, 6.95573522e+00,-9.07105971e+00,
 -1.94855732e-01, 5.16478215e-02, 6.97482733e+00,-2.40565506e+01,
  5.40390960e-02,-1.57538200e-02,-9.74930609e+00, 4.90746925e+00,
  8.95523774e-01, 1.77890450e-02]

qfrc_actuator:
[ 1.54638301e-04, 9.33448087e-04, 1.27950298e-04,-5.12304487e-05,
 -2.11583259e-04, 1.38188232e-01, 1.16033174e-02, 4.74154986e-02,
 -7.66997347e-05, 7.78322853e-04, 2.54755315e-04, 6.12097579e-05,
  2.25458016e-03,-1.56728569e-03, 0.00000000e+00,-1.88044219e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.54826567e-05, 4.26952662e-05, 4.43917390e-08, 3.13314105e-06,
 -3.11786454e-06,-8.36160098e-04,-1.74721084e-04,-9.69004460e-04,
  7.53400321e-05,-1.62897954e-05, 2.58226448e-05,-4.24467668e-06,
 -3.20387926e-05,-2.43722540e-05,-1.20716588e-05,-1.19826937e-04,
  2.85140380e-02,-6.52561486e-03,-4.87527193e+00, 8.77762355e-03,
  1.05113118e-02,-2.33395854e-03]


--- Step 1653 ---
qpos:
[ 0.01865795, 0.03002533,-0.00943114,-0.02529136,-0.00308832, 1.02812556,
 -0.03039505, 0.89984043, 0.01154981, 0.02741179,-0.00824105, 0.0264842 ,
  1.36512601, 0.00761143, 1.24103685, 0.04465124,-0.05129223,-0.06252204,
  0.14537312, 0.84372213,-0.00413461,-0.49978935,-0.1957715 ]

qacc:
[ 3.44078942e+00, 8.81892854e-01,-3.33981318e+00, 4.74235615e+00,
  1.79358850e-01,-4.25772888e+01, 1.67304432e+02,-3.62537964e+02,
  1.83420047e+00,-1.14689189e+00, 4.02976126e+00,-5.20880230e+00,
 -2.69034314e-01, 4.57280130e-01,-9.04625312e+00, 3.04584854e+01,
 -2.11644813e+00, 4.28785861e-01,-4.10936560e+00, 1.72499469e+01,
 -5.75833717e+01,-6.32276935e+00]

qfrc_actuator:
[ 1.74293804e-04, 9.05767906e-04, 1.03360690e-04,-5.08927384e-05,
 -1.68822730e-04, 1.37661601e-01, 1.15504359e-02, 4.64732605e-02,
 -6.78998794e-05, 7.75402078e-04, 2.71452569e-04, 5.91015913e-05,
  2.25254213e-03,-1.53494019e-03, 0.00000000e+00,-1.73040333e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09301008, -0.84686883, -4.00444062, -0.84686883, 19.15405517,
       -3.1851464 , -4.00444062, -3.1851464 ,  4.76661258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1494290132678673e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58259989e-12,  2.58259989e-12,  1.00000000e+00, -6.66982217e-24,
        1.00000000e+00, -2.58259989e-12, -1.00000000e+00,  0.00000000e+00,
        2.58259989e-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([ 0.02290651, -0.0794503 ,  0.06199951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.10158338e-05,-1.09164626e-03,-2.75729456e-04,-9.93611571e-04,
  1.09977459e-05,-6.81942525e-06, 1.63645050e-05,-1.99821655e-06,
 -2.48626674e-05, 1.81517575e-05,-2.21531424e-05, 1.41098157e-04,
  2.81569599e-02,-6.45655221e-03,-4.87494295e+00, 8.76307703e-03,
  1.04279935e-02,-2.36936880e-03]


--- Step 1654 ---
qpos:
[ 0.01865992, 0.03002537,-0.00943161,-0.02529112,-0.00309184, 1.03026323,
 -0.03036247, 0.90070998, 0.01155034, 0.02741056,-0.00823982, 0.02648447,
  1.36524246, 0.00761166, 1.24117756, 0.04464382,-0.05231902,-0.0623158 ,
  0.14445046, 0.84055617,-0.00382464,-0.50499341,-0.19604174]

qacc:
[-1.06954467e+00, 5.85851228e-01,-3.63043675e+00, 9.55521461e+00,
  1.35794938e-01,-3.45807971e+01, 1.41670669e+02,-3.35132454e+02,
  3.83131876e+00, 1.47436381e+00,-6.31486878e+00, 1.21065490e+01,
  1.50838245e-03,-1.29054400e-01, 5.06165127e+00,-1.72008427e+01,
 -1.90398510e+00, 3.81855313e-01,-4.58586211e+00, 1.69530764e+01,
 -5.49937980e+01,-6.17911623e+00]

qfrc_actuator:
[ 1.67258749e-04, 9.06858467e-04, 1.06712017e-04,-3.29307682e-05,
 -1.59625666e-04, 1.37362437e-01, 1.14515397e-02, 4.55639913e-02,
 -4.50290231e-05, 7.92036135e-04, 2.62948566e-04, 7.56363442e-05,
  2.25247099e-03,-1.55143853e-03, 0.00000000e+00,-1.81719039e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09570164,  0.2077395 , -4.09042983,  0.2077395 , 18.14063367,
        0.71329598, -4.09042983,  0.71329598,  4.1319276 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.245381132410685e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.41424870e-13, -3.42093264e-12,  1.00000000e+00,  2.19427127e-24,
        1.00000000e+00,  3.42093264e-12, -1.00000000e+00,  0.00000000e+00,
        6.41424870e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02284791, -0.07944722,  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:
[-6.43223901e-06,-4.08815555e-06, 7.47089061e-07, 1.73069928e-05,
  3.11789554e-05,-1.02599904e-03,-3.84181821e-04,-9.72145794e-04,
  2.31871653e-05, 1.61530701e-05,-7.96705237e-06, 1.67694014e-05,
 -8.58182613e-06,-1.70714132e-05, 3.88930404e-06,-8.21064234e-05,
  2.89473494e-02,-6.64440972e-03,-4.87336822e+00, 9.06071973e-03,
  1.04038034e-02,-2.39904329e-03]


--- Step 1655 ---
qpos:
[ 0.01866212, 0.03002538,-0.00943205,-0.02529067,-0.00309513, 1.03239383,
 -0.03033165, 0.90156257, 0.0115508 , 0.02740957,-0.00823902, 0.0264846 ,
  1.36535894, 0.00761146, 1.24131817, 0.0446361 ,-0.0533526 ,-0.06210822,
  0.14350772, 0.83730269,-0.00350096,-0.51027371,-0.19629745]

qacc:
[ 2.10610499e+00, 3.05742725e-01,-2.02074727e+00, 5.59731970e+00,
  1.02765366e-01,-3.37538402e+01, 1.36268663e+02,-3.16268967e+02,
 -6.53435466e-01, 1.22778728e+00,-3.26963650e+00, 1.22263084e+00,
  2.95422117e-01,-6.10187447e-01, 7.56947621e-01,-2.92274554e+00,
 -1.69706322e+00, 3.36142923e-01,-5.01842325e+00, 1.67385225e+01,
 -5.28293524e+01,-6.07479144e+00]

qfrc_actuator:
[ 1.80080696e-04, 9.07530991e-04, 1.08900647e-04,-2.24546571e-05,
 -1.52874794e-04, 1.37059950e-01, 1.13804834e-02, 4.47169942e-02,
 -4.95427398e-05, 8.02414022e-04, 2.39731771e-04, 6.75042421e-05,
  2.24823629e-03,-1.57906013e-03, 0.00000000e+00,-1.82985467e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09567648,  0.05586695, -4.09529544,  0.05586695, 14.35693832,
        0.13998146, -4.09529544,  0.13998146,  4.09758607,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.236860515153095e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.7149689e-12,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.7149689e-12, -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([ 0.0227988 , -0.07944649,  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:
[ 1.26326582e-05,-7.22990853e-07, 2.03790423e-06, 1.06642754e-05,
  2.34633896e-05,-1.01332085e-03,-3.55109736e-04,-9.10541569e-04,
 -3.83173015e-06, 1.85231942e-05,-2.02821600e-05,-7.39063918e-06,
 -1.30257051e-05,-3.43609139e-05,-1.09451185e-05,-1.75449902e-05,
  2.96685742e-02,-6.81737561e-03,-4.87179427e+00, 9.35146454e-03,
  1.03762986e-02,-2.42937218e-03]


--- Step 1656 ---
qpos:
[ 0.01866447, 0.03002563,-0.00943283,-0.02529045,-0.00309843, 1.03451534,
 -0.03030075, 0.90239851, 0.0115512 , 0.02740869,-0.00823817, 0.02648461,
  1.36547515, 0.00761126, 1.24145837, 0.04463094,-0.05439216,-0.06189947,
  0.14254334, 0.83396198,-0.00316326,-0.51562597,-0.1965382 ]

qacc:
[ 1.15522464e+00, 8.06223610e-01,-1.44557763e+00,-2.16767324e+00,
  4.54935188e-03,-4.08401729e+01, 1.55584250e+02,-3.28430539e+02,
 -4.90634672e-01,-2.05925174e-01, 1.37824319e+00,-3.40923030e+00,
  5.07204451e-03,-9.02237711e-02,-8.38369831e+00, 2.84186545e+01,
 -1.49542946e+00, 2.91563904e-01,-5.41175798e+00, 1.65948312e+01,
 -5.10286756e+01,-6.00409895e+00]

qfrc_actuator:
[ 1.86743995e-04, 9.25696996e-04, 9.26184766e-05,-3.42256183e-05,
 -1.65388402e-04, 1.36545294e-01, 1.13620842e-02, 4.38779281e-02,
 -5.23899964e-05, 8.08881227e-04, 2.43488835e-04, 6.26637675e-05,
  2.23084840e-03,-1.57754290e-03, 0.00000000e+00,-1.69215846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09333242, -1.84729823,  3.65278792, -1.84729823,  7.64315559,
        1.7952266 ,  3.65278792,  1.7952266 ,  5.00121949,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3083510634819282e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.40479674e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.40479674e-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([ 0.0227576 , -0.07944779,  0.06199946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.63903154e-08,-1.21048119e-03,-2.94656746e-04,-8.99916587e-04,
 -2.95419562e-06, 1.23451713e-05, 4.83184389e-06,-4.89192620e-06,
 -3.25598451e-05,-1.12154711e-05,-9.40266696e-06, 1.34776280e-04,
  3.03262527e-02,-6.97663578e-03,-4.87021602e+00, 9.63705514e-03,
  1.03458364e-02,-2.46028440e-03]


--- Step 1657 ---
qpos:
[ 0.01866653, 0.03002587,-0.00943341,-0.02529108,-0.00310194, 1.03662645,
 -0.03026975, 0.90321736, 0.01155226, 0.0274078 ,-0.008237  , 0.0264849 ,
  1.36559106, 0.00761087, 1.24159885, 0.04462442,-0.05543692,-0.06168973,
  0.14155588, 0.83053405,-0.00281121,-0.52104643,-0.19676357]

qacc:
[-2.41994371e+00,-2.31493348e+00, 1.17812811e+01,-2.66284000e+01,
 -9.69387445e-02,-4.33710664e+01, 1.62646223e+02,-3.38747193e+02,
  5.57424249e+00,-3.82336070e-01, 1.64996913e-01, 4.13600037e+00,
 -2.40773765e-01, 8.17261587e-02, 4.51938987e+00,-1.51754575e+01,
 -1.29867425e+00, 2.48006710e-01,-5.77004900e+00, 1.65127242e+01,
 -4.95412652e+01,-5.96249844e+00]

qfrc_actuator:
[ 1.71970288e-04, 9.18599953e-04, 1.01124181e-04,-7.67414218e-05,
 -1.89332783e-04, 1.35961430e-01, 1.13386397e-02, 4.30146010e-02,
 -1.87193987e-05, 8.13061008e-04, 2.63136844e-04, 7.75726951e-05,
  2.20559519e-03,-1.59430210e-03, 0.00000000e+00,-1.76878981e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09108429, -0.81196246,  4.00969919, -0.81196246,  9.52110704,
        1.0995774 ,  4.00969919,  1.0995774 ,  4.31374826,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.208189856554691e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.47080007e-12,  8.94160013e-12,  1.00000000e+00, -3.99761064e-23,
        1.00000000e+00, -8.94160013e-12, -1.00000000e+00,  0.00000000e+00,
        4.47080007e-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([ 0.02272298, -0.0794508 ,  0.06199985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.40140372e-05,-1.37629358e-03,-3.31077610e-04,-9.28237891e-04,
  3.35864105e-05, 1.18942650e-05, 2.26250061e-05, 1.55102247e-05,
 -4.44128873e-05,-2.76732733e-05, 8.45032934e-06,-7.08087199e-05,
  3.09251886e-02,-7.12321562e-03,-4.86862883e+00, 9.91904681e-03,
  1.03127362e-02,-2.49171561e-03]


--- Step 1658 ---
qpos:
[ 0.01866805, 0.03002592,-0.0094338 ,-0.02529218,-0.00310536, 1.03872942,
 -0.03024031, 0.90401908, 0.01155302, 0.02740676,-0.00823518, 0.02648468,
  1.36570662, 0.00761074, 1.24173951, 0.04461572,-0.05648144,-0.06148006,
  0.14052948, 0.82707301,-0.00244913,-0.52644576,-0.19697485]

qacc:
[-4.60354229e+00,-1.77844222e+00, 8.00553120e+00,-1.64814488e+01,
  4.38694815e-02,-3.60266563e+01, 1.42291845e+02,-3.22809975e+02,
 -2.48487039e+00,-3.03271864e+00, 1.27220577e+01,-2.25836905e+01,
 -6.20316340e-01, 7.98000290e-01, 6.97106183e+00,-2.38384400e+01,
  5.92091473e-02,-1.75793715e-02,-9.73271998e+00, 5.71440581e+00,
  1.11704199e+00, 1.01214572e-02]

qfrc_actuator:
[ 1.44698961e-04, 8.96497494e-04, 1.06335424e-04,-1.01497679e-04,
 -1.66658227e-04, 1.35713800e-01, 1.13121139e-02, 4.21615611e-02,
 -3.48350757e-05, 7.98173693e-04, 2.92004769e-04, 5.07291075e-05,
  2.20226442e-03,-1.56858610e-03, 0.00000000e+00,-1.88236173e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.76944836e-05,-2.21105950e-05, 4.88780945e-06,-2.52536376e-05,
  9.58522634e-06,-1.13958035e-03,-3.71639820e-04,-9.24804420e-04,
 -1.51306450e-05,-2.86490645e-06, 3.46439564e-05,-2.52516557e-05,
 -3.27371954e-05, 7.42876251e-06,-8.26900660e-06,-1.17375073e-04,
  3.14694527e-02,-7.25799431e-03,-4.86702834e+00, 1.01988379e-02,
  1.02772868e-02,-2.52360700e-03]


--- Step 1659 ---
qpos:
[ 0.01866889, 0.03002565,-0.00943382,-0.02529253,-0.00310844, 1.04082461,
 -0.03021194, 0.90480431, 0.01155392, 0.02740543,-0.00823296, 0.02648486,
  1.36582208, 0.00761077, 1.24187998, 0.04460671,-0.05752573,-0.06127045,
  0.13946416, 0.82357903,-0.00207706,-0.53182373,-0.19717196]

qacc:
[-5.84773380e+00, 1.23899802e-01,-4.21756062e+00, 1.68802877e+01,
  1.62610890e-01,-3.57124988e+01, 1.40346226e+02,-3.13412088e+02,
  1.26312848e+00,-6.90769786e-01, 1.96870522e-01, 6.37856310e+00,
 -1.95783358e-01, 3.09567129e-01, 6.36873477e-01,-2.60370508e+00,
  5.81775572e-02,-1.73667827e-02,-9.73195679e+00, 5.71348332e+00,
  1.12783362e+00, 9.01393609e-03]

qfrc_actuator:
[ 1.10297017e-04, 8.83332481e-04, 1.27252194e-04,-6.23644841e-05,
 -1.33985331e-04, 1.35403513e-01, 1.12853507e-02, 4.13393366e-02,
 -2.68797039e-05, 7.71991470e-04, 3.08217328e-04, 7.05282802e-05,
  2.21210193e-03,-1.55325699e-03, 0.00000000e+00,-1.89244912e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-3.52153573e-05,-2.56100153e-05, 1.60844142e-05, 3.78679407e-05,
  3.77647151e-05,-1.07870946e-03,-3.29788272e-04,-8.87746682e-04,
  7.50926954e-06,-2.16962660e-05, 1.90069280e-05, 2.03832139e-05,
 -5.76729518e-06, 1.00892151e-05,-2.05720131e-05,-1.84925524e-05,
  3.09734345e-02,-7.15810010e-03,-4.86663424e+00, 1.01827107e-02,
  1.01803580e-02,-2.56128706e-03]


--- Step 1660 ---
qpos:
[ 0.01866965, 0.03002531,-0.00943368,-0.02529243,-0.00311146, 1.04291072,
 -0.03018384, 0.90557473, 0.01155561, 0.02740416,-0.00823123, 0.02648564,
  1.36593768, 0.00761002, 1.24202012, 0.04459896,-0.05857494,-0.06105997,
  0.13837827, 0.81997416,-0.00168746,-0.53730015,-0.19735268]

qacc:
[-6.35099161e-01, 4.02199581e-01,-3.43626977e+00, 1.10021064e+01,
  2.69765615e-02,-3.66908497e+01, 1.37772792e+02,-2.90419616e+02,
  6.61749851e+00, 2.68630742e+00,-1.20387618e+01, 2.32214852e+01,
  7.32595362e-01,-1.32499035e+00,-4.33135175e+00, 1.42769442e+01,
 -1.23131164e+00, 2.21784975e-01,-5.14151279e+00, 2.11712928e+01,
 -6.83155140e+01,-8.94479051e+00]

qfrc_actuator:
[ 1.07482960e-04, 8.93490989e-04, 1.39594724e-04,-3.91967204e-05,
 -1.48864796e-04, 1.34916510e-01, 1.12585863e-02, 4.05950548e-02,
  1.29487279e-05, 7.74736902e-04, 2.81304655e-04, 9.98452569e-05,
  2.19787559e-03,-1.61518438e-03, 0.00000000e+00,-1.82370835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09196079, -0.8354579 , -4.00576499, -0.8354579 , 14.34177636,
       -2.13774133, -4.00576499, -2.13774133,  4.53781642,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5209192794379822e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82492102e-12, -7.29968408e-12,  1.00000000e+00,  1.33213469e-23,
        1.00000000e+00,  7.29968408e-12, -1.00000000e+00,  0.00000000e+00,
        1.82492102e-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([ 0.02252567, -0.07944114,  0.06199963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.85040982e-06, 7.77037794e-07, 1.03491612e-05, 2.33679306e-05,
  5.47855314e-06,-1.21200069e-03,-3.11806120e-04,-8.05801824e-04,
  4.00373760e-05,-4.56058146e-06,-2.83582926e-05, 2.94390073e-05,
 -1.53838928e-05,-6.00869473e-05,-1.36521363e-05, 6.46099408e-05,
  3.04727298e-02,-7.05680882e-03,-4.86624700e+00, 1.01665564e-02,
  1.00821082e-02,-2.59881662e-03]


--- Step 1661 ---
qpos:
[ 1.86707208e-02, 3.00252779e-02,-9.43379038e-03,-2.52927603e-02,
 -3.11485389e-03, 1.04498844e+00,-3.01564194e-02, 9.06330588e-01,
  1.15577547e-02, 2.74030169e-02,-8.23013305e-03, 2.64860728e-02,
  1.36605281e+00, 7.60923792e-03, 1.24215988e+00, 4.45943979e-02,
 -5.96281982e-02,-6.08487849e-02, 1.37269936e-01, 8.16260820e-01,
 -1.28031354e-03,-5.42866402e-01,-1.97516337e-01]

qacc:
[ 2.59943946e+00, 1.79601444e-01, 1.73297031e+00,-9.00232797e+00,
 -1.66077127e-01,-3.42721296e+01, 1.30446586e+02,-2.81548781e+02,
  3.94225978e+00, 1.20319199e+00,-2.59617194e+00,-2.47063728e+00,
 -7.66783996e-02,-7.05310342e-02,-1.02524871e+01, 3.50271101e+01,
 -1.01180332e+00, 1.72747743e-01,-5.61282841e+00, 2.05478152e+01,
 -6.42563880e+01,-8.49954273e+00]

qfrc_actuator:
[ 1.23286241e-04, 9.17504848e-04, 1.29094945e-04,-6.11118782e-05,
 -1.92119318e-04, 1.34576438e-01, 1.12492095e-02, 3.98669524e-02,
  3.57059923e-05, 7.76862467e-04, 2.47013591e-04, 8.12572399e-05,
  2.16386802e-03,-1.61606624e-03, 0.00000000e+00,-1.65584261e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09463382e+00,  6.63372179e-04, -4.09463377e+00,  6.63372179e-04,
        1.13854079e+01,  1.18117932e-03, -4.09463377e+00,  1.18117932e-03,
        4.09463402e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -2.8614163362597478e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.69994309e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.69994309e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02244032, -0.0794341 ,  0.06199929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56908504e-05, 2.75926952e-05,-8.25480085e-06,-2.10685634e-05,
 -4.03845867e-05,-1.13242299e-03,-3.15971178e-04,-7.91315324e-04,
  2.39264741e-05,-4.97752681e-06,-3.77143163e-05,-1.91958330e-05,
 -5.62330726e-05,-2.16693717e-05,-7.70570421e-07, 1.69338243e-04,
  3.13170877e-02,-7.25774584e-03,-4.86410259e+00, 1.05770861e-02,
  1.00701940e-02,-2.62840454e-03]


--- Step 1662 ---
qpos:
[ 1.86719711e-02, 3.00251868e-02,-9.43389053e-03,-2.52933226e-02,
 -3.11850410e-03, 1.04705788e+00,-3.01300762e-02, 9.07070509e-01,
  1.15594700e-02, 2.74018209e-02,-8.22916023e-03, 2.64866154e-02,
  1.36616729e+00, 7.60895464e-03, 1.24229951e+00, 4.45925399e-02,
 -6.06845329e-02,-6.06366802e-02, 1.36137992e-01, 8.12441035e-01,
 -8.61536492e-04,-5.48519986e-01,-1.97647784e-01]

qacc:
[ 1.55735069e+00,-5.68926321e-01, 2.89459279e+00,-6.86638457e+00,
 -1.16519500e-01,-3.54140441e+01, 1.37233510e+02,-3.03558844e+02,
 -3.69504882e+00, 5.10214544e-01,-2.35950754e+00, 4.44620571e+00,
 -6.42337554e-01, 8.84820766e-01,-8.29996148e+00, 2.88967984e+01,
 -7.68824090e-01, 2.31039595e-01,-5.90149951e+00, 2.20477699e+01,
 -6.34092491e+01,-5.78444044e-01]

qfrc_actuator:
[ 1.32157991e-04, 8.96245202e-04, 1.22983825e-04,-7.38702004e-05,
 -1.98742855e-04, 1.34185424e-01, 1.11975147e-02, 3.90654816e-02,
  1.27171870e-05, 7.78518760e-04, 2.44128986e-04, 8.78907149e-05,
  2.13934349e-03,-1.58075230e-03, 0.00000000e+00,-1.51971393e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09609445, -0.4874356 , -4.0669886 , -0.4874356 ,  6.69042694,
       -0.31093522, -4.0669886 , -0.31093522,  4.13336057,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.3756170818244335e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.02779636e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.02779636e-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([ 0.02150911, -0.08265944,  0.06199915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.34008934e-06,-8.43168627e-06,-2.15723072e-06,-1.22726341e-05,
 -2.86204594e-05,-1.13935651e-03,-3.42585493e-04,-8.61987691e-04,
 -2.22896500e-05,-9.69745611e-06,-9.22143702e-06, 4.74019511e-06,
 -5.79335012e-05, 1.56975648e-05, 1.56913367e-05, 1.44865276e-04,
  3.20488441e-02,-7.43509278e-03,-4.86198792e+00, 1.09715336e-02,
  1.00527580e-02,-2.65883731e-03]


--- Step 1663 ---
qpos:
[ 1.86733185e-02, 3.00246373e-02,-9.43388119e-03,-2.52936426e-02,
 -3.12215448e-03, 1.04911777e+00,-3.01044976e-02, 9.07795212e-01,
  1.15608963e-02, 2.74009068e-02,-8.22840108e-03, 2.64871957e-02,
  1.36628132e+00, 7.60902753e-03, 1.24243901e+00, 4.45936766e-02,
 -6.17430612e-02,-6.04238939e-02, 1.34980802e-01, 8.08516353e-01,
 -4.30645964e-04,-5.54253635e-01,-1.97747388e-01]

qacc:
[ 8.44779668e-01,-4.14362315e-01,-4.24817138e-01, 4.77797789e+00,
  2.85710637e-03,-3.66800042e+01, 1.37775071e+02,-2.94685623e+02,
 -2.47793235e+00, 1.05235900e+00,-3.36264628e+00, 4.14098214e+00,
 -3.59787807e-01, 5.16556428e-01,-9.22327176e+00, 3.20562447e+01,
 -5.48420531e-01, 1.70441456e-01,-6.31124045e+00, 2.15215809e+01,
 -6.01111727e+01,-7.87871614e-01]

qfrc_actuator:
[ 1.36872091e-04, 8.48053608e-04, 1.19353915e-04,-6.34084778e-05,
 -1.83348702e-04, 1.33660591e-01, 1.11388544e-02, 3.82981903e-02,
 -1.50262904e-06, 8.15526986e-04, 2.42084065e-04, 9.15891842e-05,
  2.12586888e-03,-1.55975271e-03, 0.00000000e+00,-1.36790294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09464908, -0.13974708, -4.09226366, -0.13974708,  7.23033282,
       -0.10708075, -4.09226366, -0.10708075,  4.09830579,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8672646265437418e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.26011876e-13, -2.17803563e-12,  1.00000000e+00, -1.58127973e-24,
        1.00000000e+00,  2.17803563e-12, -1.00000000e+00,  0.00000000e+00,
       -7.26011876e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02144175, -0.08265681,  0.06199927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.98442344e-06,-5.38724600e-05,-6.05978910e-06, 9.78814894e-06,
 -2.36079087e-07,-1.28416109e-03,-3.55964547e-04,-8.30415051e-04,
 -1.48787316e-05, 2.99120266e-05,-5.01581201e-06, 3.05662636e-06,
 -3.87440950e-05, 1.16394620e-05, 1.92135844e-05, 1.60998883e-04,
  3.27392790e-02,-7.60497297e-03,-4.85987158e+00, 1.12144439e-02,
  1.00077028e-02,-2.69285707e-03]


--- Step 1664 ---
qpos:
[ 1.86743675e-02, 3.00236762e-02,-9.43419459e-03,-2.52934647e-02,
 -3.12554571e-03, 1.05116581e+00,-3.00783824e-02, 9.08505614e-01,
  1.15621409e-02, 2.74000851e-02,-8.22787963e-03, 2.64874964e-02,
  1.36639510e+00, 7.60907785e-03, 1.24257859e+00, 4.45963017e-02,
 -6.28028785e-02,-6.02106712e-02, 1.33796869e-01, 8.04487839e-01,
  1.28118736e-05,-5.60061064e-01,-1.97815372e-01]

qacc:
[-2.56368367e+00, 1.38898532e+00,-7.82899336e+00, 1.72429334e+01,
  1.22713332e-01,-4.16315823e+01, 1.48286213e+02,-2.91535988e+02,
 -1.55939237e+00, 2.13704636e-01, 6.01818563e-01,-5.13741381e+00,
 -6.98561322e-02,-2.17176195e-03,-4.36904692e+00, 1.54794454e+01,
 -3.22239440e-01, 1.09065832e-01,-6.68587140e+00, 2.11160101e+01,
 -5.73662470e+01,-9.82466159e-01]

qfrc_actuator:
[ 1.21350651e-04, 8.19633458e-04, 9.93539052e-05,-3.93961783e-05,
 -1.54899322e-04, 1.32971281e-01, 1.11293907e-02, 3.75748180e-02,
 -1.04315861e-05, 8.02423155e-04, 2.22929016e-04, 7.58008336e-05,
  2.11370360e-03,-1.56514844e-03, 0.00000000e+00,-1.29682054e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09173577, -0.26871689, -4.0829025 , -0.26871689,  5.7073291 ,
       -0.10633054, -4.0829025 , -0.10633054,  4.09873393,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3484688733009231e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57287878e-12, -2.57287878e-12,  1.00000000e+00,  6.61970523e-24,
        1.00000000e+00,  2.57287878e-12, -1.00000000e+00,  0.00000000e+00,
        2.57287878e-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([ 0.02138621, -0.08265746,  0.06199965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53933498e-05,-5.93595253e-05,-3.15286969e-05, 2.16881784e-05,
  2.82171953e-05,-1.53011545e-03,-3.35677888e-04,-7.90625822e-04,
 -9.35636438e-06, 2.74032818e-06,-1.34857430e-05,-1.46206155e-05,
 -2.85272088e-05,-1.14529990e-05, 2.28558098e-05, 8.16492103e-05,
  3.33272795e-02,-7.75091236e-03,-4.85777438e+00, 1.14500342e-02,
  9.95802103e-03,-2.72714635e-03]


--- Step 1665 ---
qpos:
[ 1.86752221e-02, 3.00224726e-02,-9.43484776e-03,-2.52926754e-02,
 -3.12862976e-03, 1.05320030e+00,-3.00515292e-02, 9.09202013e-01,
  1.15625797e-02, 2.73989359e-02,-8.22793326e-03, 2.64873389e-02,
  1.36650875e+00, 7.60881900e-03, 1.24271838e+00, 4.45987781e-02,
 -6.38624438e-02,-5.99975252e-02, 1.32574096e-01, 8.00420532e-01,
  4.67391756e-04,-5.65840758e-01,-1.97866093e-01]

qacc:
[-1.67287106e+00, 1.89180053e+00,-9.77782920e+00, 2.10567470e+01,
  1.44996741e-01,-4.39000362e+01, 1.52306212e+02,-2.90364238e+02,
 -6.88870112e+00, 2.44798602e-01, 4.56127244e-01,-7.24827612e+00,
  7.04672603e-02,-3.17032007e-01, 7.34708096e-01,-2.16770822e+00,
  6.29981665e-02,-1.91394743e-02,-9.71003833e+00, 6.56519617e+00,
  1.39309022e+00,-7.48977477e-03]

qfrc_actuator:
[ 1.11797304e-04, 8.20965361e-04, 8.76729001e-05,-7.60611500e-06,
 -1.36628699e-04, 1.32207157e-01, 1.11306971e-02, 3.68652144e-02,
 -5.16830442e-05, 7.41576135e-04, 1.75864766e-04, 4.86227954e-05,
  2.10232101e-03,-1.58614510e-03, 0.00000000e+00,-1.30937198e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.00189040e-05,-3.74150628e-05,-2.70594135e-05, 2.85830158e-05,
  3.34939762e-05,-1.73549629e-03,-3.69571852e-04,-7.82919871e-04,
 -4.15254736e-05,-6.27031841e-05,-4.86606310e-05,-2.78111331e-05,
 -2.81773277e-05,-3.12075262e-05, 1.54419727e-05,-6.01753468e-06,
  3.38209187e-02,-7.87464121e-03,-4.85568847e+00, 1.16802292e-02,
  9.90421716e-03,-2.76162518e-03]


--- Step 1666 ---
qpos:
[ 1.86763003e-02, 3.00209722e-02,-9.43561930e-03,-2.52918654e-02,
 -3.13175990e-03, 1.05522016e+00,-3.00244066e-02, 9.09885696e-01,
  1.15628648e-02, 2.73975175e-02,-8.22830612e-03, 2.64868329e-02,
  1.36662222e+00, 7.60831310e-03, 1.24285847e+00, 4.45990954e-02,
 -6.49217630e-02,-5.97844544e-02, 1.31312487e-01, 7.96314659e-01,
  9.33022748e-04,-5.71592417e-01,-1.97899474e-01]

qacc:
[ 1.91862165e+00,-2.23707775e-02,-5.83289918e-01, 1.35678677e+00,
 -1.69828612e-02,-4.18245332e+01, 1.40980402e+02,-2.64419123e+02,
 -1.31671445e+00,-1.78718447e-01, 1.59788084e+00,-6.92915358e+00,
 -1.65597865e-01,-1.02083580e-02, 6.98801905e+00,-2.37713035e+01,
  6.15436291e-02,-1.88270091e-02,-9.70915653e+00, 6.56414984e+00,
  1.40611550e+00,-8.87199601e-03]

qfrc_actuator:
[ 1.23592628e-04, 8.04638790e-04, 8.11294274e-05,-6.96716929e-06,
 -1.60122276e-04, 1.31422343e-01, 1.11202968e-02, 3.62225527e-02,
 -5.83733166e-05, 7.41229467e-04, 1.65745352e-04, 3.26537456e-05,
  2.09140726e-03,-1.59845406e-03, 0.00000000e+00,-1.42432001e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.14945569e-05,-4.15703109e-05,-1.65952047e-05,-1.33991788e-06,
 -5.39994606e-06,-1.87592744e-03,-4.25128459e-04,-7.23124152e-04,
 -7.92931618e-06,-4.66246079e-05,-3.00109568e-05,-2.08762369e-05,
 -3.25762015e-05,-2.79390959e-05, 2.38025595e-06,-1.14234657e-04,
  3.31171588e-02,-7.72610675e-03,-4.85522746e+00, 1.16628017e-02,
  9.78909749e-03,-2.80035890e-03]


--- Step 1667 ---
qpos:
[ 0.01867751, 0.03001955,-0.00943663,-0.02529144,-0.00313503, 1.05722726,
 -0.0299979 , 0.91055662, 0.01156272, 0.02739637,-0.00822857, 0.02648638,
  1.36673552, 0.00760762, 1.24299847, 0.04459871,-0.06597994,-0.05957154,
  0.13002502, 0.79207951, 0.00141345,-0.57744712,-0.19789613]

qacc:
[ 1.13036204e+00,-3.98490726e-02, 1.89763030e+00,-8.20943199e+00,
 -6.14748896e-02,-3.70364785e+01, 1.28370546e+02,-2.54967908e+02,
 -3.65451625e+00, 1.62459817e-01,-2.91282808e-01, 8.85364842e-01,
 -6.11641004e-02,-9.46784472e-02, 1.99891144e+00,-7.17755504e+00,
  2.86431630e-01,-3.94320367e-02,-6.46439839e+00, 2.66439356e+01,
 -7.64959798e+01,-2.35153553e+00]

qfrc_actuator:
[ 1.30104489e-04, 8.31126411e-04, 7.75829879e-05,-2.46729374e-05,
 -1.72938706e-04, 1.30933405e-01, 1.11385513e-02, 3.55888644e-02,
 -8.01619665e-05, 8.12760802e-04, 1.95519651e-04, 4.12365872e-05,
  2.08610974e-03,-1.60548884e-03, 0.00000000e+00,-1.45661505e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09233092,  0.85791578,  4.00139387,  0.85791578,  4.38668816,
       -0.06311144,  4.00139387, -0.06311144,  4.10586228,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7683483135966238e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.92394069e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.92394069e-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([ 0.02111823, -0.08263635,  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:
[ 6.83841902e-06,-1.80735649e-07,-1.41991379e-05,-2.00832558e-05,
 -1.59120490e-05,-1.66643965e-03,-4.28481567e-04,-7.18731204e-04,
 -2.20401025e-05, 3.84196769e-05, 1.57472033e-05, 5.14560835e-06,
 -2.89686627e-05,-2.25018409e-05,-1.56212422e-05,-3.92681530e-05,
  3.24074688e-02,-7.57575643e-03,-4.85477712e+00, 1.16453836e-02,
  9.67255397e-03,-2.83878090e-03]


--- Step 1668 ---
qpos:
[ 0.01867845, 0.03001842,-0.00943727,-0.0252913 ,-0.00313828, 1.05922468,
 -0.02997295, 0.91121385, 0.01156232, 0.02739561,-0.00822941, 0.02648607,
  1.36684854, 0.00760707, 1.24313795, 0.04460126,-0.06703622,-0.059359  ,
  0.12871007, 0.78771871, 0.00190887,-0.58339383,-0.1978566 ]

qacc:
[-2.36310979e+00,-1.19522668e+00, 6.06205180e+00,-1.18384177e+01,
  1.43121619e-02,-3.20968177e+01, 1.19083846e+02,-2.59788085e+02,
 -2.24561361e+00, 2.43161077e+00,-8.50535220e+00, 1.15394504e+01,
 -6.70942228e-02, 8.64465565e-02,-9.65145077e+00, 3.26568629e+01,
  4.73544718e-01,-9.32884471e-02,-6.87109816e+00, 2.55802067e+01,
 -7.12090554e+01,-2.36559256e+00]

qfrc_actuator:
[ 1.15694965e-04, 8.83050213e-04, 1.11503364e-04,-3.52365569e-05,
 -1.61482118e-04, 1.30679222e-01, 1.11392713e-02, 3.49124310e-02,
 -9.29210662e-05, 8.20472296e-04, 1.60161629e-04, 4.65316611e-05,
  2.07886175e-03,-1.59156745e-03, 0.00000000e+00,-1.29788947e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09427219, -0.31121532, -4.08242695, -0.31121532,  5.69679293,
       -0.12216483, -4.08242695, -0.12216483,  4.10358517,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7190699887630343e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.57271108e-12, -2.04154919e-12,  1.00000000e+00, -7.29386539e-24,
        1.00000000e+00,  2.04154919e-12, -1.00000000e+00,  0.00000000e+00,
       -3.57271108e-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([ 0.02100828, -0.08262474,  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:
[-1.42034532e-05, 4.80912748e-05, 3.14654090e-05,-1.14497481e-05,
  2.64327731e-06,-1.31585245e-03,-4.05002692e-04,-7.54984953e-04,
 -1.33962576e-05, 3.27068555e-05,-2.52860419e-05, 7.59155321e-06,
 -2.78661505e-05, 9.06081366e-07,-1.42028487e-05, 1.53929463e-04,
  3.31648534e-02,-7.75411520e-03,-4.85204675e+00, 1.19805870e-02,
  9.63929840e-03,-2.87087067e-03]


--- Step 1669 ---
qpos:
[ 0.0186792 , 0.03001758,-0.00943751,-0.02529129,-0.00314127, 1.06121117,
 -0.02994831, 0.91185725, 0.01156245, 0.02739466,-0.00823072, 0.02648624,
  1.3669614 , 0.00760641, 1.24327739, 0.04460499,-0.06808979,-0.05914662,
  0.12736691, 0.78323655, 0.00240929,-0.58942967,-0.19775585]

qacc:
[-1.53547522e+00,-1.02447958e+00, 4.72100423e+00,-7.78037207e+00,
  1.16830040e-01,-3.73162639e+01, 1.34419771e+02,-2.73886502e+02,
  4.59395268e+00, 2.04963107e+00,-9.70142178e+00, 1.88912180e+01,
  4.27152080e-02,-1.67329214e-01,-3.61848279e+00, 1.25530178e+01,
  6.75209670e-01,-3.90975656e-02,-7.05081487e+00, 2.87574832e+01,
 -6.99519771e+01, 1.07344724e+01]

qfrc_actuator:
[ 1.06841007e-04, 8.96718440e-04, 1.31896887e-04,-4.14577015e-05,
 -1.35572716e-04, 1.30106363e-01, 1.11129047e-02, 3.42163938e-02,
 -6.47537375e-05, 7.71914497e-04, 1.21881607e-04, 6.75026141e-05,
  2.07045970e-03,-1.60083659e-03, 0.00000000e+00,-1.24094324e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.0937153 , -0.62461422, -4.04578324, -0.62461422,  7.2124711 ,
       -0.48149372, -4.04578324, -0.48149372,  4.16805142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.483920027780695e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.58705097e-13, -2.51417294e-12,  1.00000000e+00, -1.40468124e-24,
        1.00000000e+00,  2.51417294e-12, -1.00000000e+00,  0.00000000e+00,
       -5.58705097e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01953439, -0.08780885,  0.0619993 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.72481479e-05,-1.43663260e-03,-3.61535440e-04,-7.63894837e-04,
  2.77836241e-05,-3.51335664e-05,-3.43561576e-05, 2.16501534e-05,
 -2.23262035e-05,-1.55703537e-05, 8.68783842e-06, 6.32647630e-05,
  3.37673225e-02,-7.89768455e-03,-4.84938248e+00, 1.22985337e-02,
  9.59855352e-03,-2.90336929e-03]


--- Step 1670 ---
qpos:
[ 0.01868053, 0.03001696,-0.00943803,-0.02529096,-0.00314399, 1.06318373,
 -0.02992323, 0.9124869 , 0.01156258, 0.02739337,-0.00823185, 0.02648663,
  1.36707415, 0.00760563, 1.24341697, 0.04460837,-0.06913979,-0.05893471,
  0.12599408, 0.77863542, 0.00291568,-0.59554524,-0.19759618]

qacc:
[ 4.94209978e+00, 1.74717779e+00,-7.16250608e+00, 1.30517603e+01,
  1.34737379e-01,-4.31447466e+01, 1.48549982e+02,-2.83516961e+02,
 -5.77464676e-02,-5.22447551e-01, 2.56662649e-01, 3.58283692e+00,
 -4.42392979e-02,-5.90963711e-02, 1.24758884e+00,-4.07043163e+00,
  8.94649481e-01,-1.18337624e-01,-7.41974621e+00, 2.77321281e+01,
 -6.56314448e+01, 9.64406404e+00]

qfrc_actuator:
[ 1.36839850e-04, 8.87341594e-04, 1.08482743e-04,-2.73653395e-05,
 -1.18977531e-04, 1.29240904e-01, 1.10696599e-02, 3.35141991e-02,
 -6.59842664e-05, 7.61024031e-04, 1.35228293e-04, 7.97309748e-05,
  2.06668949e-03,-1.60606631e-03, 0.00000000e+00,-1.26222832e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09249388, -0.48713733, -4.06339801, -0.48713733,  3.77666852,
        0.03786248, -4.06339801,  0.03786248,  4.08795477,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.866902275481086e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.85839773e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.85839773e-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([ 0.01944424, -0.0878028 ,  0.06199946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.13688106e-05,-1.78749587e-03,-3.97297759e-04,-7.72672303e-04,
 -4.32638060e-07,-3.66468875e-05, 2.63192061e-06, 9.95888988e-06,
 -1.86665747e-05,-1.50163273e-05, 7.66717374e-06,-1.74252840e-05,
  3.43284788e-02,-8.01893571e-03,-4.84674675e+00, 1.23319389e-02,
  9.50340964e-03,-2.94175995e-03]


--- Step 1671 ---
qpos:
[ 0.01868221, 0.03001682,-0.00943921,-0.02529046,-0.00314676, 1.06514283,
 -0.02989895, 0.91310261, 0.01156304, 0.02739224,-0.00823275, 0.0264871 ,
  1.36718666, 0.00760525, 1.24355702, 0.04460779,-0.07018526,-0.0587236 ,
  0.12459021, 0.77391709, 0.0034289 ,-0.60173244,-0.19737946]

qacc:
[ 2.96761410e+00, 2.78683404e+00,-9.71868771e+00, 1.32263730e+01,
 -2.67144118e-02,-3.94766348e+01, 1.37615363e+02,-2.76174872e+02,
  2.80846935e+00,-2.43041835e-01, 8.48218588e-01, 6.38931619e-03,
 -7.82379718e-01, 1.11469415e+00, 1.27470740e+01,-4.33811640e+01,
  1.13364039e+00,-2.01544422e-01,-7.75829728e+00, 2.68960601e+01,
 -6.20254575e+01, 8.70922783e+00]

qfrc_actuator:
[ 1.53959738e-04, 9.17327110e-04, 7.70580988e-05,-1.92380553e-05,
 -1.43613239e-04, 1.28597802e-01, 1.10334149e-02, 3.28137734e-02,
 -4.90163359e-05, 8.08469780e-04, 1.61324327e-04, 8.67759830e-05,
  2.06570039e-03,-1.57330999e-03, 0.00000000e+00,-1.47142302e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09091744, -0.60159947, -4.04644086, -0.60159947,  3.11612747,
        0.14492567, -4.04644086,  0.14492567,  4.0693708 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3556854007307217e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02367318e-11, -1.53550977e-11,  1.00000000e+00, -1.57186016e-22,
        1.00000000e+00,  1.53550977e-11, -1.00000000e+00,  0.00000000e+00,
       -1.02367318e-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([ 0.01937057, -0.08780192,  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:
[ 1.79970040e-05, 4.19213413e-05,-2.71514989e-05, 9.13471618e-06,
 -7.62426454e-06,-1.76629903e-03,-4.63399724e-04,-7.82950584e-04,
  1.69367968e-05, 2.79822855e-05, 1.92223673e-05, 5.76398210e-06,
 -1.41584533e-05, 2.41182652e-05,-2.08432624e-06,-2.10033255e-04,
  3.47495958e-02,-8.10460778e-03,-4.84415953e+00, 1.23649404e-02,
  9.40208537e-03,-2.97957273e-03]


--- Step 1672 ---
qpos:
[ 0.01868305, 0.03001665,-0.0094403 ,-0.02528986,-0.00314986, 1.06709026,
 -0.02987633, 0.9137061 , 0.01156404, 0.02739167,-0.00823328, 0.02648759,
  1.367299  , 0.00760523, 1.24369709, 0.04460439,-0.07123047,-0.05851258,
  0.12314762, 0.76915356, 0.00395345,-0.60788327,-0.19714234]

qacc:
[-7.21485775e+00,-4.55103223e-02,-3.02517148e-01, 1.98167568e+00,
 -1.43055240e-01,-3.19025295e+01, 1.12002015e+02,-2.34676268e+02,
  4.64549917e+00,-3.05971601e-01, 2.08939486e+00,-2.82699058e+00,
 -5.78204559e-01, 8.66809837e-01, 8.65724667e+00,-3.00881773e+01,
  6.47000862e-02,-1.97448519e-02,-9.68205748e+00, 7.00926669e+00,
  1.63109895e+00,-4.69677021e-02]

qfrc_actuator:
[ 1.10091685e-04, 8.99585483e-04, 7.68202113e-05,-1.46575705e-05,
 -1.74996814e-04, 1.28164240e-01, 1.10024419e-02, 3.22088505e-02,
 -2.14628469e-05, 8.72796921e-04, 1.94966851e-04, 9.07701481e-05,
  2.06106958e-03,-1.55374592e-03, 0.00000000e+00,-1.61208941e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-4.33267581e-05, 5.02452526e-07, 5.40417278e-06, 5.61458781e-06,
 -3.56957450e-05,-1.55796506e-03,-4.61708510e-04,-6.88968157e-04,
  2.80540088e-05, 8.42504960e-05, 4.20122845e-05, 5.97348847e-06,
 -7.03349430e-06, 2.36130590e-05,-2.86910856e-05,-1.53625945e-04,
  3.50415632e-02,-8.15697123e-03,-4.84161018e+00, 1.23986521e-02,
  9.29527920e-03,-3.01675746e-03]


--- Step 1673 ---
qpos:
[ 0.01868336, 0.03001596,-0.00944055,-0.02528953,-0.00315313, 1.06902677,
 -0.02985529, 0.91429933, 0.01156502, 0.02739097,-0.00823308, 0.02648818,
  1.36741128, 0.00760502, 1.24383671, 0.04460163,-0.07227542,-0.05830163,
  0.1216663 , 0.76434515, 0.00448926,-0.61399733,-0.19688477]

qacc:
[-4.52970365e+00,-3.61377613e+00, 1.30656410e+01,-1.88891424e+01,
 -7.59635471e-02,-2.76700095e+01, 9.51116206e+01,-1.97056536e+02,
 -1.57895061e-01,-1.97299506e+00, 6.31682393e+00,-5.47472975e+00,
  1.45070817e-01,-3.09534190e-01,-2.64520664e+00, 8.22855339e+00,
  6.26796740e-02,-1.92885907e-02,-9.68107822e+00, 7.00859538e+00,
  1.64478042e+00,-4.85493265e-02]

qfrc_actuator:
[ 8.39395291e-05, 8.53514244e-04, 1.12564862e-04,-2.99664712e-05,
 -1.74643763e-04, 1.27717971e-01, 1.09580469e-02, 3.17006016e-02,
 -2.34101982e-05, 8.22517945e-04, 2.15130570e-04, 9.29633811e-05,
  2.04360379e-03,-1.57772060e-03, 0.00000000e+00,-1.56916110e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.74134195e-05,-4.44341986e-05, 3.67224401e-05,-1.49879948e-05,
 -1.93223177e-05,-1.45172293e-03,-4.31117190e-04,-5.83652494e-04,
 -1.10026819e-06, 5.80717031e-06, 4.29597684e-05, 7.37399612e-06,
 -1.66273704e-05,-1.82729894e-05,-3.28229986e-05, 3.01173032e-05,
  3.40555821e-02,-7.93678293e-03,-4.84109114e+00, 1.23816337e-02,
  9.15603337e-03,-3.05323195e-03]


--- Step 1674 ---
qpos:
[ 0.01868335, 0.03001498,-0.00944039,-0.02528975,-0.00315632, 1.07095447,
 -0.02983644, 0.91488208, 0.01156597, 0.02738996,-0.00823272, 0.02648886,
  1.36752328, 0.00760509, 1.24397625, 0.04459834,-0.07332013,-0.05809076,
  0.12014626, 0.75949218, 0.00503622,-0.62007425,-0.19660667]

qacc:
[-2.69833028e+00,-2.61130625e+00, 1.10249403e+01,-2.06983900e+01,
  3.80451605e-02,-2.37261782e+01, 8.60073534e+01,-1.93063140e+02,
 -2.49945058e-01,-6.65313769e-01, 1.40557575e+00, 7.50704041e-02,
 -4.37261484e-01, 6.14765523e-01, 1.52449480e+00,-5.39140736e+00,
  6.06455819e-02,-1.88280320e-02,-9.68013283e+00, 7.00791386e+00,
  1.65847349e+00,-5.01290532e-02]

qfrc_actuator:
[ 6.84441090e-05, 8.44220101e-04, 1.33609152e-04,-5.68641566e-05,
 -1.55268594e-04, 1.27445511e-01, 1.09061979e-02, 3.11822635e-02,
 -2.49576050e-05, 7.74956739e-04, 2.08960846e-04, 9.39756832e-05,
  2.03441181e-03,-1.55640595e-03, 0.00000000e+00,-1.59594512e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.63081747e-05,-2.71817289e-05, 1.58824841e-05,-2.78189959e-05,
  8.66794935e-06,-1.20946626e-03,-4.10958964e-04,-5.87126990e-04,
 -1.58154010e-06,-3.50995167e-05, 5.81857496e-07, 2.89113613e-06,
 -2.26032826e-05, 1.24485769e-05,-1.29433228e-05,-2.95900396e-05,
  3.30623967e-02,-7.71436565e-03,-4.84058842e+00, 1.23646943e-02,
  9.01532163e-03,-3.08915040e-03]


--- Step 1675 ---
qpos:
[ 0.01868316, 0.03001418,-0.00944104,-0.02528956,-0.00315919, 1.07287777,
 -0.02982037, 0.91545305, 0.01156655, 0.02738897,-0.00823227, 0.02648951,
  1.36763491, 0.00760569, 1.24411546, 0.04459675,-0.07435446,-0.05788224,
  0.1185966 , 0.7544795 , 0.00558937,-0.6262701 ,-0.19625292]

qacc:
[-1.62454464e+00, 3.30939500e+00,-1.31391021e+01, 2.11600519e+01,
  1.45391734e-01,-1.85315007e+01, 7.88283752e+01,-2.04793187e+02,
 -3.16290756e+00,-2.89979616e-01, 1.23022168e+00,-1.96952896e+00,
 -4.90246038e-01, 7.99848576e-01,-5.56948449e+00, 1.88762396e+01,
  2.59733298e+00,-5.88283611e-01,-7.40543062e+00, 3.79049043e+01,
 -9.38864732e+01, 1.14099551e+01]

qfrc_actuator:
[ 5.93400315e-05, 8.56955283e-04, 9.26680184e-05,-3.70927280e-05,
 -1.24663236e-04, 1.27563656e-01, 1.08866102e-02, 3.06089449e-02,
 -4.40000365e-05, 8.00271466e-04, 2.22777677e-04, 9.42589920e-05,
  2.01955361e-03,-1.52606274e-03, 0.00000000e+00,-1.50386962e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09842841, -0.83960299, -4.01150623, -0.83960299,  2.84743423,
        0.26183144, -4.01150623,  0.26183144,  4.04362743,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.0638870371645375e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.53726228e-13, -1.36596197e-12,  1.00000000e+00, -1.16615756e-24,
        1.00000000e+00,  1.36596197e-12, -1.00000000e+00,  0.00000000e+00,
       -8.53726228e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01880577, -0.08772485,  0.06199869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.58527297e-06,-3.47064129e-07,-4.55507585e-05, 1.86183993e-05,
  3.52672867e-05,-6.80608052e-04,-3.28846238e-04,-6.34128031e-04,
 -1.91038510e-05, 5.96436172e-06, 6.74541735e-06,-1.14424881e-06,
 -2.39222409e-05, 2.88527944e-05,-1.21342461e-05, 8.81251855e-05,
  3.20622670e-02,-7.48977886e-03,-4.84010213e+00, 1.23478402e-02,
  8.87318426e-03,-3.12449434e-03]


--- Step 1676 ---
qpos:
[ 0.01868355, 0.03001377,-0.00944236,-0.02528884,-0.00316171, 1.07480395,
 -0.02980783, 0.91601073, 0.01156586, 0.02738835,-0.00823158, 0.02649045,
  1.36774633, 0.00760642, 1.24425422, 0.04459892,-0.07537916,-0.05767593,
  0.11701667, 0.74931312, 0.00614904,-0.63256919,-0.19582711]

qacc:
[ 4.96177241e+00, 3.50066555e+00,-1.40080602e+01, 2.41469210e+01,
  1.56695474e-01,-9.53833945e+00, 6.42502732e+01,-2.14507295e+02,
 -1.08120493e+01, 4.08606373e-01,-1.94639908e+00, 6.24764604e+00,
  6.15504521e-02,-5.43120159e-02,-1.20435186e+01, 4.11666541e+01,
  2.40620001e+00,-5.51363711e-01,-7.56655391e+00, 3.55801860e+01,
 -8.62318403e+01, 1.03476046e+01]

qfrc_actuator:
[ 8.95722732e-05, 9.00322685e-04, 6.88498232e-05,-7.78935198e-06,
 -1.05342776e-04, 1.28252565e-01, 1.09055993e-02, 2.99726195e-02,
 -1.08692100e-04, 8.51344713e-04, 2.48583938e-04, 1.11941598e-04,
  2.00664016e-03,-1.52616319e-03, 0.00000000e+00,-1.30698167e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.10911489, -0.85326512, -4.01954771, -0.85326512,  1.65586697,
        0.52077274, -4.01954771,  0.52077274,  3.99856583,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.316088852878488e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.69024288e-13, -2.19721225e-13,  1.00000000e+00, -1.68970959e-25,
        1.00000000e+00,  2.19721225e-13, -1.00000000e+00,  0.00000000e+00,
       -7.69024288e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01862124, -0.08769402,  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:
[ 2.99570582e-05, 3.45963771e-05,-2.88385816e-05, 2.80784011e-05,
  3.86361923e-05, 1.97796031e-04,-1.78415547e-04,-6.79528243e-04,
 -6.52524185e-05, 5.57770726e-05, 2.78357222e-05, 1.81499904e-05,
 -1.84064804e-05, 2.64419658e-06, 1.74299831e-06, 1.99694839e-04,
  3.27424922e-02,-7.60719091e-03,-4.83637338e+00, 1.24366287e-02,
  8.77896811e-03,-3.15883474e-03]


--- Step 1677 ---
qpos:
[ 0.0186836 , 0.03001369,-0.00944369,-0.02528815,-0.00316409, 1.07673679,
 -0.02979797, 0.91655608, 0.01156474, 0.02738811,-0.00823141, 0.02649129,
  1.36785773, 0.00760712, 1.24439302, 0.04460275,-0.07639485,-0.0574717 ,
  0.11540596, 0.74399769, 0.00671543,-0.63895832,-0.19533207]

qacc:
[-2.83725373e+00, 3.83909601e-01,-5.92379480e-01,-2.61732073e-01,
  6.29237296e-02,-5.22114466e+00, 5.40450450e+01,-1.96623049e+02,
 -3.65672030e+00, 1.81255248e+00,-5.32548889e+00, 4.30434495e+00,
  1.18860868e-01,-1.73436740e-01,-4.96952593e+00, 1.74278287e+01,
  2.25111216e+00,-5.21965355e-01,-7.69564577e+00, 3.36880318e+01,
 -8.00076307e+01, 9.49221650e+00]

qfrc_actuator:
[ 7.17026543e-05, 9.26265807e-04, 7.32399071e-05,-8.57490393e-06,
 -1.10701809e-04, 1.28923358e-01, 1.08963444e-02, 2.93757288e-02,
 -1.28718801e-04, 8.46516417e-04, 2.10384886e-04, 1.04250364e-04,
  2.01086938e-03,-1.52659328e-03, 0.00000000e+00,-1.22748072e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.1102571 , -0.86535062, -4.01813163, -0.86535062,  1.08974486,
        0.65050187, -4.01813163,  0.65050187,  3.97016408,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.510392732844705e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06581802e-13, -8.52654417e-13,  1.00000000e+00,  9.08774445e-26,
        1.00000000e+00,  8.52654417e-13, -1.00000000e+00,  0.00000000e+00,
        1.06581802e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01847255, -0.08767386,  0.0619978 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.58950589e-05, 6.94154469e-04,-1.84029477e-05,-6.09712929e-04,
 -2.19218752e-05, 3.28777843e-05,-2.26219315e-05,-3.98425677e-06,
 -4.07030262e-06,-4.21224436e-06, 2.06600426e-05, 9.03104975e-05,
  3.31983868e-02,-7.67482472e-03,-4.83278185e+00, 1.25108769e-02,
  8.67238711e-03,-3.19256660e-03]


--- Step 1678 ---
qpos:
[ 0.0186831 , 0.03001376,-0.00944488,-0.02528781,-0.00316642, 1.07867416,
 -0.02978832, 0.91709047, 0.01156443, 0.02738766,-0.0082317 , 0.02649177,
  1.36796911, 0.00760756, 1.24453185, 0.04460785,-0.07740204,-0.05726947,
  0.11376405, 0.73853666, 0.00728867,-0.64542631,-0.19477   ]

qacc:
[-4.79430768e+00,-8.99738252e-01, 4.99978372e+00,-1.14070409e+01,
  2.57709893e-02,-1.23477856e+01, 7.10487696e+01,-1.94050293e+02,
  6.83621664e+00, 2.03025938e-01, 4.24217556e-01,-5.95883191e+00,
  2.49643461e-01,-4.51735221e-01,-3.85910898e+00, 1.34874573e+01,
  2.12598686e+00,-4.98756828e-01,-7.79802973e+00, 3.21586118e+01,
 -7.49632533e+01, 8.79791463e+00]

qfrc_actuator:
[ 4.34034379e-05, 9.23921112e-04, 7.64119345e-05,-2.70530722e-05,
 -1.13049338e-04, 1.29099046e-01, 1.08707118e-02, 2.88246053e-02,
 -8.67754769e-05, 7.90224665e-04, 1.69964770e-04, 8.15987917e-05,
  2.00407280e-03,-1.54486058e-03, 0.00000000e+00,-1.16455127e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.10184074, -0.87548397, -4.00732146, -0.87548397,  0.79034134,
        0.72346695, -4.00732146,  0.72346695,  3.94378411,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.8981562955366376e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41663383e-13, -8.49980297e-13,  1.00000000e+00,  1.20411084e-25,
        1.00000000e+00,  8.49980297e-13, -1.00000000e+00,  0.00000000e+00,
        1.41663383e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01835508, -0.08766316,  0.0619983 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.45481392e-06, 5.07441456e-04, 8.30077866e-05,-5.42375009e-04,
  4.13132106e-05,-4.27562693e-05,-3.65542190e-05,-2.21039357e-05,
 -9.45754736e-06,-2.06336761e-05, 1.59069270e-05, 6.97627105e-05,
  3.34514347e-02,-7.69698023e-03,-4.82930177e+00, 1.25736106e-02,
  8.55500250e-03,-3.22557825e-03]


--- Step 1679 ---
qpos:
[ 0.01868295, 0.03001392,-0.00944597,-0.02528768,-0.00316872, 1.08061263,
 -0.02977795, 0.9176151 , 0.01156497, 0.02738722,-0.00823226, 0.02649158,
  1.36808022, 0.00760813, 1.24467069, 0.04461402,-0.07840113,-0.05706916,
  0.11209064, 0.73293253, 0.00786882,-0.65196369,-0.19414253]

qacc:
[ 3.03788924e+00,-5.82070010e-01, 3.12501299e+00,-6.97905426e+00,
  1.32176212e-02,-1.72929677e+01, 7.91722940e+01,-1.84880326e+02,
  7.24112460e+00,-5.89209713e-01, 4.86033418e+00,-1.57860123e+01,
 -2.16307703e-01, 2.46301019e-01,-3.18572020e+00, 1.12139649e+01,
  2.02580798e+00,-4.80661687e-01,-7.87809448e+00, 3.09335860e+01,
 -7.08937188e+01, 8.22914162e+00]

qfrc_actuator:
[ 6.24653079e-05, 9.22390925e-04, 7.87049189e-05,-3.80659691e-05,
 -1.13562074e-04, 1.28959366e-01, 1.08338390e-02, 2.83222562e-02,
 -4.42132159e-05, 8.10010015e-04, 1.63848468e-04, 5.02881084e-05,
  1.98533368e-03,-1.53810141e-03, 0.00000000e+00,-1.11185026e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09219771, -0.88513441, -3.99532467, -0.88513441,  0.61805868,
        0.76966962, -3.99532467,  0.76966962,  3.92168314,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6834991141065347e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.70953834e-12, -6.59473483e-12,  1.00000000e+00, -2.44634217e-23,
        1.00000000e+00,  6.59473483e-12, -1.00000000e+00,  0.00000000e+00,
       -3.70953834e-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([ 0.01826534, -0.08766101,  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:
[ 1.82321331e-05, 1.28116228e-05, 7.88919688e-06,-9.93972631e-06,
  3.08401102e-06, 1.10790247e-04, 4.87567257e-05,-4.94781781e-04,
  4.37584603e-05,-1.25905040e-05,-2.02099470e-05,-3.48391616e-05,
 -2.81469128e-05,-1.54490245e-06, 1.16163541e-05, 5.78139031e-05,
  3.35198831e-02,-7.67722539e-03,-4.82590999e+00, 1.26272332e-02,
  8.42806741e-03,-3.25776955e-03]


--- Step 1680 ---
qpos:
[ 0.01868304, 0.0300139 ,-0.00944662,-0.02528767,-0.00317099, 1.08254787,
 -0.02976604, 0.91812968, 0.01156567, 0.02738712,-0.00823368, 0.02649137,
  1.36819118, 0.00760894, 1.24480976, 0.04461911,-0.07939997,-0.05686893,
  0.11037865, 0.72727579, 0.00845984,-0.65845235,-0.19349125]

qacc:
[ 1.98667414e+00,-1.74459841e+00, 6.38194599e+00,-9.07287773e+00,
  1.15297197e-02,-2.56667566e+01, 1.00226462e+02,-2.03810361e+02,
  1.34814858e+00, 2.78156351e+00,-9.13571748e+00, 9.70733242e+00,
 -3.74850991e-01, 5.54130828e-01, 3.65388277e+00,-1.21920397e+01,
  6.08088018e-02,-1.85169171e-02,-9.64442391e+00, 7.22285876e+00,
  1.85347964e+00,-1.11611038e-01]

qfrc_actuator:
[ 7.37492624e-05, 9.03602721e-04, 9.82159546e-05,-4.45983044e-05,
 -1.12967109e-04, 1.28525571e-01, 1.08071328e-02, 2.77991031e-02,
 -3.71530442e-05, 8.39809954e-04, 1.25065372e-04, 4.97227326e-05,
  1.99140844e-03,-1.51658728e-03, 0.00000000e+00,-1.17209994e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.18203648e-05,-1.04067411e-05, 2.27948689e-05,-5.90335372e-06,
  2.30547110e-06,-4.08024245e-04,-2.13611626e-05,-5.27663718e-04,
  8.33799098e-06, 1.71315741e-05,-4.50676159e-05,-2.48130356e-06,
 -8.43188737e-06, 1.43569544e-05, 8.02284076e-06,-5.64056851e-05,
  3.34188721e-02,-7.61843172e-03,-4.82258598e+00, 1.26736941e-02,
  8.29260098e-03,-3.28904840e-03]


--- Step 1681 ---
qpos:
[ 0.01868256, 0.03001349,-0.00944662,-0.02528773,-0.00317309, 1.0844759 ,
 -0.02975198, 0.91863471, 0.01156576, 0.02738682,-0.00823537, 0.02649083,
  1.36830225, 0.00760965, 1.2449491 , 0.04462144,-0.08039859,-0.05666876,
  0.10862808, 0.72156688, 0.0090616 ,-0.66489178,-0.1928161 ]

qacc:
[-4.73032144e+00,-2.46039177e+00, 8.32168969e+00,-1.02300464e+01,
  8.53832584e-02,-3.16677991e+01, 1.12446506e+02,-2.06060375e+02,
 -5.20473982e+00,-1.67259077e-01, 1.60263634e+00,-6.63774307e+00,
 -7.23876098e-02, 6.40407972e-02, 8.74483669e+00,-3.00070393e+01,
  5.79526539e-02,-1.78397169e-02,-9.64343293e+00, 7.22316746e+00,
  1.86697488e+00,-1.13349712e-01]

qfrc_actuator:
[ 4.48439548e-05, 8.74693889e-04, 1.27666385e-04,-4.84464854e-05,
 -9.39596480e-05, 1.27919203e-01, 1.08209296e-02, 2.73031606e-02,
 -6.87987309e-05, 8.04270064e-04, 1.02879894e-04, 3.17363807e-05,
  2.00171846e-03,-1.52190050e-03, 0.00000000e+00,-1.31615191e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.85644513e-05,-3.02608464e-05, 2.99115313e-05,-3.61907598e-06,
  2.02491990e-05,-8.82395696e-04,-9.15807942e-05,-5.19178453e-04,
 -3.13953492e-05,-3.53495130e-05,-2.42648310e-05,-1.88561883e-05,
  9.15325041e-06,-3.04466909e-06,-6.53619950e-06,-1.47084245e-04,
  3.20125815e-02,-7.28687736e-03,-4.82204976e+00, 1.26591456e-02,
  8.12232260e-03,-3.31909220e-03]


--- Step 1682 ---
qpos:
[ 0.0186814 , 0.03001301,-0.00944662,-0.02528783,-0.00317497, 1.08639394,
 -0.02973606, 0.91913018, 0.01156581, 0.02738602,-0.00823686, 0.0264894 ,
  1.36841314, 0.00761044, 1.24508831, 0.04462269,-0.08139698,-0.05646867,
  0.10683894, 0.71580627, 0.00967399,-0.67128149,-0.19211705]

qacc:
[-5.89895569e+00,-1.33846027e-01, 5.23459687e-01,-1.15784889e+00,
  9.79622725e-02,-3.45831705e+01, 1.17507050e+02,-2.08687168e+02,
 -2.87128901e-01,-3.06584529e+00, 1.37428058e+01,-2.91674596e+01,
 -2.70172502e-01, 3.08944013e-01, 3.10682880e+00,-1.10682455e+01,
  5.50817490e-02,-1.71578255e-02,-9.64249441e+00, 7.22347123e+00,
  1.88048846e+00,-1.15086274e-01]

qfrc_actuator:
[ 1.02698952e-05, 8.75496425e-04, 1.27191256e-04,-5.06919646e-05,
 -8.18270507e-05, 1.27232304e-01, 1.08400490e-02, 2.68093116e-02,
 -6.97037066e-05, 7.65430124e-04, 1.08156450e-04,-1.41517565e-05,
  1.97727062e-03,-1.52531956e-03, 0.00000000e+00,-1.36635345e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-3.54166946e-05,-1.00898311e-05,-3.15979647e-06,-2.57437250e-06,
  2.32377040e-05,-1.23878855e-03,-1.87016110e-04,-5.33487457e-04,
 -1.83807755e-06,-6.44068427e-05,-5.64074840e-06,-4.86026051e-05,
 -2.12919855e-05,-1.78099335e-06,-2.25850985e-05,-5.99965792e-05,
  3.05982963e-02,-6.95282740e-03,-4.82153912e+00, 1.26447857e-02,
  7.95067909e-03,-3.34822651e-03]


--- Step 1683 ---
qpos:
[ 0.01867984, 0.03001234,-0.00944658,-0.02528795,-0.00317683, 1.08829939,
 -0.02971925, 0.91961623, 0.0115662 , 0.02738479,-0.00823861, 0.02648814,
  1.36852382, 0.00761123, 1.24522755, 0.04462195,-0.08239516,-0.05626864,
  0.10501124, 0.70999442, 0.01029688,-0.677621  ,-0.19139403]

qacc:
[-3.47606230e+00,-4.14265823e-01, 1.18028386e+00,-1.38242357e+00,
  1.60684338e-02,-3.51645694e+01, 1.15025985e+02,-2.03427647e+02,
  2.84067059e+00, 5.44933096e-01,-3.51255296e+00, 7.30450475e+00,
 -3.14400371e-01, 3.18490475e-01, 6.07882000e+00,-2.11362365e+01,
  5.21970061e-02,-1.64714630e-02,-9.64160860e+00, 7.22376993e+00,
  1.89402049e+00,-1.16820708e-01]

qfrc_actuator:
[-9.59780188e-06, 8.58461745e-04, 1.26916624e-04,-5.19756034e-05,
 -9.16720564e-05, 1.26414003e-01, 1.08085288e-02, 2.63205422e-02,
 -5.24945555e-05, 7.42748607e-04, 9.40442885e-05,-5.07004004e-06,
  1.96394617e-03,-1.52772700e-03, 0.00000000e+00,-1.46733853e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.09014230e-05,-2.34305701e-05,-2.82819622e-06,-1.87207114e-06,
  2.89166825e-06,-1.58636209e-03,-3.18812272e-04,-5.42458908e-04,
  1.71307604e-05,-6.18971105e-05,-2.97627041e-05, 5.18894950e-06,
 -2.53222174e-05,-7.58835777e-06,-1.94773234e-05,-1.07781582e-04,
  2.91764609e-02,-6.61638792e-03,-4.82105420e+00, 1.26306218e-02,
  7.77772956e-03,-3.37643125e-03]


--- Step 1684 ---
qpos:
[ 0.01867873, 0.03001155,-0.00944685,-0.02528806,-0.00317856, 1.0901897 ,
 -0.02970197, 0.92009397, 0.0115661 , 0.02738278,-0.00824012, 0.02648736,
  1.36863426, 0.00761223, 1.24536675, 0.04461932,-0.08337918,-0.05607209,
  0.10315772, 0.7039643 , 0.01092382,-0.68410266,-0.19057412]

qacc:
[ 3.96526604e+00, 7.07603771e-01,-2.74757247e+00, 3.33402888e+00,
  6.14094326e-02,-3.53645735e+01, 1.09147390e+02,-1.83182716e+02,
 -4.12563580e+00,-7.31000756e-01,-8.63208260e-01, 9.21233522e+00,
 -4.74231859e-01, 6.26677779e-01, 5.74893674e+00,-2.00664080e+01,
  3.54234507e+00,-8.68704715e-01,-6.45525145e+00, 4.90011936e+01,
 -1.23532857e+02, 1.28670822e+01]

qfrc_actuator:
[ 1.48566935e-05, 8.48626433e-04, 1.08954004e-04,-5.26912415e-05,
 -7.91007863e-05, 1.25487936e-01, 1.07645979e-02, 2.58917834e-02,
 -7.80289820e-05, 6.94382468e-04, 1.04194438e-04, 1.85291179e-05,
  1.95730354e-03,-1.51173822e-03, 0.00000000e+00,-1.56194884e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09415416, -0.92776471, -3.98764979, -0.92776471,  0.5054388 ,
        0.83494882, -3.98764979,  0.83494882,  3.89989536,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6709640811056756e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.81852903e-12, -2.59789862e-12,  1.00000000e+00, -4.72435407e-24,
        1.00000000e+00,  2.59789862e-12, -1.00000000e+00,  0.00000000e+00,
       -1.81852903e-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([ 0.01722391, -0.087489  ,  0.06199887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.40494135e-05,-1.91234358e-03,-4.14624919e-04,-4.97174162e-04,
 -2.50590912e-05,-8.88299324e-05,-6.08450374e-06, 2.00266177e-05,
 -2.21491695e-05, 8.22493972e-06,-2.37841451e-05,-1.03758464e-04,
  2.77475219e-02,-6.27766564e-03,-4.82059510e+00, 1.26166611e-02,
  7.60353355e-03,-3.40368658e-03]


--- Step 1685 ---
qpos:
[ 0.01867862, 0.03001096,-0.00944748,-0.02528856,-0.00317998, 1.09206616,
 -0.02968492, 0.92056214, 0.01156535, 0.02738045,-0.00824167, 0.02648683,
  1.36874438, 0.00761347, 1.24550533, 0.04461956,-0.08435018,-0.05587875,
  0.10127738, 0.69772656, 0.01155544,-0.69070409,-0.18966279]

qacc:
[ 8.48637714e+00, 4.37241360e-01, 4.32435935e-01,-6.71122161e+00,
  1.39151392e-01,-3.40711400e+01, 1.09695939e+02,-1.99551957e+02,
 -5.54592549e+00, 2.01582184e-01,-2.40004633e+00, 7.04431434e+00,
 -1.45073611e-01, 2.21816921e-01,-9.61435832e+00, 3.22956820e+01,
  3.25236908e+00,-8.03694907e-01,-6.70218632e+00, 4.54580484e+01,
 -1.12231074e+02, 1.14529432e+01]

qfrc_actuator:
[ 6.51980482e-05, 8.78610740e-04, 9.84685389e-05,-7.08275195e-05,
 -5.31910168e-05, 1.24895365e-01, 1.07843176e-02, 2.54129010e-02,
 -1.10771261e-04, 7.02134678e-04, 1.10741060e-04, 3.27182999e-05,
  1.93870366e-03,-1.50267588e-03, 0.00000000e+00,-1.40348908e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09662445, -0.93689913, -3.98805114, -0.93689913,  0.45016764,
        0.85664955, -3.98805114,  0.85664955,  3.89537472,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.543726662463831e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.13292511e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.13292511e-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([ 0.01694727, -0.08743718,  0.06199844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.10315792e-05, 1.19705419e-05,-1.82646936e-05,-1.99828735e-05,
  3.35343837e-05,-1.77631354e-03,-4.24392390e-04,-5.59042778e-04,
 -3.35160076e-05,-4.22377964e-05,-1.18152315e-05, 1.05722984e-05,
 -2.88260285e-05, 6.63529776e-06,-2.51315820e-05, 1.49034642e-04,
  2.80575300e-02,-6.28428221e-03,-4.81504547e+00, 1.27320364e-02,
  7.48445010e-03,-3.42977023e-03]


--- Step 1686 ---
qpos:
[ 0.01867877, 0.0300105 ,-0.00944799,-0.02528896,-0.0031811 , 1.0939313 ,
 -0.02966875, 0.92102007, 0.0115649 , 0.02737857,-0.00824408, 0.02648642,
  1.36885439, 0.00761433, 1.24564396, 0.04461962,-0.08530915,-0.0556884 ,
  0.09936942, 0.69128999, 0.01219216,-0.69740604,-0.18866455]

qacc:
[ 2.23244175e+00, 6.79088418e-02,-4.65526798e-01, 2.07030180e+00,
  1.41377545e-01,-3.00596344e+01, 1.01979586e+02,-2.01968818e+02,
  2.53942026e+00, 3.25924690e+00,-1.12930237e+01, 1.45552500e+01,
  1.35363338e-01,-4.25745018e-01, 5.86331845e-01,-1.95479743e+00,
  3.00801405e+00,-7.49044744e-01,-6.90847904e+00, 4.24822006e+01,
 -1.02756613e+02, 1.02785862e+01]

qfrc_actuator:
[ 7.71006719e-05, 8.96717449e-04, 1.10392939e-04,-6.35214837e-05,
 -3.72553870e-05, 1.24525411e-01, 1.08072120e-02, 2.49085494e-02,
 -9.42214883e-05, 7.61177928e-04, 7.98081889e-05, 4.12936525e-05,
  1.92359635e-03,-1.53337655e-03, 0.00000000e+00,-1.41674630e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09112065, -0.94430237, -3.98064834, -0.94430237,  0.40749889,
        0.87384076, -3.98064834,  0.87384076,  3.8838253 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.822163796126046e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.62737668e-11,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.62737668e-11, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0167545 , -0.0874107 ,  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:
[ 1.33979443e-05, 2.02204837e-05, 1.14691984e-05, 6.79922429e-06,
  3.43609687e-05,-1.48189649e-03,-3.97384990e-04,-5.82052237e-04,
  1.55441151e-05, 3.35258961e-05,-4.06999491e-05, 6.57333947e-06,
 -2.83424782e-05,-3.55176796e-05, 3.64132650e-06,-8.48474480e-06,
  2.80373899e-02,-6.21416225e-03,-4.80977212e+00, 1.28288979e-02,
  7.34987591e-03,-3.45459153e-03]


--- Step 1687 ---
qpos:
[ 0.01867837, 0.03001017,-0.0094484 ,-0.02528857,-0.00318228, 1.0957854 ,
 -0.02965346, 0.92146842, 0.011565  , 0.02737662,-0.00824587, 0.02648609,
  1.36896392, 0.00761564, 1.24578277, 0.0446182 ,-0.08626793,-0.05549812,
  0.09742301, 0.68479535, 0.01283907,-0.70404678,-0.18763962]

qacc:
[-4.69463730e+00, 1.51574131e+00,-8.42708095e+00, 2.16560151e+01,
 -2.37770996e-02,-2.85998703e+01, 9.62917602e+01,-1.89691140e+02,
  4.68216481e+00,-1.69343174e+00, 5.60230140e+00,-5.32529621e+00,
 -8.00707327e-01, 1.08689828e+00, 4.85029295e+00,-1.64123477e+01,
  4.88961062e-02,-1.52929625e-02,-9.60928906e+00, 7.40455734e+00,
  2.03508880e+00,-1.73672886e-01]

qfrc_actuator:
[ 4.85218665e-05, 9.07691263e-04, 1.17684181e-04,-2.35391911e-05,
 -6.29367404e-05, 1.24025742e-01, 1.07795042e-02, 2.44289012e-02,
 -6.65408633e-05, 7.61575254e-04, 1.15983534e-04, 4.65233642e-05,
  1.90525183e-03,-1.49866224e-03, 0.00000000e+00,-1.49563770e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.81800416e-05, 2.49685376e-05, 1.31268085e-05, 4.13797024e-05,
 -6.76075568e-06,-1.44376205e-03,-3.87748263e-04,-5.48070269e-04,
  2.81405592e-05, 1.11208226e-05, 3.83649765e-05, 5.39583641e-06,
 -4.12786348e-05, 1.78493502e-05,-2.64176704e-06,-7.96686427e-05,
  2.77115584e-02,-6.07224210e-03,-4.80474561e+00, 1.29116463e-02,
  7.20207640e-03,-3.47800586e-03]


--- Step 1688 ---
qpos:
[ 0.01867763, 0.03001014,-0.00944878,-0.02528773,-0.00318362, 1.09762889,
 -0.02963849, 0.92190853, 0.01156543, 0.02737477,-0.00824697, 0.02648579,
  1.36907302, 0.00761756, 1.24592113, 0.04461918,-0.08701341,-0.05536151,
  0.09581722, 0.6797652 , 0.01339589,-0.70907724,-0.18694729]

qacc:
[-2.91715705e+00, 1.27328906e+00,-5.87902980e+00, 1.35251384e+01,
 -7.17688259e-02,-2.72043035e+01, 8.94961209e+01,-1.67981879e+02,
  2.84419205e+00,-1.71044198e+00, 6.10185712e+00,-6.56407878e+00,
 -5.21682163e-01, 8.69828125e-01,-7.90425719e+00, 2.68147381e+01,
  5.33239825e+01,-1.34168556e+01, 8.51526162e+01,-3.08415183e+02,
  1.05633844e+03, 4.48931226e+01]

qfrc_actuator:
[ 3.18627898e-05, 9.32082289e-04, 1.22164869e-04,-1.72541264e-07,
 -7.78400346e-05, 1.23576759e-01, 1.07927976e-02, 2.40207897e-02,
 -5.02997319e-05, 7.80382977e-04, 1.55781341e-04, 4.97529430e-05,
  1.89565416e-03,-1.46087266e-03, 0.00000000e+00,-1.36397992e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001989083699807312
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.79079011e-13, -2.79079011e-13,  1.00000000e+00,  7.78850945e-26,
        1.00000000e+00,  2.79079011e-13, -1.00000000e+00,  0.00000000e+00,
        2.79079011e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15022022, -0.03992032,  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:
[-1.74723454e-05, 4.28433195e-05, 1.26952556e-05, 2.56976736e-05,
 -1.87556103e-05,-1.36872732e-03,-3.37057622e-04,-4.74290000e-04,
  1.70595793e-05, 3.32847495e-05, 4.70504012e-05, 5.14653553e-06,
 -2.68426216e-05, 3.34283323e-05,-1.41059872e-05, 1.25987686e-04,
  2.58738106e-02,-5.62483119e-03,-4.80428534e+00, 1.29004869e-02,
  7.00620791e-03,-3.49956735e-03]


--- Step 1689 ---
qpos:
[ 0.0186767 , 0.03001043,-0.00944909,-0.02528696,-0.00318497, 1.09946229,
 -0.0296236 , 0.92234031, 0.01156605, 0.02737341,-0.00824885, 0.02648594,
  1.369182  , 0.00761919, 1.24605966, 0.04461936,-0.08755605,-0.05527333,
  0.09442603, 0.6762745 , 0.01376981,-0.71250475,-0.18654807]

qacc:
[-1.67003042e+00, 5.19501369e-02, 7.46361784e-01,-2.42835726e+00,
 -1.00749563e-03,-2.73705652e+01, 9.10784596e+01,-1.70929672e+02,
  1.60222776e+00, 3.72473318e+00,-1.42190571e+01, 2.27191205e+01,
  1.34352594e-02,-2.27216576e-01, 2.69284377e+00,-9.07952650e+00,
  5.07095919e+01,-1.21078851e+01, 5.36520971e+01,-3.26230291e+02,
  1.07156925e+03, 9.83876920e+01]

qfrc_actuator:
[ 2.23666976e-05, 9.46546018e-04, 1.24990402e-04,-4.51777386e-06,
 -6.83939288e-05, 1.23144422e-01, 1.08127321e-02, 2.36048149e-02,
 -4.09255344e-05, 7.92350615e-04, 1.08679300e-04, 6.95370752e-05,
  1.87533929e-03,-1.49258440e-03, 0.00000000e+00,-1.41109532e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.99203653,  8.57919812,  0.99203653, 57.95328572,
       -5.70265283,  8.57919812, -5.70265283,  9.29577724,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0032237714201595533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.44386397e-14, -4.30482996e-14,  1.00000000e+00,  1.48252488e-27,
        1.00000000e+00,  4.30482996e-14, -1.00000000e+00,  0.00000000e+00,
        3.44386397e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18169678, -0.03293909,  0.06184401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.05607108e-06,-1.29802450e-03,-3.07622674e-04,-4.76653169e-04,
  9.87641451e-06, 4.06079777e-05,-3.42184128e-05, 2.29452738e-05,
 -2.61184171e-05,-2.83861564e-05, 5.27062764e-06,-4.24068141e-05,
  1.39823359e-02,-3.12919441e-03,-4.84571227e+00, 8.37224739e-03,
  5.54584586e-03,-3.59230900e-03]


--- Step 1690 ---
qpos:
[ 0.01867566, 0.03001105,-0.00944964,-0.02528623,-0.00318658, 1.10128539,
 -0.02960892, 0.92276346, 0.01156678, 0.0273723 ,-0.00825126, 0.02648702,
  1.36929064, 0.00762058, 1.24619861, 0.04461563,-0.0879327 ,-0.05522481,
  0.09321899, 0.67409546, 0.01398894,-0.71459967,-0.1864053 ]

qacc:
[-9.28951415e-01, 1.03484536e+00,-2.89342429e+00, 2.37799876e+00,
 -1.16331845e-01,-2.77819340e+01, 9.26994915e+01,-1.75559727e+02,
  9.00119213e-01, 3.72622911e+00,-1.67420682e+01, 3.36006717e+01,
 -4.36722668e-01, 2.69106962e-01, 1.24817202e+01,-4.26593606e+01,
  4.14978362e+01,-9.91671596e+00, 4.60356996e+01,-2.77036760e+02,
  9.01683478e+02, 8.15951368e+01]

qfrc_actuator:
[ 1.71589686e-05, 9.54920816e-04, 1.09012118e-04,-7.38573970e-06,
 -9.76874112e-05, 1.22637038e-01, 1.08010294e-02, 2.31697681e-02,
 -3.56643435e-05, 7.99791289e-04, 8.16420154e-05, 1.16591626e-04,
  1.84325641e-03,-1.51209605e-03, 0.00000000e+00,-1.61647405e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.99560716,  7.65649399,  3.99560716, 21.87160101,
       -6.90692232,  7.65649399, -6.90692232, 12.24080039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005646237035559019
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17621617, -0.03426046,  0.06173347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.99740947e-05,-1.32795947e-03,-3.22015367e-04,-4.92742067e-04,
  5.55886302e-06, 2.41406223e-05,-2.20319060e-05, 4.80639814e-05,
 -5.22819527e-05,-3.37749210e-05,-5.94279744e-06,-2.07899742e-04,
  6.17602639e-03,-1.72190887e-03,-4.87686915e+00, 3.82885141e-03,
  4.13098816e-03,-3.68566231e-03]


--- Step 1691 ---
qpos:
[ 0.01867491, 0.03001202,-0.00945096,-0.02528551,-0.00318833, 1.10309865,
 -0.02959477, 0.92317778, 0.01156791, 0.02737125,-0.00825328, 0.02648759,
  1.36939902, 0.00762169, 1.24633711, 0.04461282,-0.08817348,-0.05520874,
  0.09216745, 0.6730338 , 0.01407706,-0.7155769 ,-0.18648604]

qacc:
[ 2.46103351e+00, 2.59385660e+00,-8.53557981e+00, 9.37822403e+00,
 -5.97833017e-02,-2.66435692e+01, 9.01285459e+01,-1.76018469e+02,
  3.44199342e+00,-2.06035850e+00, 9.63122874e+00,-1.92205245e+01,
  8.09564121e-02,-3.48008416e-01,-3.46192316e+00, 1.10989758e+01,
  3.39681538e+01,-8.11126123e+00, 3.88748705e+01,-2.35997359e+02,
  7.62185259e+02, 6.78055968e+01]

qfrc_actuator:
[ 3.22670735e-05, 9.59500713e-04, 6.42850626e-05,-9.37554510e-06,
 -9.67071302e-05, 1.22195380e-01, 1.07882560e-02, 2.27269005e-02,
 -1.51112290e-05, 8.04540955e-04, 1.02197976e-04, 9.05714512e-05,
  1.83609155e-03,-1.52421545e-03, 0.00000000e+00,-1.55833957e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.5936685 ,  7.85317284,  3.5936685 , 21.96522364,
       -6.09938241,  7.85317284, -6.09938241, 11.42748499,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007484512992214781
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11252031e-14, -7.41680204e-15,  1.00000000e+00,  8.25134288e-29,
        1.00000000e+00,  7.41680204e-15, -1.00000000e+00,  0.00000000e+00,
        1.11252031e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17220581, -0.03523184,  0.06165191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.57635580e-05,-1.28185009e-03,-3.30988945e-04,-5.02263551e-04,
  2.07175104e-05, 1.58280063e-05, 2.45311025e-05,-2.48072375e-05,
 -4.25980517e-05,-3.37820850e-05,-3.01362576e-05, 4.48375138e-05,
  2.17545066e-03,-8.80860445e-04,-4.89421813e+00, 1.16752602e-03,
  3.31386918e-03,-3.74299161e-03]


--- Step 1692 ---
qpos:
[ 0.01867434, 0.03001334,-0.00945282,-0.02528518,-0.00319015, 1.10490341,
 -0.0295822 , 0.9235832 , 0.01156963, 0.02736967,-0.00825419, 0.02648786,
  1.36950745, 0.00762224, 1.24647549, 0.04460999,-0.08830316,-0.05521915,
  0.09124492, 0.6729225 , 0.01405441,-0.71561047,-0.1867604 ]

qacc:
[ 1.58067259e+00, 1.16551072e+00,-1.87311063e+00,-4.20563101e+00,
 -2.74508098e-02,-2.22088316e+01, 7.79004871e+01,-1.66961978e+02,
  5.01533748e+00,-4.41357525e+00, 1.59107713e+01,-2.22760135e+01,
  4.09067992e-01,-8.20733240e-01,-1.98687448e-01, 3.23215283e-01,
  2.77751955e+01,-6.61897103e+00, 3.22540653e+01,-2.01232393e+02,
  6.45894962e+02, 5.64468655e+01]

qfrc_actuator:
[ 4.14577174e-05, 9.79394654e-04, 3.84339125e-05,-2.86068377e-05,
 -9.53357217e-05, 1.21867834e-01, 1.07397513e-02, 2.22829992e-02,
  1.42796036e-05, 7.54516375e-04, 1.50616285e-04, 7.50436295e-05,
  1.84920768e-03,-1.54951367e-03, 0.00000000e+00,-1.55838948e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.27433299,  7.9915906 ,  3.27433299, 22.12990564,
       -5.52860525,  7.9915906 , -5.52860525, 10.90155657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00883093584403779
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57149684e-14, -2.51439495e-14,  1.00000000e+00,  3.95136373e-28,
        1.00000000e+00,  2.51439495e-14, -1.00000000e+00,  0.00000000e+00,
        1.57149684e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.16928576, -0.0359423 ,  0.0615921 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.48217021e-06,-1.14400538e-03,-3.58901974e-04,-5.02367084e-04,
  2.99980326e-05,-3.70981676e-05, 5.38859152e-05,-1.44785753e-05,
 -1.70228486e-05,-4.48508004e-05,-1.04097262e-05,-1.75545361e-06,
  4.30891801e-04,-3.68366323e-04,-4.90250701e+00,-2.65555636e-04,
  2.89683199e-03,-3.77639521e-03]


--- Step 1693 ---
qpos:
[ 0.01867424, 0.03001466,-0.00945459,-0.02528507,-0.00319214, 1.10670096,
 -0.02957149, 0.92398111, 0.0115703 , 0.02736776,-0.00825456, 0.02648865,
  1.36961577, 0.00762246, 1.24661375, 0.04460751,-0.08834221,-0.05525108,
  0.09042723, 0.67361694, 0.01393829,-0.71484378,-0.18720124]

qacc:
[ 3.94554804e+00,-7.20113426e-01, 3.53468021e+00,-7.67540219e+00,
 -7.92634212e-02,-1.73098158e+01, 6.09736762e+01,-1.36547044e+02,
 -8.84887543e+00,-8.84779051e-01, 3.92093788e-01, 7.83814571e+00,
  1.62364719e-01,-4.30402016e-01,-1.22049967e+00, 3.95413920e+00,
  2.26555762e+01,-5.38274145e+00, 2.62087135e+01,-1.71406215e+02,
  5.47652358e+02, 4.70446056e+01]

qfrc_actuator:
[ 6.48378215e-05, 9.72846175e-04, 4.17443248e-05,-4.00470806e-05,
 -1.11500349e-04, 1.21629103e-01, 1.06888118e-02, 2.19130917e-02,
 -4.01315069e-05, 7.43210830e-04, 1.79367650e-04, 1.01295680e-04,
  1.84251973e-03,-1.56457718e-03, 0.00000000e+00,-1.53953247e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  2.99954257,  8.09873578,  2.99954257, 22.31896357,
       -5.06764785,  8.09873578, -5.06764785, 10.513277  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009764035872054058
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.68526703e-15, -1.13705341e-14,  1.00000000e+00,  6.46445224e-29,
        1.00000000e+00,  1.13705341e-14, -1.00000000e+00,  0.00000000e+00,
        5.68526703e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.16720061, -0.0364517 ,  0.06154911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.04075163e-05,-9.84130128e-04,-3.37422647e-04,-4.24988740e-04,
 -5.35527288e-05,-2.14572924e-05, 2.72535024e-05, 2.62490113e-05,
 -2.62789827e-05,-3.18595016e-05,-7.30045659e-06, 1.68906498e-05,
  4.89724464e-05,-5.69741757e-05,-4.90493695e+00,-9.05124869e-04,
  2.74597777e-03,-3.79389650e-03]


--- Step 1694 ---
qpos:
[ 0.01867407, 0.03001585,-0.009456  ,-0.02528477,-0.00319432, 1.10849838,
 -0.02956465, 0.92437168, 0.01157032, 0.02736585,-0.00825464, 0.02648903,
  1.36972363, 0.00762283, 1.24675194, 0.04460525,-0.08830765,-0.05530044,
  0.08969253, 0.67499123, 0.01374358,-0.71339692,-0.1877839 ]

qacc:
[-5.30905948e-01,-7.82598516e-01, 1.69335959e+00, 1.32425912e+00,
 -8.08684029e-02,-2.36245275e+00, 2.30268521e+01,-1.06002061e+02,
 -5.60521764e+00,-1.60743705e+00, 7.47968079e+00,-1.49931718e+01,
 -4.44248668e-01, 4.80591805e-01,-7.44169100e-01, 2.56733813e+00,
  1.84052246e+01,-4.35678287e+00, 2.07463044e+01,-1.45566449e+02,
  4.63739644e+02, 3.92171284e+01]

qfrc_actuator:
[ 6.08788815e-05, 9.68389334e-04, 6.21427772e-05,-2.90598689e-05,
 -1.20293488e-04, 1.22120367e-01, 1.06728388e-02, 2.15719881e-02,
 -7.24241653e-05, 7.55138106e-04, 1.96435444e-04, 8.09172342e-05,
  1.81330997e-03,-1.55575298e-03, 0.00000000e+00,-1.52742570e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  2.74660296,  8.18797588,  2.74660296, 22.39890324,
       -4.61655391,  8.18797588, -4.61655391, 10.18495645,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010351203031557225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.36277291e-15, -5.36277291e-15,  1.00000000e+00,  2.87593333e-29,
        1.00000000e+00,  5.36277291e-15, -1.00000000e+00,  0.00000000e+00,
        5.36277291e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1657716 , -0.03680202,  0.06151942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.02208049e-05,-1.58815635e-04,-2.66284512e-04,-3.88885159e-04,
 -3.38773851e-05, 6.73777922e-06, 1.69282045e-05,-1.98384609e-05,
 -5.03267376e-05,-6.44492602e-06,-4.11650896e-06, 1.15147498e-05,
  5.01341790e-04, 1.22239429e-04,-4.90369148e+00,-1.04242362e-03,
  2.76974948e-03,-3.80084450e-03]


--- Step 1695 ---
qpos:
[ 0.01867386, 0.03001699,-0.00945659,-0.02528437,-0.00319679, 1.11030408,
 -0.02956282, 0.9247541 , 0.01157132, 0.02736426,-0.00825493, 0.02648916,
  1.36983107, 0.0076235 , 1.24689005, 0.04460348,-0.08821363,-0.05536382,
  0.08902125, 0.67693538, 0.01348312,-0.71137171,-0.18848605]

qacc:
[-3.69828101e-01,-2.14322445e+00, 7.14690053e+00,-6.82971999e+00,
 -1.35052968e-01, 1.03901145e+01,-3.54291035e+00,-9.76473202e+01,
  8.44080077e+00, 4.62729931e-01,-1.22193053e-02,-4.22249323e+00,
 -4.92959219e-01, 6.54850971e-01,-1.56059948e+00, 5.37164683e+00,
  1.48639687e+01,-3.50396898e+00, 1.58576778e+01,-1.23028878e+02,
  3.91464329e+02, 3.26631383e+01]

qfrc_actuator:
[ 5.86083536e-05, 9.83065855e-04, 1.10225794e-04,-2.27119808e-05,
 -1.42345249e-04, 1.23151955e-01, 1.06450853e-02, 2.11977514e-02,
 -2.04011671e-05, 7.80804041e-04, 1.88786760e-04, 6.87808690e-05,
  1.80257792e-03,-1.53293928e-03, 0.00000000e+00,-1.50164434e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  2.5034324 ,  8.26556732,  2.5034324 , 22.17771637,
       -4.10133508,  8.26556732, -4.10133508,  9.87855485,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010650676222768593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56359512e-14,  2.60599187e-15,  1.00000000e+00, -4.07471617e-29,
        1.00000000e+00, -2.60599187e-15, -1.00000000e+00,  0.00000000e+00,
        1.56359512e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.16486906, -0.03702375,  0.06150043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.33215749e-05, 8.53469085e-04,-1.07037158e-04,-3.93927508e-04,
  5.10270446e-05, 3.21375781e-05,-4.83454420e-06,-1.16429980e-05,
 -3.80230467e-05, 9.20031855e-06,-4.03477080e-06, 2.51427060e-05,
  1.46534606e-03, 2.07555138e-04,-4.90027066e+00,-8.73588357e-04,
  2.90509453e-03,-3.80081976e-03]


--- Step 1696 ---
qpos:
[ 0.01867466, 0.03001814,-0.00945633,-0.02528392,-0.00319937, 1.11212076,
 -0.02956322, 0.92512799, 0.0115726 , 0.02736333,-0.0082558 , 0.02648947,
  1.36993824, 0.00762482, 1.24702789, 0.0446037 ,-0.08807199,-0.05543838,
  0.08839607, 0.6793532 , 0.013168  ,-0.70885546,-0.18928752]

qacc:
[ 8.67820379e+00,-2.29644521e+00, 7.94038382e+00,-8.29071536e+00,
 -5.35530826e-02, 5.79632068e+00, 1.65264307e+01,-1.21228014e+02,
  2.28143488e+00, 2.84568255e+00,-9.65395503e+00, 1.32120820e+01,
 -4.62045118e-01, 8.65694979e-01,-6.34128043e+00, 2.17345212e+01,
  1.19048450e+01,-2.79403046e+00, 1.15231259e+01,-1.03295723e+02,
  3.28859621e+02, 2.71475354e+01]

qfrc_actuator:
[ 1.10616799e-04, 9.91454204e-04, 1.56584370e-04,-1.91156457e-05,
 -1.36658353e-04, 1.24002301e-01, 1.06484598e-02, 2.07896313e-02,
 -7.93699119e-06, 8.32156910e-04, 1.66687278e-04, 7.93509295e-05,
  1.81359663e-03,-1.48420219e-03, 0.00000000e+00,-1.39699613e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  2.26715818,  8.3334729 ,  2.26715818, 21.43798458,
       -3.48273763,  8.3334729 , -3.48273763,  9.58385782,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01071303262630155
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55449404e-14, -2.59082340e-15,  1.00000000e+00,  4.02741953e-29,
        1.00000000e+00,  2.59082340e-15, -1.00000000e+00,  0.00000000e+00,
        1.55449404e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.16439582, -0.03713983,  0.06149019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.28163559e-05, 1.26354311e-03, 1.40563404e-04,-3.92387647e-04,
  1.39655438e-05, 6.79084672e-05,-1.64386421e-05, 1.15553923e-05,
 -6.30147714e-06, 4.25214754e-05,-2.33859310e-06, 1.04807106e-04,
  2.73604692e-03, 2.21625682e-04,-4.89570537e+00,-5.30841795e-04,
  3.10844646e-03,-3.79622284e-03]


--- Step 1697 ---
qpos:
[ 0.01867538, 0.03001939,-0.00945604,-0.02528338,-0.00320182, 1.11394741,
 -0.02956344, 0.92549442, 0.01157333, 0.02736268,-0.00825624, 0.02648954,
  1.3700453 , 0.00762644, 1.24716596, 0.0446028 ,-0.08789264,-0.05552174,
  0.08780175, 0.68216062, 0.01280787,-0.70592359,-0.19017026]

qacc:
[-6.19445494e-01, 2.67660747e-01,-1.11369866e+00, 2.50312199e+00,
  5.81251422e-02,-2.10673823e-01, 3.23291071e+01,-1.22012542e+02,
 -4.67876347e+00,-1.30855853e+00, 6.25980632e+00,-1.13885419e+01,
 -3.86069552e-01, 6.18118380e-01, 3.73755515e+00,-1.24782614e+01,
  9.42646257e+00,-2.20223705e+00, 7.71582177e+00,-8.59978073e+01,
  2.74469579e+02, 2.24878266e+01]

qfrc_actuator:
[ 1.05393422e-04, 9.78265694e-04, 1.48267637e-04,-1.71745445e-05,
 -1.14390698e-04, 1.24524865e-01, 1.06697374e-02, 2.04180679e-02,
 -3.66371477e-05, 8.45195210e-04, 1.89626355e-04, 6.77082965e-05,
  1.80571258e-03,-1.47361974e-03, 0.00000000e+00,-1.45975161e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  2.04361883,  8.39109045,  2.04361883, 20.00347841,
       -2.76841847,  8.39109045, -2.76841847,  9.31060165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0105823135202757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.24565362e-15, -2.62282681e-15,  1.00000000e+00,  1.37584410e-29,
        1.00000000e+00,  2.62282681e-15, -1.00000000e+00,  0.00000000e+00,
        5.24565362e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.16427688, -0.03716805,  0.06148713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.52161616e-05, 1.21128460e-03, 2.67155610e-04,-3.36006680e-04,
 -2.82709783e-05, 4.81648832e-05, 3.53627586e-05,-9.07338961e-06,
 -9.93872474e-07, 2.13412768e-05, 7.87188302e-06,-5.78271965e-05,
  4.17743606e-03, 1.79425030e-04,-4.89069759e+00,-1.02830213e-04,
  3.34977190e-03,-3.78865947e-03]


--- Step 1698 ---
qpos:
[ 0.01867535, 0.03002042,-0.00945595,-0.02528276,-0.00320407, 1.11577947,
 -0.02956178, 0.92585322, 0.01157336, 0.02736224,-0.00825658, 0.02648881,
  1.37015234, 0.00762778, 1.24730413, 0.0446005 ,-0.0876839 ,-0.05561194,
  0.08722504, 0.68528438, 0.01241106,-0.70264152,-0.19111822]

qacc:
[-6.49625699e+00, 4.12009909e-01,-2.21000955e+00, 4.00684865e+00,
  8.97921317e-02,-1.10825809e+01, 6.09376763e+01,-1.46047403e+02,
 -5.92574961e+00,-1.64488585e+00, 9.64395460e+00,-2.37791975e+01,
  4.35832709e-02,-2.29820674e-01, 4.38141544e+00,-1.51351259e+01,
  7.34736625e+00,-1.70837473e+00, 4.40392203e+00,-7.08536504e+01,
  2.27195107e+02, 1.85422529e+01]

qfrc_actuator:
[ 6.65080439e-05, 9.34281282e-04, 1.25398886e-04,-1.62783612e-05,
 -1.00128734e-04, 1.24527821e-01, 1.06647298e-02, 2.00175304e-02,
 -7.15717097e-05, 8.35352224e-04, 1.85557167e-04, 2.53370048e-05,
  1.78648225e-03,-1.50360818e-03, 0.00000000e+00,-1.53188739e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.84521121,  8.43694094,  1.84521121, 17.83025261,
       -2.01076043,  8.43694094, -2.01076043,  9.07612939,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01029688922220192
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.39106035e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.39106035e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.16445274, -0.03712257,  0.06149003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.28431776e-05, 6.89291757e-04, 2.46743633e-04,-3.61540599e-04,
 -3.57494687e-05, 2.40278693e-05, 9.93610969e-06,-3.92566382e-05,
 -1.49703028e-05,-2.39534417e-05,-6.64539374e-06,-7.52208563e-05,
  5.69542061e-03, 9.22889996e-05,-4.88571476e+00, 3.51913616e-04,
  3.60857437e-03,-3.77919517e-03]


--- Step 1699 ---
qpos:
[ 0.01867588, 0.03002142,-0.0094562 ,-0.02528215,-0.00320629, 1.11761106,
 -0.02955763, 0.92620498, 0.01157332, 0.02736202,-0.00825698, 0.02648793,
  1.37025949, 0.00762873, 1.2474424 , 0.04459601,-0.0875458 ,-0.05567255,
  0.0867823 , 0.68739287, 0.01202367,-0.70043954,-0.19165315]

qacc:
[ 4.86245030e+00, 8.95083325e-01,-3.23016889e+00, 3.67603603e+00,
  1.86572829e-02,-1.94249911e+01, 7.75985144e+01,-1.49929973e+02,
 -6.44162182e-01, 1.55435150e-01, 4.94241381e-01,-3.11083114e+00,
  1.85367138e-01,-4.32712216e-01, 6.77642301e+00,-2.35382108e+01,
 -1.76569513e+01, 7.39842960e+00, 3.34893509e+01, 2.57843961e+02,
 -7.23305954e+02, 4.78886901e+01]

qfrc_actuator:
[ 9.69022952e-05, 9.43120774e-04, 1.11755757e-04,-1.60349546e-05,
 -1.08543689e-04, 1.24113072e-01, 1.06421780e-02, 1.96382666e-02,
 -7.43769170e-05, 8.47252954e-04, 1.83189986e-04, 1.84375381e-05,
  1.79772129e-03,-1.52197620e-03, 0.00000000e+00,-1.64441851e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010555012734886682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97220811e-15, -1.05184433e-14,  1.00000000e+00,  2.07445591e-29,
        1.00000000e+00,  1.05184433e-14, -1.00000000e+00,  0.00000000e+00,
        1.97220811e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01227782, -0.07954768,  0.06147301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.39192663e-06,-2.20648513e-05, 1.23806810e-04,-3.57346839e-04,
 -3.84472179e-06, 2.57166529e-05, 2.47387838e-06,-6.28511244e-06,
 -2.54798792e-06,-2.85853794e-05,-1.44446773e-05,-1.18264836e-04,
  7.22292823e-03,-3.01925631e-05,-4.88105506e+00, 7.95889654e-04,
  3.87115665e-03,-3.76852570e-03]


--- Step 1700 ---
qpos:
[ 0.01867712, 0.03002265,-0.00945702,-0.0252819 ,-0.00320852, 1.11943681,
 -0.02955101, 0.92655103, 0.01157394, 0.02736191,-0.00825708, 0.02648697,
  1.37036665, 0.00762944, 1.2475807 , 0.04458918,-0.08746658,-0.05570851,
  0.08644977, 0.68865927, 0.01163653,-0.69914939,-0.19184141]

qacc:
[ 6.02125003e+00, 1.16399346e+00,-2.18609528e+00,-3.34843445e+00,
 -4.21680409e-03,-2.41049232e+01, 8.14907865e+01,-1.34191883e+02,
  5.60291511e+00,-8.79977595e-01, 3.67657694e+00,-5.68371833e+00,
 -2.87564340e-02,-1.11704111e-01, 7.11722675e+00,-2.48296677e+01,
 -1.47228558e+01, 6.15956586e+00, 2.75555521e+01, 2.13939770e+02,
 -6.06208303e+02, 4.38518973e+01]

qfrc_actuator:
[ 1.32337013e-04, 9.65795882e-04, 8.61235966e-05,-3.38808990e-05,
 -1.12730624e-04, 1.23451410e-01, 1.06254907e-02, 1.93274883e-02,
 -4.04935974e-05, 8.54348178e-04, 1.99716424e-04, 1.47371355e-05,
  1.79527476e-03,-1.53313588e-03, 0.00000000e+00,-1.76207829e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.02709407,  3.18630469, -8.02709407, 15.96756838,
       18.46912829,  3.18630469, 18.46912829, 55.16469177,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011657384291106729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.76188739e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.76188739e-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([-0.01462677, -0.07889985,  0.06142734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.73331655e-06,-6.86531310e-04,-2.36258431e-05,-3.14030972e-04,
  3.37785458e-05, 2.17309201e-05, 2.19351159e-05,-2.63157343e-06,
 -1.12848129e-05,-1.96592257e-05,-2.23821916e-05,-1.26695821e-04,
  3.12789737e-03, 2.14821281e-04,-4.89425765e+00, 5.37885216e-04,
  3.85514345e-03,-3.75880946e-03]


--- Step 1701 ---
qpos:
[ 0.01867843, 0.03002363,-0.0094574 ,-0.02528257,-0.00321076, 1.12125353,
 -0.02954252, 0.92689104, 0.01157461, 0.02736158,-0.00825683, 0.02648635,
  1.37047369, 0.00762982, 1.2477187 , 0.04458229,-0.08743648,-0.05572399,
  0.08620569, 0.68922435, 0.01124362,-0.69862713,-0.19173815]

qacc:
[ 6.26912325e-01,-3.48851433e+00, 1.58129288e+01,-3.21857030e+01,
 -7.11786972e-03,-2.73004622e+01, 8.75847048e+01,-1.41460882e+02,
  5.01488247e-01,-5.34087591e-01, 2.99357032e-02, 5.57140826e+00,
  1.50390562e-01,-4.20446003e-01,-3.18182708e-01, 4.18625982e-01,
 -1.22787471e+01, 5.12167762e+00, 2.21106082e+01, 1.77658225e+02,
 -5.08426200e+02, 3.95931167e+01]

qfrc_actuator:
[ 1.34927145e-04, 9.43263869e-04, 1.06929278e-04,-7.99729947e-05,
 -1.14343214e-04, 1.22771439e-01, 1.06291112e-02, 1.90060209e-02,
 -3.85555969e-05, 8.23085002e-04, 2.09494554e-04, 3.07059795e-05,
  1.77929800e-03,-1.55772978e-03, 0.00000000e+00,-1.75752797e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000373331821495064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.01436914, -0.08790639,  0.04981333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.14985296,  2.85773925, -8.14985296, 15.40514548,
       19.30357249,  2.85773925, 19.30357249, 63.68731958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01237333182149506
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.36476577e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.36476577e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01614477, -0.07848983,  0.06139781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.63032827e-06,-1.09995642e-03,-1.49029223e-04,-3.48271627e-04,
  2.93363809e-06,-1.46715709e-05, 1.68816261e-05, 1.76092089e-05,
 -2.72970764e-05,-3.24942446e-05,-2.67953770e-05,-5.91820229e-06,
  9.46610745e-04, 2.40894729e-04,-4.90121868e+00, 1.05429409e-04,
  3.74886778e-03,-3.75465833e-03]


--- Step 1702 ---
qpos:
[ 0.01867976, 0.03002422,-0.00945744,-0.02528376,-0.00321287, 1.12306112,
 -0.02953403, 0.92722505, 0.01157427, 0.02736085,-0.00825635, 0.02648631,
  1.37058068, 0.00762986, 1.24785615, 0.04457849,-0.08744728,-0.05572247,
  0.08603036, 0.68920414, 0.01084127,-0.69874891,-0.19138987]

qacc:
[ 1.99713203e-01,-2.53563680e+00, 1.04808232e+01,-1.97304487e+01,
  6.58981688e-02,-2.22974182e+01, 7.09563394e+01,-1.26249426e+02,
 -8.65197114e+00, 3.18119837e-03,-3.16927717e+00, 1.29758580e+01,
  4.40274032e-01,-7.48502683e-01,-1.01610379e+01, 3.42475063e+01,
 -1.02275295e+01, 4.25089739e+00, 1.71880567e+01, 1.47374233e+02,
 -4.25919442e+02, 3.52433008e+01]

qfrc_actuator:
[ 1.35914751e-04, 9.11750275e-04, 1.19290723e-04,-1.06810301e-04,
 -9.66455226e-05, 1.22281279e-01, 1.06090086e-02, 1.86985167e-02,
 -9.09537490e-05, 7.86835404e-04, 2.15057268e-04, 5.80789164e-05,
  1.78184147e-03,-1.57243411e-03, 0.00000000e+00,-1.59224242e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000770130009478398
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.01433232, -0.0879584 ,  0.04961493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.17934822,  2.7721904 , -8.17934822, 15.9762716 ,
       21.65639964,  2.7721904 , 21.65639964, 72.53357429,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.012770130009478395
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.89032180e-15, -8.69390542e-15,  1.00000000e+00,  4.25159952e-29,
        1.00000000e+00,  8.69390542e-15, -1.00000000e+00,  0.00000000e+00,
        4.89032180e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01702197, -0.07826413,  0.0613808 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.61483713e-05,-1.16435229e-03,-2.69033125e-04,-3.51360296e-04,
 -5.23196601e-05,-4.01986068e-05, 5.22365723e-06, 2.76726048e-05,
 -1.96175820e-05,-3.02262966e-05,-1.46898627e-05, 1.61146846e-04,
  5.17863019e-05, 1.02772490e-04,-4.90418880e+00,-4.38022806e-04,
  3.58012918e-03,-3.75364501e-03]


--- Step 1703 ---
qpos:
[ 0.01868006, 0.03002448,-0.00945767,-0.0252842 ,-0.0032148 , 1.12486178,
 -0.02952683, 0.9275527 , 0.01157295, 0.02736014,-0.00825623, 0.02648658,
  1.37068734, 0.00763022, 1.24799319, 0.044579  ,-0.08749208,-0.05570687,
  0.08590621, 0.68869545, 0.01042756,-0.69940789,-0.19083618]

qacc:
[-8.85930090e+00, 1.66614036e+00,-9.70568246e+00, 2.32206083e+01,
  8.12592687e-02,-1.65376787e+01, 5.64229721e+01,-1.19341421e+02,
 -8.29461822e+00, 1.71022478e+00,-7.35808648e+00, 1.33566868e+01,
 -1.12585468e-01, 2.33400889e-01,-1.36523147e+01, 4.68983248e+01,
 -8.49569079e+00, 3.51897106e+00, 1.27952461e+01, 1.21901006e+02,
 -3.55761316e+02, 3.09209504e+01]

qfrc_actuator:
[ 8.27042178e-05, 8.92841794e-04, 1.08767315e-04,-6.88658733e-05,
 -8.52707335e-05, 1.22086247e-01, 1.05935460e-02, 1.83840064e-02,
 -1.39398645e-04, 8.01122646e-04, 2.00306300e-04, 7.41759361e-05,
  1.77419319e-03,-1.54556725e-03, 0.00000000e+00,-1.36912420e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009053260997367099
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.01432036, -0.08800648,  0.04954734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.13227538,  2.90738268, -8.13227538, 18.02972671,
       26.27428989,  2.90738268, 26.27428989, 82.12849885,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.012905326099736707
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.22606055e-15, -4.30141407e-15,  1.00000000e+00,  1.38766222e-29,
        1.00000000e+00,  4.30141407e-15, -1.00000000e+00,  0.00000000e+00,
        3.22606055e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01739564, -0.07818399,  0.06137365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.03341707e-05,-9.28249775e-04,-2.90729185e-04,-3.63926218e-04,
 -4.99947307e-05,-5.92561450e-06,-2.14489298e-05, 1.50964068e-05,
 -2.46697093e-05, 1.34843379e-05, 9.78094147e-06, 2.29901566e-04,
 -2.17024797e-05,-1.41617209e-04,-4.90466910e+00,-1.03872880e-03,
  3.37202399e-03,-3.75393745e-03]


--- Step 1704 ---
qpos:
[ 0.01867937, 0.03002437,-0.00945774,-0.02528386,-0.00321671, 1.12665802,
 -0.02952147, 0.92787178, 0.01157176, 0.02735972,-0.00825672, 0.02648703,
  1.37079379, 0.00763063, 1.24813027, 0.04458183,-0.08756497,-0.05567965,
  0.08581775, 0.68777973, 0.01000178,-0.7005118 ,-0.19011108]

qacc:
[-8.43984388e+00, 7.00544698e-01,-6.48776993e+00, 2.00446187e+01,
  5.21833033e-03,-1.55362764e+01, 6.17208612e+01,-1.51033521e+02,
  9.82479430e-01, 2.43666632e+00,-8.87349645e+00, 1.26443656e+01,
 -3.62322469e-02, 1.15984063e-02,-6.99308459e+00, 2.45385514e+01,
 -7.02673721e+00, 2.90255505e+00, 8.92197140e+00, 1.00362943e+02,
 -2.95807935e+02, 2.67268654e+01]

qfrc_actuator:
[ 3.35254494e-05, 8.81588403e-04, 1.20411092e-04,-2.86224536e-05,
 -9.55359953e-05, 1.22051989e-01, 1.05644155e-02, 1.79615519e-02,
 -1.31852384e-04, 8.27715988e-04, 1.73872362e-04, 8.35355589e-05,
  1.76045602e-03,-1.54753247e-03, 0.00000000e+00,-1.25579855e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008283160908195628
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.01432905, -0.08805172,  0.04958584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.01282831609081956
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.94994950e-15, -8.65447200e-15,  1.00000000e+00,  5.14936714e-29,
        1.00000000e+00,  8.65447200e-15, -1.00000000e+00,  0.00000000e+00,
        5.94994950e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01736845, -0.0782203 ,  0.06137437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.06260547e-06,-6.41245608e-04,-2.60914505e-04,-4.65620147e-04,
  6.07784134e-06, 1.94980316e-05,-2.97705558e-05, 8.65986176e-06,
 -2.24126607e-05,-4.18364016e-06, 2.73043833e-05, 1.26770502e-04,
  3.90097336e-04,-4.41539613e-04,-4.90366706e+00,-1.65354305e-03,
  3.14296951e-03,-3.75418590e-03]


--- Step 1705 ---
qpos:
[ 0.01867948, 0.03002403,-0.00945769,-0.02528339,-0.00321867, 1.12845102,
 -0.02951764, 0.92818151, 0.011571  , 0.02736003,-0.00825776, 0.02648718,
  1.37090011, 0.00763079, 1.24826745, 0.04458603,-0.08766098,-0.05564291,
  0.08575147, 0.68652596, 0.00956409,-0.70198106,-0.18924385]

qacc:
[ 6.81876426e+00,-3.94630932e-01, 4.35542427e-01, 1.63726312e+00,
 -1.79829303e-02,-1.61821191e+01, 6.74026315e+01,-1.66161152e+02,
  3.75586497e+00, 1.89158597e+00,-4.10730968e+00,-6.78208258e-01,
  1.59878175e-01,-3.82803109e-01,-4.00696706e+00, 1.41736671e+01,
 -5.77674164e+00, 2.38252379e+00, 5.54595737e+00, 8.21040760e+01,
 -2.44462471e+02, 2.27427382e+01]

qfrc_actuator:
[ 7.58943786e-05, 8.75103602e-04, 1.27330586e-04,-2.28383541e-05,
 -1.00934935e-04, 1.22007945e-01, 1.05281401e-02, 1.74968123e-02,
 -1.09164246e-04, 8.96925104e-04, 1.58572600e-04, 7.11159491e-05,
  1.74839341e-03,-1.56666141e-03, 0.00000000e+00,-1.19033533e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005815509685836162
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.0143542 , -0.08809463,  0.04970922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.012581550968583613
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.51513396e-16,  4.41210717e-15,  1.00000000e+00, -2.43333621e-30,
        1.00000000e+00, -4.41210717e-15, -1.00000000e+00,  0.00000000e+00,
        5.51513396e-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([-0.01701957, -0.07835051,  0.06138139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.84542785e-06,-4.89319403e-04,-2.11379195e-04,-5.00653884e-04,
  2.28720729e-05, 7.43523367e-05,-1.46312105e-05,-1.24450482e-05,
 -2.37855539e-05,-2.59164463e-05, 2.25985606e-05, 7.51016692e-05,
  1.05130999e-03,-7.57151718e-04,-4.90185797e+00,-2.24974478e-03,
  2.90702569e-03,-3.75343558e-03]


--- Step 1706 ---
qpos:
[ 0.01868009, 0.0300237 ,-0.00945766,-0.02528323,-0.00322083, 1.13024092,
 -0.0295139 , 0.92848459, 0.01157018, 0.02736096,-0.00825872, 0.0264868 ,
  1.37100614, 0.00763122, 1.24840454, 0.04459235,-0.08777583,-0.0555984 ,
  0.08569574, 0.68499273, 0.00911521,-0.70374722,-0.18825972]

qacc:
[ 4.34482413e+00,-5.89793792e-01, 3.40374849e+00,-8.64143581e+00,
 -8.81999731e-02,-1.52400677e+01, 5.88421193e+01,-1.27109056e+02,
 -5.77515039e-01,-4.93376052e-01, 5.18263060e+00,-1.49035630e+01,
 -2.46244899e-01, 3.72644369e-01,-6.49981871e+00, 2.26185078e+01,
 -4.71118782e+00, 1.94329868e+00, 2.63664371e+00, 6.66225986e+01,
 -2.00507506e+02, 1.90314579e+01]

qfrc_actuator:
[ 1.00796504e-04, 8.89242490e-04, 1.31396238e-04,-3.73780141e-05,
 -1.21118756e-04, 1.21940859e-01, 1.05590194e-02, 1.71707028e-02,
 -1.13269038e-04, 9.37891807e-04, 1.67895928e-04, 4.60306717e-05,
  1.74266077e-03,-1.54254775e-03, 0.00000000e+00,-1.08254641e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020148024073720489
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.01439185, -0.08813542,  0.04989926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.012201480240737202
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.11823516e-15, -9.09908472e-15,  1.00000000e+00,  4.65712553e-29,
        1.00000000e+00,  9.09908472e-15, -1.00000000e+00,  0.00000000e+00,
        5.11823516e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01641178, -0.07855658,  0.06139348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.29328619e-05,-4.19492973e-04,-1.09791118e-04,-3.56759137e-04,
 -3.40783039e-06, 7.89957632e-05, 2.24557428e-05,-2.26472213e-05,
 -2.35055680e-05, 1.08271898e-05, 1.48106785e-05, 1.13961210e-04,
  1.80236312e-03,-1.05988292e-03,-4.89968939e+00,-2.80419908e-03,
  2.67438572e-03,-3.75105401e-03]


--- Step 1707 ---
qpos:
[ 0.01868031, 0.03002353,-0.00945791,-0.02528359,-0.00322304, 1.13202629,
 -0.0295091 , 0.92878151, 0.01157001, 0.02736165,-0.00825918, 0.0264862 ,
  1.37111195, 0.0076319 , 1.24854196, 0.04459758,-0.08785365,-0.05556024,
  0.0857461 , 0.68397058, 0.00864644,-0.70496646,-0.18743473]

qacc:
[-3.40319903e+00,-3.31430166e-02, 2.61958419e+00,-1.12523315e+01,
 -2.26137977e-02,-1.93858852e+01, 6.90620545e+01,-1.29366229e+02,
  5.54447553e+00,-2.17947743e+00, 8.19635557e+00,-1.25238944e+01,
 -4.33014327e-01, 6.00232448e-01, 3.82785108e+00,-1.25865923e+01,
  9.25668197e+00,-1.58784378e+00, 2.65226701e+01,-1.16622938e+02,
  3.64563668e+02,-1.89302138e+00]

qfrc_actuator:
[ 7.96831259e-05, 8.97844306e-04, 1.16072384e-04,-6.37366844e-05,
 -1.14493028e-04, 1.21665827e-01, 1.05938577e-02, 1.68577955e-02,
 -7.98588820e-05, 8.72962685e-04, 1.73824293e-04, 3.14474200e-05,
  1.73542011e-03,-1.52841430e-03, 0.00000000e+00,-1.14593904e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.011856128640169106
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.36412769e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.36412769e-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([-0.13276862, -0.04469826,  0.06140478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.27344584e-06,-5.64292070e-04,-7.62421924e-05,-3.35117912e-04,
  3.33397939e-05,-1.71115010e-05, 2.42288548e-05,-1.08608357e-05,
 -1.62261189e-05, 1.15482595e-05, 1.58719307e-05,-5.59783577e-05,
  2.54073930e-03,-1.33124775e-03,-4.89745064e+00,-3.30213350e-03,
  2.45194748e-03,-3.74666778e-03]


--- Step 1708 ---
qpos:
[ 0.01868062, 0.03002314,-0.00945822,-0.02528388,-0.00322524, 1.13380456,
 -0.0295028 , 0.92907331, 0.01157093, 0.02736207,-0.00826004, 0.02648585,
  1.37121766, 0.00763229, 1.24867965, 0.04460036,-0.08790037,-0.05552744,
  0.08587987, 0.68337992, 0.00815934,-0.70572885,-0.18674072]

qacc:
[ 7.78067131e-01,-1.63063367e-02,-6.56961470e-01, 2.04736826e+00,
  7.62628675e-03,-2.21485584e+01, 7.18229449e+01,-1.17961115e+02,
  9.30706913e+00, 1.26135246e+00,-6.05245461e+00, 1.11160991e+01,
 -9.68503097e-02,-9.17912982e-02, 7.81302352e+00,-2.67427607e+01,
  7.77713195e+00,-1.33994377e+00, 2.08517380e+01,-9.71142568e+01,
  3.06038149e+02, 1.35975929e-01]

qfrc_actuator:
[ 8.49174928e-05, 8.67471743e-04, 1.07156786e-04,-6.13447071e-05,
 -1.09600229e-04, 1.21162190e-01, 1.06122060e-02, 1.65904837e-02,
 -2.46271765e-05, 8.33874946e-04, 1.41757158e-04, 4.08166513e-05,
  1.71662662e-03,-1.55585348e-03, 0.00000000e+00,-1.27417375e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -3.059148832051939e-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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15200448, -0.03974425,  0.0499847 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.012030591488320516
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.61416642e-15, -9.22833284e-15,  1.00000000e+00,  4.25810635e-29,
        1.00000000e+00,  9.22833284e-15, -1.00000000e+00,  0.00000000e+00,
        4.61416642e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13260348, -0.04476207,  0.06139946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.33145408e-06,-8.65611063e-04,-1.16581582e-04,-2.92426767e-04,
  5.62034495e-05,-4.41243873e-05,-3.29961876e-05, 9.26229120e-06,
 -2.44250330e-05,-2.78685550e-05,-3.36028814e-06,-1.30340845e-04,
  1.28166303e-03,-8.91539377e-04,-4.90108580e+00,-2.57851631e-03,
  2.64398806e-03,-3.71381916e-03]


--- Step 1709 ---
qpos:
[ 0.01868168, 0.03002253,-0.00945839,-0.02528347,-0.00322755, 1.13557276,
 -0.02949493, 0.92936168, 0.01157147, 0.02736245,-0.00826193, 0.02648563,
  1.37132312, 0.00763243, 1.24881702, 0.04460392,-0.08791677,-0.05550014,
  0.08604944, 0.68321706, 0.00762232,-0.70604859,-0.18614977]

qacc:
[ 6.43968228e+00, 7.49533990e-01,-6.09570808e+00, 1.82739945e+01,
 -4.83767894e-02,-2.33449282e+01, 6.74757141e+01,-9.26085619e+01,
 -3.26113684e+00, 3.07777669e+00,-1.16157141e+01, 1.55642144e+01,
  3.61712494e-02,-2.65771076e-01,-2.85552212e+00, 9.28489110e+00,
  7.57732937e+00,-1.37642649e+00, 8.95168100e+00,-9.64972896e+01,
  2.97128719e+02, 2.05328431e+01]

qfrc_actuator:
[ 1.23385551e-04, 8.67294862e-04, 1.19716559e-04,-2.43267853e-05,
 -1.23545106e-04, 1.20472505e-01, 1.06197959e-02, 1.64052092e-02,
 -4.57686947e-05, 8.28160554e-04, 8.75973119e-05, 4.64333636e-05,
  1.69622460e-03,-1.57230099e-03, 0.00000000e+00,-1.22648703e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00011837091046474485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.19091485, -0.03077357,  0.04994081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 8.63636364, -8.50651287, -1.49198378, -8.50651287, 10.19110174,
       -8.86430529, -1.49198378, -8.86430529, 59.17600636,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.012118370910464742
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.14926130e-15, -4.58074370e-15,  1.00000000e+00,  1.44259588e-29,
        1.00000000e+00,  4.58074370e-15, -1.00000000e+00,  0.00000000e+00,
        3.14926130e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15979279, -0.03848688,  0.06139844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.32558884e-05,-1.22479173e-03,-1.89651331e-04,-2.19731555e-04,
 -1.95091533e-05,-3.67900965e-05,-6.70135203e-05, 2.76395814e-06,
 -4.00131315e-05,-2.99622360e-05,-1.96586537e-05, 3.91550490e-05,
  5.46179948e-04,-5.84178428e-04,-4.90311281e+00,-1.96129831e-03,
  2.81517428e-03,-3.68398264e-03]


--- Step 1710 ---
qpos:
[ 0.0186825 , 0.03002188,-0.0094582 ,-0.02528265,-0.00322984, 1.13732798,
 -0.02948548, 0.92964521, 0.01157107, 0.02736239,-0.00826378, 0.02648546,
  1.37142815, 0.00763267, 1.24895431, 0.04460766,-0.08790765,-0.05547748,
  0.08624248, 0.68341297, 0.00704315,-0.70599824,-0.1856437 ]

qacc:
[-2.01787572e+00,-1.86135337e-01,-1.06781204e+00, 7.44143392e+00,
  1.48223965e-02,-2.96452204e+01, 8.63586014e+01,-1.23644210e+02,
 -8.06785947e+00,-5.59312758e-01, 9.76717543e-01, 7.49622894e-02,
 -3.87261378e-01, 3.85752426e-01,-6.12275217e-01, 2.03839753e+00,
  6.38177585e+00,-1.16044863e+00, 5.86505508e+00,-8.01829159e+01,
  2.48831619e+02, 1.78669084e+01]

qfrc_actuator:
[ 1.10087983e-04, 8.85319685e-04, 1.44985088e-04,-2.70630280e-06,
 -1.13165445e-04, 1.19623740e-01, 1.06202611e-02, 1.61452538e-02,
 -9.39481088e-05, 8.06858018e-04, 9.19758659e-05, 4.98118747e-05,
  1.67487450e-03,-1.56433292e-03, 0.00000000e+00,-1.21752437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -3.947905690739745e-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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1909137 , -0.03080531,  0.04998026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  8.63636364,  -6.75737381,  -5.37816661,  -6.75737381,
        36.07324498, -34.47294902,  -5.37816661, -34.47294902,
        51.94974897,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.012039479056907394
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.61076023e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.61076023e-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([-0.16007055, -0.03843213,  0.06140373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21792849e-05, 9.89548911e-06, 2.31629684e-05, 2.16634741e-05,
  2.84127050e-06,-1.59447835e-03,-2.73253342e-04,-3.05776898e-04,
 -4.87619188e-05,-5.55962143e-05,-1.13599446e-05,-4.58256498e-07,
 -4.90965070e-05,-9.94086308e-06,-6.80159496e-06, 8.13124432e-06,
  9.39375236e-05,-3.62641238e-04,-4.90412196e+00,-1.36999835e-03,
  2.99704028e-03,-3.65429565e-03]


--- Step 1711 ---
qpos:
[ 0.01868247, 0.03002103,-0.00945762,-0.02528156,-0.00323189, 1.13906813,
 -0.0294749 , 0.92992298, 0.01157043, 0.02736188,-0.00826476, 0.02648562,
  1.37153285, 0.00763295, 1.24909224, 0.04460576,-0.08787704,-0.05545873,
  0.08644833, 0.68390839, 0.00642865,-0.70563888,-0.18520734]

qacc:
[-7.31679776e+00,-8.35885864e-01, 1.44849938e+00, 2.74838715e+00,
  1.06225584e-01,-3.26768416e+01, 9.48442648e+01,-1.40286618e+02,
 -1.93120891e+00,-2.34320229e+00, 6.12484862e+00,-1.51895230e+00,
 -7.41824320e-01, 8.09324079e-01, 1.80506067e+01,-6.15892352e+01,
  5.37164934e+00,-9.75799130e-01, 3.20544638e+00,-6.64139466e+01,
  2.07787076e+02, 1.53680751e+01]

qfrc_actuator:
[ 6.64173034e-05, 8.60902063e-04, 1.59862384e-04, 9.69966980e-06,
 -8.82864971e-05, 1.18721979e-01, 1.06158057e-02, 1.58432711e-02,
 -1.04373202e-04, 8.12120494e-04, 1.48584268e-04, 6.96328685e-05,
  1.66363289e-03,-1.55970087e-03, 0.00000000e+00,-1.51553864e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.82936698,  -6.37222548,  -5.82936698,
        43.78152864, -32.15110091,  -6.37222548, -32.15110091,
        38.04846881,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.011826211392071809
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17347706e-14, -4.69390825e-15,  1.00000000e+00,  5.50819367e-29,
        1.00000000e+00,  4.69390825e-15, -1.00000000e+00,  0.00000000e+00,
        1.17347706e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.16060624, -0.03831112,  0.06141401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.63686174e-05,-1.87079979e-03,-3.62603061e-04,-3.63463927e-04,
 -1.18745417e-05,-2.81873751e-05, 4.37335076e-05, 1.70431071e-05,
 -3.87583318e-05,-9.67634528e-06,-5.48256577e-06,-2.99172143e-04,
 -9.58950279e-05,-1.90041173e-04,-4.90428289e+00,-8.03547124e-04,
  3.18138357e-03,-3.62476789e-03]


--- Step 1712 ---
qpos:
[ 0.0186826 , 0.0300202 ,-0.00945721,-0.02527998,-0.00323383, 1.14079282,
 -0.02946417, 0.9301958 , 0.01156933, 0.0273612 ,-0.00826515, 0.02648599,
  1.37163746, 0.00763274, 1.24923006, 0.04460099,-0.08782837,-0.05544325,
  0.08665792, 0.68465256, 0.0057848 ,-0.70502201,-0.18482798]

qacc:
[ 1.41742969e+00, 1.55411875e+00,-7.58596443e+00, 1.64308587e+01,
  5.25302080e-02,-2.92365065e+01, 8.13039667e+01,-1.18930377e+02,
 -3.95125923e+00,-1.43790947e+00, 3.88580812e+00,-9.35488888e-01,
  2.24803761e-02,-3.54868915e-01, 8.53493068e+00,-3.01115095e+01,
  4.51663444e+00,-8.17883016e-01, 9.34019040e-01,-5.47966662e+01,
  1.72927903e+02, 1.30666364e+01]

qfrc_actuator:
[ 7.62460417e-05, 8.64473265e-04, 1.50557935e-04, 3.42971560e-05,
 -9.04296114e-05, 1.17919966e-01, 1.06082295e-02, 1.55899261e-02,
 -1.27988454e-04, 8.15747563e-04, 1.82419548e-04, 8.12664979e-05,
  1.65313555e-03,-1.59255770e-03, 0.00000000e+00,-1.65470776e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -4.87826495,  -7.12666177,  -4.87826495,
        47.70875703, -26.74540949,  -7.12666177, -26.74540949,
        26.94384026,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.01150753468170175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01493504e-16, -4.82389606e-15,  1.00000000e+00,  1.45437333e-30,
        1.00000000e+00,  4.82389606e-15, -1.00000000e+00,  0.00000000e+00,
        3.01493504e-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([-0.16134424, -0.03813839,  0.06142821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.25754615e-05,-1.94293539e-03,-4.31667398e-04,-3.27167533e-04,
 -2.39779819e-05,-2.34794054e-06, 3.40060507e-05, 1.22739420e-05,
 -3.36356970e-05,-4.42224896e-05,-4.05265677e-05,-1.57603091e-04,
 -1.22798489e-04,-5.38311160e-05,-4.90393934e+00,-2.78293487e-04,
  3.36117475e-03,-3.59565478e-03]


--- Step 1713 ---
qpos:
[ 0.01868251, 0.03001966,-0.00945674,-0.02527851,-0.00323572, 1.14250213,
 -0.02945362, 0.93046248, 0.01156795, 0.02736063,-0.00826577, 0.02648652,
  1.37174193, 0.00763213, 1.24936724, 0.04459788,-0.08776339,-0.05543039,
  0.08688861, 0.68561411, 0.00513083,-0.70417522,-0.18451078]

qacc:
[-1.96405777e+00,-1.46308009e-02, 1.08569321e+00,-3.35727671e+00,
  2.84764097e-02,-3.02216192e+01, 8.71496392e+01,-1.37918801e+02,
 -2.35542178e+00, 1.15343955e+00,-4.54421920e+00, 7.55673069e+00,
  3.20376960e-01,-6.73370268e-01,-6.00794425e+00, 1.95483013e+01,
  4.07622755e+00,-6.54990115e-01, 5.27459120e+00,-4.72485981e+01,
  1.54219256e+02, 1.71413679e+00]

qfrc_actuator:
[ 6.42378677e-05, 9.02437813e-04, 1.62672058e-04, 3.03719048e-05,
 -9.10059937e-05, 1.17166473e-01, 1.05992951e-02, 1.52785066e-02,
 -1.41437883e-04, 8.18298710e-04, 1.67011104e-04, 8.79654153e-05,
  1.64840254e-03,-1.61190067e-03, 0.00000000e+00,-1.55704799e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.011115543433281083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49820344e-14, -4.99401145e-15,  1.00000000e+00,  7.48204512e-29,
        1.00000000e+00,  4.99401145e-15, -1.00000000e+00,  0.00000000e+00,
        1.49820344e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13410088, -0.04444541,  0.06144517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.37676176e-06,-1.94643909e-03,-4.53866169e-04,-3.88621337e-04,
 -1.41570028e-05, 8.80504145e-06,-1.12687672e-05, 8.01613345e-06,
 -3.35472167e-05,-3.94332725e-05,-3.79446477e-05, 8.32827232e-05,
 -5.19313153e-05, 5.45056734e-05,-4.90332232e+00, 1.96583879e-04,
  3.53201910e-03,-3.56711264e-03]


--- Step 1714 ---
qpos:
[ 0.01868192, 0.0300193 ,-0.0094561 ,-0.02527709,-0.00323741, 1.14419538,
 -0.02944359, 0.93072278, 0.01156712, 0.02736013,-0.00826658, 0.02648748,
  1.37184613, 0.0076315 , 1.24950414, 0.04459623,-0.08768451,-0.05541976,
  0.08713019, 0.68675727, 0.00446834,-0.70313474,-0.18424448]

qacc:
[-4.18303759e+00,-3.23531371e-01, 1.74902509e+00,-3.09320957e+00,
  8.71342582e-02,-3.06224559e+01, 8.78318385e+01,-1.40759072e+02,
  4.58959373e+00, 1.43459968e+00,-6.81993462e+00, 1.44413422e+01,
 -7.87122951e-02, 9.77042304e-04,-4.81888070e+00, 1.62754662e+01,
  3.47479049e+00,-5.57124108e-01, 2.72067120e+00,-3.91800236e+01,
  1.29420378e+02, 1.81057356e+00]

qfrc_actuator:
[ 3.94556242e-05, 9.07509004e-04, 1.69718452e-04, 2.74966483e-05,
 -7.28804726e-05, 1.16323918e-01, 1.05543211e-02, 1.49531632e-02,
 -1.13286921e-04, 8.19983973e-04, 1.58159763e-04, 1.09430192e-04,
  1.64180932e-03,-1.60526552e-03, 0.00000000e+00,-1.48045125e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -3.56195653,  -7.86760717,  -3.56195653,
        66.94555506, -26.3987259 ,  -7.86760717, -26.3987259 ,
        20.58804247,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.010724084536023068
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58815338e-15,  5.17630676e-15,  1.00000000e+00, -1.33970758e-29,
        1.00000000e+00, -5.17630676e-15, -1.00000000e+00,  0.00000000e+00,
        2.58815338e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13466672, -0.04431053,  0.06146255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.15898068e-05,-2.04336662e-03,-4.94851916e-04,-4.04724890e-04,
  2.77371251e-05, 4.64209304e-06,-8.13127815e-06, 2.16099902e-05,
 -3.34496242e-05,-1.24055921e-05,-8.89377906e-06, 7.62136542e-05,
  9.75896975e-05, 1.45523034e-04,-4.90255898e+00, 6.15304335e-04,
  3.68850412e-03,-3.53967733e-03]


--- Step 1715 ---
qpos:
[ 0.01868139, 0.03001917,-0.00945567,-0.0252757 ,-0.0032389 , 1.14587262,
 -0.02943459, 0.93097757, 0.01156766, 0.02735937,-0.0082673 , 0.02648802,
  1.37195   , 0.00763072, 1.24964097, 0.04459549,-0.08763022,-0.05539892,
  0.08739141, 0.68755964, 0.00378743,-0.70246394,-0.18382549]

qacc:
[ 4.36472500e-01, 7.94218093e-01,-2.30252409e+00, 2.02837518e+00,
  9.40678251e-02,-2.77002119e+01, 7.65830135e+01,-1.20947182e+02,
  1.17674932e+01,-1.43022866e+00, 6.34944122e+00,-1.34947238e+01,
 -8.43622990e-02,-8.51266589e-02,-2.86441521e+00, 9.85274750e+00,
 -6.14770550e+00, 2.55023856e+00, 4.91135270e+00, 8.21727773e+01,
 -2.48100190e+02, 2.83347745e+01]

qfrc_actuator:
[ 4.28648411e-05, 9.10583019e-04, 1.55839694e-04, 2.52369285e-05,
 -6.14421848e-05, 1.15541284e-01, 1.05058873e-02, 1.46754116e-02,
 -4.31265097e-05, 7.85659085e-04, 1.53275658e-04, 8.61655935e-05,
  1.61813976e-03,-1.61877431e-03, 0.00000000e+00,-1.43470885e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010407660428180053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.33368201e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.33368201e-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([-0.01219247, -0.08004915,  0.06147742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.34789630e-05,-2.04528337e-03,-5.22353696e-04,-3.61650354e-04,
  7.09717297e-05,-3.24499595e-05,-4.16782980e-06,-2.29269823e-05,
 -4.36569942e-05,-2.49093893e-05, 1.89476722e-06, 4.82926590e-05,
  2.83090034e-04, 2.13444642e-04,-4.90173564e+00, 9.75497256e-04,
  3.83203565e-03,-3.51334176e-03]


--- Step 1716 ---
qpos:
[ 0.01868091, 0.03001909,-0.00945505,-0.02527435,-0.0032402 , 1.14753482,
 -0.02942659, 0.93122804, 0.01156835, 0.02735834,-0.00826802, 0.02648794,
  1.3720536 , 0.00762978, 1.24977798, 0.04459362,-0.08759688,-0.05536943,
  0.0876631 , 0.68807486, 0.00308905,-0.7021061 ,-0.18327703]

qacc:
[ 3.89072122e-01,-5.09170683e-01, 2.11190855e+00,-3.18491749e+00,
  8.20011452e-02,-2.44819895e+01, 6.51020488e+01,-9.76340942e+01,
  1.26794490e+00,-1.65013780e+00, 7.95234027e+00,-1.84446914e+01,
 -2.11056436e-01, 6.34375278e-02, 3.68903242e+00,-1.24751792e+01,
 -5.23786353e+00, 2.16559836e+00, 2.61809289e+00, 6.87799150e+01,
 -2.09813535e+02, 2.48507410e+01]

qfrc_actuator:
[ 4.50916242e-05, 9.12347882e-04, 1.65208843e-04, 2.33390769e-05,
 -5.41087658e-05, 1.14889730e-01, 1.04915975e-02, 1.44634111e-02,
 -3.75785631e-05, 7.65516551e-04, 1.50588977e-04, 5.44901385e-05,
  1.60554134e-03,-1.62648109e-03, 0.00000000e+00,-1.49627468e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.43849315,  7.4085461 , -4.43849315, 43.83870611,
       21.08988104,  7.4085461 , 21.08988104, 21.27140583,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010338222011285536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01356497e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.01356497e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01189619, -0.08016366,  0.06148339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.04476369e-05,-1.91901026e-03,-4.90349760e-04,-2.95772509e-04,
  7.61371865e-06,-4.00711030e-05,-1.06825254e-05,-3.36572202e-05,
 -4.06073294e-05,-2.51772007e-05, 2.96597610e-06,-5.93651582e-05,
 -3.09273514e-05, 5.12947772e-05,-4.90304044e+00, 3.93385625e-04,
  3.65795763e-03,-3.50395459e-03]


--- Step 1717 ---
qpos:
[ 0.01868045, 0.03001914,-0.00945464,-0.02527267,-0.00324152, 1.14918448,
 -0.02942043, 0.93147422, 0.01156841, 0.02735642,-0.00826795, 0.0264875 ,
  1.37215703, 0.00762866, 1.24991481, 0.04459237,-0.08758142,-0.05533256,
  0.0879374 , 0.68834777, 0.00237445,-0.70201287,-0.18261884]

qacc:
[ 2.53757231e-01, 1.39880109e+00,-6.16029517e+00, 1.21239824e+01,
 -3.26827400e-03,-1.88496184e+01, 5.05888562e+01,-8.61324063e+01,
 -5.31325614e+00,-4.12408749e+00, 1.45447303e+01,-2.13746187e+01,
  2.93942367e-02,-1.89643455e-01,-2.14423109e+00, 7.10464103e+00,
 -4.47032335e+00, 1.84400235e+00, 6.54271069e-01, 5.75644698e+01,
 -1.77411338e+02, 2.16429837e+01]

qfrc_actuator:
[ 4.65953275e-05, 9.13399684e-04, 1.52723991e-04, 3.94392323e-05,
 -6.70469877e-05, 1.14446531e-01, 1.04626670e-02, 1.42563705e-02,
 -7.01193169e-05, 7.00756048e-04, 1.84770644e-04, 3.58877860e-05,
  1.60491944e-03,-1.63062700e-03, 0.00000000e+00,-1.46078180e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.37650635,  7.94896105, -3.37650635, 48.42301487,
       16.90030683,  7.94896105, 16.90030683, 15.81516261,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010163098267934136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.09240607e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.09240607e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01139574, -0.08033951,  0.06149338])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.51932571e-06,-1.63217992e-03,-4.74563810e-04,-2.84522883e-04,
 -3.23338975e-05,-9.07665120e-05, 2.34452160e-05,-2.13402900e-05,
 -2.74616299e-05,-2.08264820e-05,-9.07257519e-06, 3.17071784e-05,
 -1.39625370e-04,-1.20480017e-04,-4.90365306e+00,-1.52775818e-04,
  3.48775443e-03,-3.49315210e-03]


--- Step 1718 ---
qpos:
[ 0.01868002, 0.0300191 ,-0.00945427,-0.02527114,-0.00324291, 1.1508241 ,
 -0.0294161 , 0.93171512, 0.01156911, 0.02735345,-0.0082673 , 0.02648689,
  1.3722601 , 0.00762776, 1.25005149, 0.04459221,-0.08758126,-0.05528939,
  0.08820765, 0.68841594, 0.00164508,-0.70214309,-0.18186774]

qacc:
[ 1.86143650e-01,-2.88090979e-01, 1.51994225e+00,-4.01093857e+00,
 -2.93695969e-02,-1.73336894e+01, 5.17078353e+01,-1.00296698e+02,
  5.52634156e+00,-3.35817045e+00, 1.06817111e+01,-1.38874853e+01,
 -3.25240361e-01, 4.11057067e-01,-3.48426777e+00, 1.19171024e+01,
 -3.82212422e+00, 1.57465049e+00,-1.01577540e+00, 4.81705007e+01,
 -1.50010496e+02, 1.87335151e+01]

qfrc_actuator:
[ 4.76615765e-05, 8.96191341e-04, 1.45188164e-04, 3.04757192e-05,
 -7.42763032e-05, 1.14149621e-01, 1.04439537e-02, 1.40007414e-02,
 -3.60341971e-05, 6.27687724e-04, 2.04768086e-04, 2.51152710e-05,
  1.59018067e-03,-1.61481738e-03, 0.00000000e+00,-1.40385414e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.29797379,  8.32502813, -2.29797379, 50.22807279,
       11.48064078,  8.32502813, 11.48064078, 11.80538735,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009904953101144864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.60438305e-15, -1.68131491e-14,  1.00000000e+00,  9.42273280e-29,
        1.00000000e+00,  1.68131491e-14, -1.00000000e+00,  0.00000000e+00,
        5.60438305e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01073726, -0.08056311,  0.06150646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.19413177e-06,-1.32346761e-03,-4.05951380e-04,-3.23699448e-04,
  3.31001913e-05,-1.19838814e-04, 3.42147677e-06,-1.42598886e-05,
 -3.38132717e-05, 3.45284906e-06,-3.19366749e-06, 5.69542145e-05,
 -1.17748163e-04,-2.91479994e-04,-4.90382041e+00,-6.55314733e-04,
  3.32515337e-03,-3.48077396e-03]


--- Step 1719 ---
qpos:
[ 1.86792528e-02, 3.00187174e-02,-9.45357421e-03,-2.52697205e-02,
 -3.24421394e-03, 1.15245596e+00,-2.94123471e-02, 9.31952570e-01,
  1.15702184e-02, 2.73503448e-02,-8.26681783e-03, 2.64864206e-02,
  1.37236273e+00, 7.62731762e-03, 1.25018799e+00, 4.45937226e-02,
 -8.75941901e-02,-5.52408224e-02, 8.84681889e-02, 6.88310790e-01,
  9.02398210e-04,-7.02461871e-01,-1.81038011e-01]

qacc:
[-2.80149461e+00,-1.58959437e+00, 5.45507599e+00,-7.59655447e+00,
  3.73729265e-02,-1.44981594e+01, 4.22470376e+01,-7.21376177e+01,
  3.42888784e+00, 5.73643100e-01,-2.93844096e+00, 5.90915497e+00,
 -5.10913769e-01, 7.58131126e-01,-5.27158529e+00, 1.81915639e+01,
 -3.27488454e+00, 1.34887745e+00,-2.42601036e+00, 4.03123428e+01,
 -1.26896227e+02, 1.61332526e+01]

qfrc_actuator:
[ 3.07093065e-05, 8.68172011e-04, 1.58297849e-04, 2.45769017e-05,
 -6.02648413e-05, 1.13996249e-01, 1.05030907e-02, 1.38429363e-02,
 -1.62511473e-05, 6.74434638e-04, 2.16170532e-04, 3.67583925e-05,
  1.57232002e-03,-1.58734406e-03, 0.00000000e+00,-1.31702473e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.29823595,  8.53822934, -1.29823595, 49.4343474 ,
        6.20332471,  8.53822934,  6.20332471,  9.57957783,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009582924678419535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.17226811e-15, -1.15854299e-14,  1.00000000e+00,  2.51666600e-29,
        1.00000000e+00,  1.15854299e-14, -1.00000000e+00,  0.00000000e+00,
        2.17226811e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00995794, -0.08082345,  0.06152191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.29440491e-06,-9.96627691e-04,-2.60900255e-04,-2.15414841e-04,
  2.07024581e-05,-2.00568093e-05,-1.33959684e-05, 6.35374442e-06,
 -3.42598213e-05, 2.05722371e-05, 1.84174674e-06, 8.89171601e-05,
 -1.77183718e-05,-4.54484980e-04,-4.90371116e+00,-1.11055498e-03,
  3.17233260e-03,-3.46676857e-03]


--- Step 1720 ---
qpos:
[ 1.86779480e-02, 3.00182781e-02,-9.45254054e-03,-2.52687674e-02,
 -3.24570387e-03, 1.15408263e+00,-2.94090698e-02, 9.32186074e-01,
  1.15712089e-02, 2.73478576e-02,-8.26658764e-03, 2.64856630e-02,
  1.37246535e+00, 7.62662703e-03, 1.25032425e+00, 4.45979283e-02,
 -8.76183771e-02,-5.51876182e-02, 8.87142965e-02, 6.88058562e-01,
  1.47819959e-04,-7.02939794e-01,-1.80141722e-01]

qacc:
[-4.64163801e+00,-1.97426009e+00, 8.92073279e+00,-1.75175722e+01,
 -8.07458045e-02,-1.23223916e+01, 4.02295423e+01,-7.77741667e+01,
 -1.01268783e+00, 9.26067195e-01,-8.85622320e-01,-4.22638920e+00,
  3.63990484e-01,-5.89611643e-01,-8.55304012e+00, 2.92937222e+01,
 -2.81364555e+00, 1.15968276e+00,-3.60825856e+00, 3.37561557e+01,
 -1.07476073e+02, 1.38436129e+01]

qfrc_actuator:
[ 3.28731645e-06, 8.87232560e-04, 1.83444901e-04, 2.78195341e-06,
 -8.68903806e-05, 1.13948482e-01, 1.05551811e-02, 1.36553434e-02,
 -2.28179633e-05, 7.57057323e-04, 2.22911411e-04, 2.60869869e-05,
  1.57391007e-03,-1.60646109e-03, 0.00000000e+00,-1.17777424e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.44491811,  8.62489564, -0.44491811, 47.02388205,
        1.98023289,  8.62489564,  1.98023289,  8.73851461,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00921311871507434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.77838277e-15, -6.02522913e-15,  1.00000000e+00,  4.08413093e-29,
        1.00000000e+00,  6.02522913e-15, -1.00000000e+00,  0.00000000e+00,
        6.77838277e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00908807, -0.08111146,  0.06153913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.14336074e-05,-6.78220157e-04,-1.84125872e-04,-2.28534369e-04,
 -5.97650841e-06, 6.90302695e-05, 1.19962807e-06,-1.18645522e-05,
 -1.08229264e-05,-2.12532749e-05, 7.46536438e-06, 1.43709313e-04,
  1.24598752e-04,-6.05000425e-04,-4.90343913e+00,-1.51790630e-03,
  3.03028485e-03,-3.45116319e-03]


--- Step 1721 ---
qpos:
[ 1.86766690e-02, 3.00180022e-02,-9.45157641e-03,-2.52684282e-02,
 -3.24758520e-03, 1.15570878e+00,-2.94080024e-02, 9.32413142e-01,
  1.15721128e-02, 2.73461529e-02,-8.26671479e-03, 2.64847673e-02,
  1.37256795e+00, 7.62549321e-03, 1.25046046e+00, 4.46041011e-02,
 -8.76522682e-02,-5.51304085e-02, 8.89420363e-02, 6.87681048e-01,
 -6.17351197e-04,-7.03552195e-01,-1.79189015e-01]

qacc:
[   0.21583666,  -0.85483024,   5.94572327, -16.56482111,  -0.17282054,
   -5.77059052,  31.45761093,-102.14293957,  -0.76248211,   1.7504701 ,
   -4.15553323,   1.75967845,   0.42749909,  -0.78647735,  -6.07136403,
   21.01773514,  -2.42603132,   1.00135953,  -4.59193597,  28.30718929,
  -91.24880784,  11.85823673]

qfrc_actuator:
[ 5.43402616e-06, 8.98876218e-04, 1.80162906e-04,-2.81485160e-05,
 -1.19911371e-04, 1.14230914e-01, 1.05499017e-02, 1.33452369e-02,
 -2.70843150e-05, 8.07257518e-04, 2.09264796e-04, 2.01628174e-05,
  1.56584518e-03,-1.63526045e-03, 0.00000000e+00,-1.07976961e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.22460955,  8.63344238,  0.22460955, 44.12977471,
       -0.92340443,  8.63344238, -0.92340443,  8.66038713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008809026843667515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00815255, -0.08141963,  0.06155762])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.51923206e-05,-1.57032242e-04,-1.70721920e-04,-3.39452204e-04,
 -4.42469944e-06, 8.86318419e-05, 3.79165888e-07,-3.14817212e-06,
 -1.81985943e-05,-3.76576455e-05, 1.68313066e-05, 1.06356994e-04,
  2.85439248e-04,-7.40697179e-04,-4.90307967e+00,-1.87904784e-03,
  2.89913008e-03,-3.43403944e-03]


--- Step 1722 ---
qpos:
[ 0.01867543, 0.0300177 ,-0.00945114,-0.02526841,-0.0032497 , 1.15734088,
 -0.02941066, 0.93263425, 0.01157296, 0.02734471,-0.00826655, 0.02648417,
  1.37267039, 0.00762405, 1.25059739, 0.04460606,-0.08766741,-0.0550754 ,
  0.08919093, 0.68753332,-0.00139769,-0.70391974,-0.17830583]

qacc:
[ 2.89753940e-01, 7.88731620e-01,-1.53524694e+00,-3.06526243e+00,
 -1.03781778e-01, 7.66074703e+00,-3.09308481e+00,-7.06082423e+01,
 -4.90143933e-01, 1.39340030e-01,-1.27781032e+00, 5.85941654e+00,
 -2.86545375e-01, 1.03125690e-01, 1.38372766e+01,-4.68106009e+01,
  4.68798633e+00,-5.50236543e-01, 5.28799687e+00,-5.15381052e+01,
  1.63687421e+02, 2.09541971e+00]

qfrc_actuator:
[ 7.21819067e-06, 8.70369491e-04, 1.42344517e-04,-4.64741529e-05,
 -1.20983966e-04, 1.14992918e-01, 1.05298804e-02, 1.30722074e-02,
 -2.99537775e-05, 8.02084717e-04, 2.19094723e-04, 3.48019865e-05,
  1.55198764e-03,-1.65182060e-03, 0.00000000e+00,-1.30865822e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008526448195033301
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.25523301e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.25523301e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13823613, -0.04353366,  0.06157125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.66656234e-05, 6.10247778e-04,-8.51189627e-05,-2.88772661e-04,
 -2.97376416e-06, 4.44006563e-05, 2.81004221e-05, 1.83956977e-05,
 -3.15484063e-05,-3.19242143e-05, 1.62964369e-05,-2.21578770e-04,
  4.49731085e-04,-8.60860595e-04,-4.90268123e+00,-2.19722688e-03,
  2.77837575e-03,-3.41551348e-03]


--- Step 1723 ---
qpos:
[ 0.01867421, 0.03001708,-0.00945047,-0.02526896,-0.00325194, 1.1589816 ,
 -0.02941578, 0.93285008, 0.01157376, 0.02734327,-0.0082661 , 0.0264838 ,
  1.3727727 , 0.00762216, 1.25073431, 0.04460596,-0.08766631,-0.05502232,
  0.08945236, 0.68758395,-0.0021921 ,-0.70407685,-0.17748042]

qacc:
[ 2.79957998e-01,-2.27255311e+00, 9.93668941e+00,-2.01078695e+01,
 -5.83877520e-02, 8.90056699e+00,-4.34778944e+00,-6.32119670e+01,
 -3.40473718e-01,-3.24074436e-01, 2.68778145e-01, 2.98720347e+00,
  2.77066068e-02,-3.53932846e-01, 6.19374280e+00,-2.16893512e+01,
  4.05820442e+00,-4.83130490e-01, 3.13507875e+00,-4.37918365e+01,
  1.40941215e+02, 2.91982172e+00]

qfrc_actuator:
[ 8.76465624e-06, 8.53404476e-04, 1.55302079e-04,-7.50416547e-05,
 -1.20643291e-04, 1.15681334e-01, 1.05034168e-02, 1.28235248e-02,
 -3.19790150e-05, 7.81650674e-04, 2.24746918e-04, 4.36404953e-05,
  1.53999330e-03,-1.67874726e-03, 0.00000000e+00,-1.40873884e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.82655193,  -3.65128221,  -7.82655193,
        22.00182482, -28.64897044,  -3.65128221, -28.64897044,
        70.04565552,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00834204979843143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1385643 , -0.04347049,  0.06158123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.47213467e-05, 9.79560038e-04, 6.99688018e-05,-2.37519656e-04,
 -2.10328338e-06, 1.10412860e-05, 1.89386591e-05, 1.20760228e-05,
 -3.61100775e-05,-4.32938881e-05,-2.23393245e-05,-1.11523737e-04,
  1.67403398e-04,-6.81777136e-04,-4.90321121e+00,-1.65286163e-03,
  2.93712752e-03,-3.37846787e-03]


--- Step 1724 ---
qpos:
[ 0.01867337, 0.03001603,-0.00944962,-0.02526949,-0.00325424, 1.16062861,
 -0.02942096, 0.93306136, 0.01157419, 0.02734194,-0.00826558, 0.02648353,
  1.37287455, 0.00762048, 1.25087037, 0.04461067,-0.08765108,-0.05497095,
  0.08971909, 0.68780633,-0.00299939,-0.70405214,-0.17670326]

qacc:
[ 3.21154223e+00,-1.03768834e+00, 2.76385019e+00,-2.30225572e+00,
 -2.81568234e-02, 5.94748089e-01, 1.75300655e+01,-7.22675695e+01,
 -3.20326628e+00, 1.88054271e-01,-9.21926074e-01, 2.64795988e+00,
 -8.50974674e-02, 9.84574451e-02,-1.57977573e+01, 5.34004990e+01,
  3.53581115e+00,-4.25447383e-01, 1.32469538e+00,-3.73667956e+01,
  1.21881230e+02, 3.38670354e+00]

qfrc_actuator:
[ 2.79113061e-05, 8.25912016e-04, 1.62667536e-04,-7.38583716e-05,
 -1.19465021e-04, 1.15912244e-01, 1.04733081e-02, 1.25911491e-02,
 -5.12442670e-05, 7.87712143e-04, 2.27792301e-04, 4.89663091e-05,
  1.52379531e-03,-1.65836978e-03, 0.00000000e+00,-1.14797175e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.21527913,  -4.74621153,  -7.21527913,
        30.84457875, -33.76134204,  -4.74621153, -33.76134204,
        59.96098432,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.008105856817968722
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.42413840e-15,  6.84827681e-15,  1.00000000e+00, -2.34494476e-29,
        1.00000000e+00, -6.84827681e-15, -1.00000000e+00,  0.00000000e+00,
        3.42413840e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13896181, -0.04338809,  0.06159336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.09919421e-06, 7.58345118e-04, 1.57847793e-04,-2.04292170e-04,
 -1.93284411e-05, 1.67148180e-05, 8.08995047e-06, 6.69258520e-06,
 -4.55918784e-05,-2.14856889e-07,-2.52314537e-05, 2.51101938e-04,
 -9.05750115e-06,-5.35250687e-04,-4.90344825e+00,-1.17617339e-03,
  3.07932369e-03,-3.34279893e-03]


--- Step 1725 ---
qpos:
[ 0.01867277, 0.03001476,-0.00944878,-0.02526968,-0.00325657, 1.16227833,
 -0.02942518, 0.93326818, 0.01157473, 0.02734112,-0.00826493, 0.02648327,
  1.37297591, 0.00761948, 1.25100633, 0.04461773,-0.08762343,-0.05492108,
  0.08998506, 0.68817805,-0.0038184 ,-0.7038694 ,-0.17596665]

qacc:
[ 2.02814568e+00, 4.78338021e-01,-3.59856610e+00, 9.84112986e+00,
 -8.86065506e-03,-6.63550492e+00, 3.53124084e+01,-8.45716241e+01,
  9.33386258e-01, 3.07511262e-01,-1.78367069e-01,-2.28273730e-01,
 -6.54850907e-01, 1.05308418e+00,-7.21010420e+00, 2.51681359e+01,
  3.10301263e+00,-3.76193636e-01,-1.90515399e-01,-3.20382362e+01,
  1.05941690e+02, 3.61292088e+00]

qfrc_actuator:
[ 3.95113446e-05, 8.27845484e-04, 1.66633548e-04,-5.51977487e-05,
 -1.17799025e-04, 1.15832036e-01, 1.04395912e-02, 1.23521838e-02,
 -4.49974451e-05, 8.45073109e-04, 2.47124946e-04, 5.22017490e-05,
  1.51576032e-03,-1.61009566e-03, 0.00000000e+00,-1.03177687e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.52850266,  -5.65379783,  -6.52850266,
        38.60335175, -34.60321142,  -5.65379783, -34.60321142,
        48.59307321,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.007830448683387711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.54457027e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.54457027e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13941131, -0.04329146,  0.0616071 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.30933024e-06, 3.43073357e-04, 1.21930725e-04,-2.14216902e-04,
  5.68214498e-06, 6.87031691e-05, 2.40246539e-05, 4.36520109e-06,
 -3.10162910e-05, 3.74421696e-05, 1.52932215e-05, 1.26714092e-04,
 -1.12617413e-04,-4.13454140e-04,-4.90348934e+00,-7.55609691e-04,
  3.20820577e-03,-3.30820190e-03]


--- Step 1726 ---
qpos:
[ 0.01867197, 0.0300137 ,-0.0094481 ,-0.02526968,-0.00325873, 1.16392775,
 -0.02942774, 0.93347115, 0.01157569, 0.02734083,-0.00826413, 0.02648374,
  1.3730771 , 0.00761874, 1.25114265, 0.04462346,-0.0875848 ,-0.05487255,
  0.09024522, 0.68868028,-0.004648  ,-0.70354835,-0.17526431]

qacc:
[-1.73299087e+00, 1.09082773e+00,-4.25431024e+00, 7.47451615e+00,
  7.06676302e-02,-1.15247342e+01, 4.52045740e+01,-8.41086341e+01,
  3.53900343e+00, 1.77378975e+00,-8.37429603e+00, 2.03078423e+01,
 -4.19887360e-01, 6.05606674e-01, 4.61172757e+00,-1.52358749e+01,
  2.74524014e+00,-3.34490017e-01,-1.45223816e+00,-2.76242920e+01,
  9.26566400e+01, 3.68599637e+00]

qfrc_actuator:
[ 2.88184715e-05, 8.65145381e-04, 1.68687052e-04,-4.41385356e-05,
 -9.81047730e-05, 1.15637219e-01, 1.04559923e-02, 1.21465084e-02,
 -2.37784471e-05, 8.79518232e-04, 2.58383757e-04, 8.97449119e-05,
  1.51264306e-03,-1.59889606e-03, 0.00000000e+00,-1.10831991e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.88499575,  -6.32088616,  -5.88499575,
        43.56834713, -32.5230623 ,  -6.32088616, -32.5230623 ,
        38.91662475,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.007526321376998532
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.68780102e-15,  1.47512041e-14,  1.00000000e+00, -5.43995053e-29,
        1.00000000e+00, -1.47512041e-14, -1.00000000e+00,  0.00000000e+00,
        3.68780102e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13989856, -0.0431846 ,  0.06162201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.84068983e-05,-8.60262639e-06, 8.63579456e-05,-1.94767407e-04,
  2.14062408e-05, 7.80406511e-05, 2.85635552e-05, 4.14044312e-05,
 -9.57562794e-06, 1.45805556e-05, 1.72443880e-05,-6.84064014e-05,
 -1.65734076e-04,-3.10736481e-04,-4.90340145e+00,-3.82063201e-04,
  3.32624260e-03,-3.27444575e-03]


--- Step 1727 ---
qpos:
[ 0.01866966, 0.03001306,-0.00944755,-0.02526923,-0.00326055, 1.16557458,
 -0.0294284 , 0.93367273, 0.0115762 , 0.02734072,-0.00826302, 0.02648469,
  1.3731782 , 0.00761836, 1.25127889, 0.0446296 ,-0.08753637,-0.05482521,
  0.09049539, 0.68929733,-0.00548717,-0.70310527,-0.17459111]

qacc:
[-12.8878054 ,  1.88505697, -7.75561295, 15.35090405,  0.15591808,
 -10.8819095 , 34.32085197,-44.45186517, -3.76526749,  0.36643266,
  -2.96913611, 10.63199552, -0.26967695,  0.51718555, -1.33672734,
   4.54340484,  2.45047843, -0.29952446, -2.49702704,-23.97601549,
  81.6369759 ,  3.67069726]

qfrc_actuator:
[-4.81654177e-05, 9.05580700e-04, 1.69743431e-04,-1.98580158e-05,
 -6.77647517e-05, 1.15375564e-01, 1.05013514e-02, 1.20684946e-02,
 -4.71832216e-05, 8.64475817e-04, 2.64729081e-04, 1.11648168e-04,
  1.51779031e-03,-1.57427848e-03, 0.00000000e+00,-1.08473021e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.37475478,  -6.76008786,  -5.37475478,
        45.73269552, -29.49424493,  -6.76008786, -29.49424493,
        32.08640411,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0072021971315086725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.85376505e-15,  7.70753011e-15,  1.00000000e+00,  2.97030102e-29,
        1.00000000e+00, -7.70753011e-15, -1.00000000e+00,  0.00000000e+00,
       -3.85376505e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1404119 , -0.04307074,  0.06163772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.07871332e-05,-2.76311887e-04, 4.29971362e-05,-7.83311360e-05,
 -2.27534261e-05, 3.62836353e-05, 2.74096798e-05, 2.70388517e-05,
  3.58868955e-06, 2.66770892e-05,-4.14011388e-06, 2.09557552e-05,
 -1.83728026e-04,-2.22927116e-04,-4.90323031e+00,-4.80419830e-05,
  3.43540811e-03,-3.24134853e-03]


--- Step 1728 ---
qpos:
[ 0.01866714, 0.03001317,-0.00944716,-0.02526889,-0.0032623 , 1.16721778,
 -0.0294278 , 0.93387129, 0.01157608, 0.02734094,-0.0082621 , 0.02648557,
  1.37327934, 0.00761803, 1.25141473, 0.04463863,-0.0875033 ,-0.05477312,
  0.09073593, 0.68971995,-0.00631388,-0.70286182,-0.17387293]

qacc:
[-1.87119382e+00, 1.21205179e+00,-2.44567775e+00, 3.83033959e-01,
  2.53766710e-02,-1.33583605e+01, 4.41580816e+01,-7.14233141e+01,
 -5.38075555e+00, 8.40013820e-01,-2.03841885e+00, 8.26334080e-01,
  2.41287620e-01,-2.44092545e-01,-9.36838888e+00, 3.18835503e+01,
 -3.84088566e+00, 1.19103835e+00,-2.40821978e+00, 3.70016376e+01,
 -1.36184690e+02,-6.39259620e+00]

qfrc_actuator:
[-5.70279302e-05, 9.65351436e-04, 1.70242476e-04,-2.34890409e-05,
 -8.45521117e-05, 1.15111722e-01, 1.05276968e-02, 1.19063817e-02,
 -7.89186221e-05, 8.73135770e-04, 2.50151555e-04, 1.06369883e-04,
  1.51724389e-03,-1.57732542e-03, 0.00000000e+00,-9.31253446e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006880496323022713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.06789927e-15,  8.06789927e-15,  1.00000000e+00, -6.50909986e-29,
        1.00000000e+00, -8.06789927e-15, -1.00000000e+00,  0.00000000e+00,
        8.06789927e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00212408, -0.07877519,  0.06165328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10957255e-05, 9.14716289e-05, 1.29528809e-05,-6.85387159e-07,
  6.35629178e-06,-4.31434587e-04,-2.99024649e-05,-1.69098897e-04,
 -3.23904878e-05, 3.57530588e-05,-2.78341837e-06,-2.25207599e-06,
  7.32782926e-06, 5.65468843e-06,-2.32429610e-06, 1.53459570e-04,
 -1.77028653e-04,-1.46883001e-04,-4.90300663e+00, 2.52826898e-04,
  3.53734592e-03,-3.20876156e-03]


--- Step 1729 ---
qpos:
[ 0.01866626, 0.03001376,-0.00944693,-0.0252689 ,-0.00326396, 1.16885661,
 -0.02942667, 0.93406512, 0.01157559, 0.02734163,-0.00826169, 0.02648603,
  1.37338041, 0.00761754, 1.25155082, 0.04464708,-0.08748372,-0.05471683,
  0.09096296, 0.68997332,-0.00713091,-0.70279232,-0.17311534]

qacc:
[ 1.40264070e+01, 3.12256791e-01, 1.24281420e+00,-7.42190573e+00,
  4.65164511e-02,-1.52720262e+01, 5.27713027e+01,-9.82253205e+01,
 -3.26599867e+00, 1.19569298e+00,-1.61658959e+00,-5.04915439e+00,
 -1.42976411e-02,-1.03200372e-01, 2.14771966e+00,-7.00412097e+00,
 -3.37198844e+00, 1.04679301e+00,-3.37802630e+00, 3.17754805e+01,
 -1.18752131e+02,-5.07799450e+00]

qfrc_actuator:
[ 2.75558686e-05, 9.65211440e-04, 1.52722544e-04,-4.34978138e-05,
 -7.62019514e-05, 1.14830897e-01, 1.05247559e-02, 1.16604957e-02,
 -9.75358470e-05, 8.95798465e-04, 2.23402530e-04, 8.51436830e-05,
  1.49729570e-03,-1.59680390e-03, 0.00000000e+00,-9.68790344e-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, -4.94469808,  7.08073003, -4.94469808, 33.07147135,
       17.06380976,  7.08073003, 17.06380976, 20.55256253,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006707117475702386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65529086e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.65529086e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00164877, -0.07891569,  0.0616626 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.19344004e-05,-5.51182125e-04,-1.00521842e-04,-2.61799662e-04,
 -1.95515226e-05, 4.19522254e-05,-1.97985484e-05,-1.98373444e-05,
 -1.46931936e-05,-1.62019992e-05, 1.40536151e-05,-2.97733358e-05,
 -1.77076697e-04,-2.60219179e-04,-4.90334403e+00,-2.25934644e-04,
  3.41525168e-03,-3.19264362e-03]


--- Step 1730 ---
qpos:
[ 0.01866605, 0.03001435,-0.00944644,-0.02526842,-0.00326535, 1.17049769,
 -0.02942882, 0.93425587, 0.01157522, 0.02734267,-0.00826157, 0.02648589,
  1.37348117, 0.00761717, 1.25168721, 0.04465302,-0.08747606,-0.05465684,
  0.0911732 , 0.69007844,-0.00794044,-0.70287513,-0.17232308]

qacc:
[ 5.81232154e+00, 2.86388889e-01,-3.06848712e+00, 1.10432062e+01,
  1.12692961e-01, 6.52808707e+00,-1.13077375e+01,-2.75456831e+01,
  1.05239110e+00, 3.08342712e-02, 3.09363383e+00,-1.33032244e+01,
 -5.29809371e-01, 6.14275554e-01, 8.07982319e+00,-2.74755775e+01,
 -2.97974625e+00, 9.26447886e-01,-4.19492242e+00, 2.74280537e+01,
 -1.04116415e+02,-4.04913991e+00]

qfrc_actuator:
[ 5.99257033e-05, 9.46856122e-04, 1.59965508e-04,-1.97808052e-05,
 -5.28395800e-05, 1.15358694e-01, 1.05044673e-02, 1.15270263e-02,
 -9.05270860e-05, 9.08838706e-04, 2.07493051e-04, 5.47162855e-05,
  1.47636647e-03,-1.59044671e-03, 0.00000000e+00,-1.10084912e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.38170204,  7.44227547, -4.38170204, 35.36508737,
       15.73676005,  7.44227547, 15.73676005, 17.90151297,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00649442636662384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56425193e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.56425193e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0010955 , -0.07907618,  0.06167343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48431126e-05, 1.15904435e-05, 1.81318571e-05, 2.58056807e-05,
  3.01125949e-05, 1.74650548e-04,-1.52069277e-04,-1.57221486e-04,
  6.45500311e-06, 3.15212105e-05,-1.03822367e-05,-2.97034655e-05,
 -3.22552654e-05,-1.75909085e-06,-7.92794243e-07,-1.32847718e-04,
 -1.36945838e-04,-3.64537975e-04,-4.90348599e+00,-6.31324790e-04,
  3.30891109e-03,-3.17530515e-03]


--- Step 1731 ---
qpos:
[ 0.01866588, 0.03001483,-0.00944548,-0.02526802,-0.00326679, 1.17214905,
 -0.02943536, 0.93444254, 0.01157493, 0.0273437 ,-0.00826124, 0.0264854 ,
  1.37358169, 0.00761688, 1.25182367, 0.04465666,-0.087479  ,-0.05459355,
  0.09136393, 0.69005276,-0.0087442 ,-0.70309205,-0.17150013]

qacc:
[ 4.10167620e-01,-1.62137716e+00, 5.84371035e+00,-7.65889664e+00,
 -1.80123198e-02, 1.83596746e+01,-3.51316808e+01,-2.33649455e+01,
  7.49194473e-01,-1.34168471e+00, 6.26462946e+00,-1.27236970e+01,
 -4.20056824e-01, 4.68296429e-01, 7.08254952e+00,-2.45301398e+01,
 -2.65200477e+00, 8.26073551e-01,-4.87986693e+00, 2.38144624e+01,
 -9.18690290e+01,-3.23950961e+00]

qfrc_actuator:
[ 6.12724363e-05, 9.35603499e-04, 1.81718450e-04,-2.37828310e-05,
 -7.39247755e-05, 1.16455553e-01, 1.04951279e-02, 1.13547463e-02,
 -8.62483716e-05, 8.98287917e-04, 2.15827581e-04, 3.68763570e-05,
  1.46552354e-03,-1.58655935e-03, 0.00000000e+00,-1.21646480e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.94137419,  7.68455245, -3.94137419, 36.68636006,
       14.38672358,  7.68455245, 14.38672358, 16.01525283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0062522351262089895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.87860903e-15, -6.65895677e-15,  1.00000000e+00,  5.91222737e-29,
        1.00000000e+00,  6.65895677e-15, -1.00000000e+00,  0.00000000e+00,
        8.87860903e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00048485, -0.07925149,  0.06168537])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.94702149e-06, 1.13847986e-03,-1.76928700e-06,-1.73196518e-04,
  4.48381234e-06, 3.62104283e-06, 1.25253120e-05,-1.74290424e-05,
 -2.82137662e-05,-3.91380795e-06,-1.92225369e-05,-1.24061250e-04,
 -7.09379220e-05,-4.60275011e-04,-4.90349377e+00,-9.78204979e-04,
  3.21457307e-03,-3.15698005e-03]


--- Step 1732 ---
qpos:
[ 0.01866539, 0.03001484,-0.00944433,-0.02526759,-0.00326819, 1.17381009,
 -0.02944258, 0.93462455, 0.0115747 , 0.02734453,-0.0082607 , 0.02648473,
  1.37368196, 0.00761643, 1.25195995, 0.04465954,-0.08749146,-0.05452728,
  0.09153285, 0.68991072,-0.00954357,-0.70342786,-0.17064981]

qacc:
[-2.78883783e+00,-1.11425546e+00, 3.00999573e+00,-2.69548428e+00,
  1.13389440e-02, 6.51655715e+00, 3.83262091e+00,-6.39128584e+01,
  4.68836102e-01,-1.21590166e+00, 4.72593069e+00,-8.08449662e+00,
 -1.42430360e-01, 2.67828287e-04, 2.05033715e+00,-7.56471576e+00,
 -2.37866291e+00, 7.42427437e-01,-5.45138520e+00, 2.08151930e+01,
 -8.16651211e+01,-2.59688964e+00]

qfrc_actuator:
[ 4.43653363e-05, 8.75467581e-04, 1.76344071e-04,-2.63078709e-05,
 -6.82297567e-05, 1.17015039e-01, 1.04947747e-02, 1.11258945e-02,
 -8.36196657e-05, 8.73795141e-04, 2.20564089e-04, 2.65810740e-05,
  1.44476088e-03,-1.60190347e-03, 0.00000000e+00,-1.25041160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.6705952 ,  7.81751288, -3.6705952 , 37.32197053,
       13.46889384,  7.81751288, 13.46889384, 14.96047948,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005988738797846359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.63462785e-15, -6.95194177e-15,  1.00000000e+00,  3.22196630e-29,
        1.00000000e+00,  6.95194177e-15, -1.00000000e+00,  0.00000000e+00,
        4.63462785e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00016641, -0.07943732,  0.06169809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.52217696e-06, 1.16331348e-03, 2.12584224e-04,-1.96601864e-04,
  2.76504220e-06,-2.06669894e-05, 6.40881136e-06,-1.00481147e-05,
 -3.68698305e-05,-2.26909290e-05,-2.56080597e-05,-4.40111677e-05,
  1.09824631e-05,-5.47999747e-04,-4.90340997e+00,-1.27816302e-03,
  3.12939519e-03,-3.13785169e-03]


--- Step 1733 ---
qpos:
[ 0.01866436, 0.03001439,-0.00944349,-0.02526682,-0.00326969, 1.17547723,
 -0.02944813, 0.93480263, 0.01157485, 0.02734522,-0.00826038, 0.02648396,
  1.37378193, 0.00761605, 1.25209669, 0.04465693,-0.08748844,-0.05446327,
  0.09170643, 0.68994949,-0.01036833,-0.70357607,-0.16983201]

qacc:
[-4.66525241e+00, 9.90882036e-01,-5.86781929e+00, 1.26931846e+01,
 -4.47658430e-02,-3.23269031e+00, 2.84161202e+01,-7.43442646e+01,
  3.22239332e+00, 2.37732096e-01,-7.26662276e-01,-4.50068145e-01,
 -7.27754199e-01, 8.16487011e-01, 1.73825572e+01,-5.96244082e+01,
  3.87102538e+00,-5.63794282e-01, 1.16374849e+00,-3.53346793e+01,
  1.26299997e+02, 1.40305025e+01]

qfrc_actuator:
[ 1.68601082e-05, 8.39664744e-04, 1.54791193e-04,-1.02496833e-05,
 -8.20219711e-05, 1.17142074e-01, 1.05156062e-02, 1.09185851e-02,
 -6.42299430e-05, 8.58886937e-04, 2.05314480e-04, 2.07842102e-05,
  1.43403264e-03,-1.59308516e-03, 0.00000000e+00,-1.53775909e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005867387860285123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.73048250e-15,  1.89219300e-14,  1.00000000e+00, -8.95098589e-29,
        1.00000000e+00, -1.89219300e-14, -1.00000000e+00,  0.00000000e+00,
        4.73048250e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14260311, -0.04259826,  0.06170458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.17135373e-05, 7.85858200e-04, 2.62372753e-04,-1.68546935e-04,
  1.94667255e-05,-2.56067706e-05,-1.90918572e-05,-6.65804471e-06,
 -3.54893571e-05,-6.08317675e-06,-1.88776564e-05,-2.93594765e-04,
  1.02033228e-04,-6.28399253e-04,-4.90326395e+00,-1.54037820e-03,
  3.05118574e-03,-3.11806637e-03]


--- Step 1734 ---
qpos:
[ 0.01866301, 0.03001374,-0.00944274,-0.02526626,-0.00327147, 1.17714637,
 -0.02945082, 0.93497684, 0.01157557, 0.02734591,-0.00826031, 0.02648276,
  1.37388164, 0.00761617, 1.25223342, 0.04465021,-0.08747165,-0.05440124,
  0.09187946, 0.69014814,-0.0112159 ,-0.7035585 ,-0.16904195]

qacc:
[ -2.76411043, -0.41694483,  2.00474218, -5.33410321, -0.11988433,
 -11.68675568, 49.40310983,-89.3533968 ,  4.90811607, -0.20848069,
   2.52865583, -9.4970113 , -0.84727345,  1.23592328, 12.49290213,
 -43.50560776,  3.44158236, -0.4945941 , -0.13731949,-30.87814568,
 111.63322365, 12.89564448]

qfrc_actuator:
[ 1.09619351e-06, 8.54148251e-04, 1.59465099e-04,-1.88842152e-05,
 -1.07387561e-04, 1.16991600e-01, 1.05648265e-02, 1.07075693e-02,
 -3.51294048e-05, 8.67503360e-04, 1.96173061e-04,-8.11020041e-08,
  1.43999013e-03,-1.55217825e-03, 0.00000000e+00,-1.74133226e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005717233608978925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.85472127e-15,  9.70944254e-15,  1.00000000e+00, -4.71366372e-29,
        1.00000000e+00, -9.70944254e-15, -1.00000000e+00,  0.00000000e+00,
        4.85472127e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14285691, -0.04254574,  0.06171232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.19880764e-05, 3.10127929e-04, 2.23372717e-04,-1.81533385e-04,
  2.96652390e-05,-9.95178911e-06,-1.70234661e-05,-2.27541436e-05,
 -1.48527200e-05, 3.14578185e-05,-4.52733935e-05,-2.23234116e-04,
 -4.28845308e-05,-5.10259204e-04,-4.90340830e+00,-1.12334219e-03,
  3.16174533e-03,-3.08307657e-03]


--- Step 1735 ---
qpos:
[ 0.01866147, 0.03001318,-0.00944212,-0.02526584,-0.00327337, 1.17881329,
 -0.02945071, 0.9351476 , 0.01157733, 0.02734675,-0.00826047, 0.02648165,
  1.37398122, 0.0076165 , 1.25236945, 0.04464473,-0.08744252,-0.05434096,
  0.09204757, 0.69048906,-0.01208406,-0.70339329,-0.16827569]

qacc:
[-1.54105289e+00, 1.68862551e-01, 1.89197048e-01,-2.55882677e+00,
 -5.42786985e-02,-1.64185767e+01, 5.72791715e+01,-8.87237374e+01,
  8.80465674e+00, 1.01420808e+00,-3.71779823e+00, 5.48512700e+00,
 -9.12150434e-02, 2.02938796e-01,-4.76591218e+00, 1.51880995e+01,
  3.08539952e+00,-4.36714852e-01,-1.22852714e+00,-2.71583264e+01,
  9.93905773e+01, 1.18802918e+01]

qfrc_actuator:
[-7.62687072e-06, 8.80966354e-04, 1.62028157e-04,-2.41644689e-05,
 -1.03977735e-04, 1.16587507e-01, 1.05937266e-02, 1.05135943e-02,
  1.72011450e-05, 8.90147887e-04, 1.90803571e-04, 5.88643533e-06,
  1.43466381e-03,-1.54573723e-03, 0.00000000e+00,-1.66304828e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005536649242258107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.0052255e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.0052255e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14315312, -0.04248318,  0.06172136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.47990453e-05,-2.14687096e-04, 1.05101196e-04,-1.80297049e-04,
  5.31997100e-05, 1.25772494e-05,-1.03160150e-05, 4.50906891e-06,
 -7.07903803e-06, 1.28494329e-05,-4.77662319e-05, 5.95814930e-05,
 -1.33628565e-04,-4.06162132e-04,-4.90340069e+00,-7.33438728e-04,
  3.26883484e-03,-3.04810589e-03]


--- Step 1736 ---
qpos:
[ 0.01866054, 0.03001293,-0.00944162,-0.02526517,-0.00327502, 1.1804736 ,
 -0.02944828, 0.9353169 , 0.01157936, 0.02734766,-0.00826045, 0.02648129,
  1.37408074, 0.00761673, 1.25250544, 0.04463814,-0.08740223,-0.05428223,
  0.09220713, 0.6909575 ,-0.01297086,-0.70309543,-0.16752998]

qacc:
[ 5.10827382e+00, 1.26385514e+00,-5.00109800e+00, 9.34465788e+00,
  1.14478147e-01,-1.74144307e+01, 4.93840097e+01,-5.57574741e+01,
  2.30564949e+00, 1.11688307e+00,-7.05329238e+00, 1.97538414e+01,
 -6.73141815e-02,-7.04470541e-03, 3.31177056e+00,-1.16600354e+01,
  2.79055014e+00,-3.88469986e-01,-2.14023362e+00,-2.40547738e+01,
  8.92011877e+01, 1.09921340e+01]

qfrc_actuator:
[ 2.33655128e-05, 9.14975309e-04, 1.63389122e-04,-9.66096571e-06,
 -6.55883295e-05, 1.15945905e-01, 1.05915830e-02, 1.04197416e-02,
  2.95246483e-05, 9.03308518e-04, 2.05540825e-04, 4.53659496e-05,
  1.42256346e-03,-1.55988405e-03, 0.00000000e+00,-1.72114264e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.12025494,  -6.95483762,  -5.12025494,
        62.90450899, -39.95301608,  -6.95483762, -39.95301608,
        38.05036854,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005333384972104699
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04082401e-14,  1.04082401e-14,  1.00000000e+00, -1.08331462e-28,
        1.00000000e+00, -1.04082401e-14, -1.00000000e+00,  0.00000000e+00,
        1.04082401e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14348065, -0.04241336,  0.06173136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.99388900e-05,-7.65591484e-04,-4.21026533e-05,-9.94600339e-05,
  1.38887418e-05, 1.82542502e-05, 1.62148535e-05, 3.97484048e-05,
 -1.34696580e-05,-1.17030101e-05,-1.55892826e-05,-6.09475585e-05,
 -1.84718932e-04,-3.13270801e-04,-4.90328697e+00,-3.68491879e-04,
  3.37259900e-03,-3.01313341e-03]


--- Step 1737 ---
qpos:
[ 0.01866032, 0.03001299,-0.00944116,-0.025264  ,-0.00327647, 1.18212342,
 -0.02944385, 0.93548556, 0.01158048, 0.0273482 ,-0.00826004, 0.02648145,
  1.37418023, 0.00761679, 1.25264112, 0.04463255,-0.08737693,-0.05421947,
  0.09235357, 0.69124394,-0.01383266,-0.70297934,-0.16676484]

qacc:
[ 6.20137316e+00, 1.53334397e+00,-7.02903016e+00, 1.56279098e+01,
  8.82850076e-02,-2.02949805e+01, 5.09543360e+01,-4.52385448e+01,
 -7.67187793e+00,-4.75529638e-01,-1.13648746e+00, 9.66836545e+00,
  1.76416737e-01,-3.18312333e-01,-3.52564381e+00, 1.16114151e+01,
 -3.74968916e+00, 1.00571871e+00,-3.27677024e+00, 2.95162399e+01,
 -1.24813417e+02,-1.84985845e+01]

qfrc_actuator:
[ 5.97307306e-05, 9.35299491e-04, 1.64083386e-04, 1.63750418e-05,
 -5.98029147e-05, 1.15149326e-01, 1.05879407e-02, 1.03675918e-02,
 -1.73112557e-05, 8.57550698e-04, 2.14266482e-04, 6.87456424e-05,
  1.42237591e-03,-1.56839816e-03, 0.00000000e+00,-1.66393074e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005120507307106691
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.16818951e-14,  1.08409476e-14,  1.00000000e+00, -2.35052288e-28,
        1.00000000e+00, -1.08409476e-14, -1.00000000e+00,  0.00000000e+00,
        2.16818951e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00318005, -0.07730237,  0.06174174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.28151608e-05,-1.25157013e-03,-1.65793351e-04,-7.68357431e-05,
 -4.64222073e-05,-3.05179136e-05, 1.58604013e-05, 2.54951448e-05,
 -1.04086788e-05,-1.47817443e-05,-1.64259675e-05, 5.12675212e-05,
 -2.06290409e-04,-2.29394752e-04,-4.90309902e+00,-2.59284449e-05,
  3.47335808e-03,-2.97812899e-03]


--- Step 1738 ---
qpos:
[ 0.01866055, 0.03001317,-0.00944114,-0.02526281,-0.00327808, 1.18376093,
 -0.02943851, 0.93565048, 0.01158069, 0.02734836,-0.00826001, 0.02648194,
  1.37427972, 0.0076165 , 1.25277639, 0.04463   ,-0.08736499,-0.05415315,
  0.09248388, 0.69136938,-0.01467393,-0.70302416,-0.16598219]

qacc:
[ 3.74385256e+00, 1.41689668e+00,-4.85818881e+00, 5.64409924e+00,
 -6.68895787e-02,-2.50307681e+01, 6.99428039e+01,-9.66022579e+01,
 -7.81128231e+00, 1.23356543e+00,-6.52062273e+00, 1.31748905e+01,
  4.87759250e-01,-7.94810883e-01,-9.86100377e+00, 3.34682651e+01,
 -3.33784796e+00, 8.92583311e-01,-4.03431907e+00, 2.55523659e+01,
 -1.10613007e+02,-1.57046797e+01]

qfrc_actuator:
[ 8.12013891e-05, 9.11781393e-04, 1.28830311e-04, 1.34699920e-05,
 -9.13749640e-05, 1.14372795e-01, 1.05650243e-02, 1.01627104e-02,
 -6.30748053e-05, 8.12339030e-04, 1.83602249e-04, 8.24019060e-05,
  1.41868352e-03,-1.59118759e-03, 0.00000000e+00,-1.50370298e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.63417185,  5.52942499, -6.63417185, 19.08707141,
       12.53869824,  5.52942499, 12.53869824, 23.68022066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0050061225974112125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.1088652e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.1088652e-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([ 0.00348656, -0.07738956,  0.06174772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.86286970e-05,-1.52372872e-03,-2.93572859e-04,-2.47341602e-04,
 -4.71335282e-05,-5.79461785e-05,-3.41409265e-05, 1.33930906e-05,
 -1.27576954e-05,-2.93824355e-05,-3.63287994e-06, 1.60581092e-04,
 -1.74682095e-04,-3.29008261e-04,-4.90335765e+00,-4.83668412e-04,
  3.36850365e-03,-2.96089471e-03]


--- Step 1739 ---
qpos:
[ 0.01866103, 0.03001313,-0.00944139,-0.02526129,-0.00327978, 1.18538963,
 -0.02943509, 0.9358105 , 0.01158035, 0.02734855,-0.00826051, 0.02648255,
  1.37437912, 0.00761574, 1.25291203, 0.04462568,-0.08736502,-0.05408363,
  0.09259549, 0.6913513 ,-0.01549828,-0.70321229,-0.16518368]

qacc:
[ 2.19488377e+00, 1.14939570e+00,-5.96159082e+00, 1.23920271e+01,
 -4.03133907e-02,-1.47498313e+01, 4.43516796e+01,-9.00270360e+01,
 -4.72105912e+00, 1.81526125e+00,-6.91599591e+00, 9.83501271e+00,
  7.16756802e-02,-4.01278775e-01, 5.90163345e+00,-1.98444060e+01,
 -2.99226266e+00, 7.98204731e-01,-4.67367961e+00, 2.22665278e+01,
 -9.86963995e+01,-1.34290202e+01]

qfrc_actuator:
[ 9.37312109e-05, 8.79767712e-04, 1.07935839e-04, 2.89999039e-05,
 -9.18274948e-05, 1.14129140e-01, 1.05308383e-02, 9.92279757e-03,
 -9.00682413e-05, 8.38632874e-04, 1.65409896e-04, 9.01972847e-05,
  1.40223464e-03,-1.62228663e-03, 0.00000000e+00,-1.60364707e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.43655894,  5.75825372, -6.43655894, 20.51813537,
       13.28140923,  5.75825372, 13.28140923, 23.48228352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004858934302118645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.71368291e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.71368291e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00386291, -0.07749232,  0.06175505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.11803862e-05,-1.17143898e-03,-3.77658032e-04,-2.98288341e-04,
 -2.83928181e-05,-1.26116560e-05,-3.39050528e-05, 4.39195310e-06,
 -2.95906451e-05,-4.27371474e-05, 1.43640444e-05,-9.18806320e-05,
 -1.16184893e-04,-4.20110668e-04,-4.90345307e+00,-8.63736365e-04,
  3.27867532e-03,-2.94278154e-03]


--- Step 1740 ---
qpos:
[ 0.01866165, 0.03001295,-0.00944193,-0.0252596 ,-0.00328139, 1.18701362,
 -0.02943399, 0.9359654 , 0.01158003, 0.02734903,-0.00826137, 0.02648217,
  1.37447837, 0.00761461, 1.25304774, 0.04462022,-0.08735008,-0.05401655,
  0.09270818, 0.69150581,-0.01635544,-0.70322428,-0.16440142]

qacc:
[ 1.25190398e+00, 9.48985141e-01,-4.34088449e+00, 7.73008566e+00,
  4.46167014e-02,-8.75054313e+00, 3.17487350e+01,-8.43253863e+01,
  1.79474613e-01,-7.10671856e-01, 7.28643549e+00,-2.41814747e+01,
  3.51650770e-02,-3.18112498e-01, 3.51728946e+00,-1.22092643e+01,
  3.74182065e+00,-6.07655013e-01, 2.68216264e-01,-3.02685874e+01,
  1.18987143e+02, 2.15422272e+01]

qfrc_actuator:
[ 1.00903114e-04, 8.78467335e-04, 9.56639296e-05, 3.75070614e-05,
 -7.36086165e-05, 1.14206629e-01, 1.05278715e-02, 9.68227273e-03,
 -8.80446210e-05, 8.72070869e-04, 1.55025031e-04, 4.12993992e-05,
  1.39411758e-03,-1.64036303e-03, 0.00000000e+00,-1.66082704e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004734697624647399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.17243287e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.17243287e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14445898, -0.04219998,  0.06176124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.17631936e-05,-6.73211389e-04,-2.88509747e-04,-2.91926552e-04,
  1.18890938e-06, 1.95568407e-05,-1.70109525e-05,-5.05255551e-05,
 -3.33930144e-05,-3.73286017e-05,-7.85964464e-06,-6.14113806e-05,
 -3.98614093e-05,-5.03932004e-04,-4.90343215e+00,-1.18364592e-03,
  3.19971980e-03,-2.92403692e-03]


--- Step 1741 ---
qpos:
[ 0.01866271, 0.03001316,-0.00944338,-0.02525889,-0.00328283, 1.18863177,
 -0.02943272, 0.93611691, 0.01158008, 0.02734953,-0.00826256, 0.02648123,
  1.37457744, 0.00761344, 1.25318317, 0.04461578,-0.08732168,-0.05395158,
  0.0928176 , 0.69181445,-0.0172419 ,-0.70307865,-0.16363344]

qacc:
[ 3.61647526e+00, 1.06483674e+00, 1.04810151e+00,-1.66813376e+01,
  6.93483657e-02,-1.39172281e+01, 4.32113994e+01,-7.33977373e+01,
  3.15795912e+00,-1.41006438e-01, 2.86734847e+00,-1.18438224e+01,
 -2.56890321e-02,-5.02922652e-02,-3.48620810e+00, 1.16014865e+01,
  3.36483784e+00,-5.28882985e-01,-8.16053337e-01,-2.68451253e+01,
  1.06391796e+02, 1.93256419e+01]

qfrc_actuator:
[ 1.22620042e-04, 9.13348176e-04, 5.31815665e-05,-1.14190027e-05,
 -6.20975785e-05, 1.13925898e-01, 1.05447831e-02, 9.51457956e-03,
 -6.89643513e-05, 8.56266668e-04, 1.31588849e-04, 1.27115111e-05,
  1.39633386e-03,-1.63277833e-03, 0.00000000e+00,-1.60350584e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0046199992546307675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.20154026e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.20154026e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14464796, -0.04215798,  0.06176703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.81949470e-05,-7.37965308e-04,-1.60709303e-04,-2.01303336e-04,
  1.91252591e-05,-1.05539482e-05,-2.32350087e-05,-2.93201208e-05,
 -2.39786806e-05,-1.08571455e-05,-1.34584694e-05, 5.22226824e-05,
 -1.39200069e-04,-3.99972190e-04,-4.90341678e+00,-7.81384307e-04,
  3.30119859e-03,-2.88878017e-03]


--- Step 1742 ---
qpos:
[ 0.01866332, 0.03001382,-0.00944492,-0.02525849,-0.00328427, 1.19024181,
 -0.02943088, 0.93626476, 0.01157933, 0.02734968,-0.00826364, 0.02648067,
  1.37467638, 0.0076125 , 1.25331849, 0.04461204,-0.08730748,-0.05388266,
  0.09291184, 0.69195441,-0.01810782,-0.70310203,-0.16284574]

qacc:
[-3.76252355e+00, 2.20148822e-01, 1.40033096e+00,-6.97340028e+00,
  1.93056781e-03,-1.84487667e+01, 5.49386184e+01,-8.52281266e+01,
 -6.86328002e+00,-2.78991979e-02,-2.13224071e+00, 8.62685430e+00,
 -1.96588222e-01, 3.36978718e-01,-2.23255349e+00, 7.62052875e+00,
 -3.55174127e+00, 9.87293572e-01,-3.79580325e+00, 2.64083689e+01,
 -1.16243335e+02,-1.56595623e+01]

qfrc_actuator:
[ 9.94684716e-05, 9.69459120e-04, 6.43255810e-05,-2.27236992e-05,
 -7.24594803e-05, 1.13379993e-01, 1.05188208e-02, 9.31989092e-03,
 -1.11018217e-04, 8.28813428e-04, 1.35964210e-04, 3.17672344e-05,
  1.40475877e-03,-1.60998048e-03, 0.00000000e+00,-1.56794805e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004495485101419873
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23482005e-14, -1.85223007e-14,  1.00000000e+00,  2.28717082e-28,
        1.00000000e+00,  1.85223007e-14, -1.00000000e+00,  0.00000000e+00,
        1.23482005e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00479504, -0.07775737,  0.06177322])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.12317036e-09,-1.01099933e-03,-1.98967968e-04,-2.24401229e-04,
 -4.14949730e-05,-3.94064173e-05,-1.67160622e-06, 1.72317148e-05,
 -6.52303603e-06, 1.41483472e-05,-2.56685722e-06, 3.62592637e-05,
 -1.96263491e-04,-3.04743032e-04,-4.90328141e+00,-3.92346246e-04,
  3.40345811e-03,-2.85293955e-03]


--- Step 1743 ---
qpos:
[ 0.01866297, 0.03001431,-0.00944559,-0.02525718,-0.00328561, 1.19184241,
 -0.02942866, 0.93640826, 0.01157808, 0.02734968,-0.00826471, 0.02647998,
  1.37477511, 0.00761206, 1.25345392, 0.04460739,-0.08730602,-0.05381022,
  0.09298828, 0.69194387,-0.01895714,-0.70327613,-0.1620401 ]

qacc:
[-8.30241662e+00,-7.83450511e-01,-1.34666511e+00, 1.57732298e+01,
  4.71048844e-02,-2.08921388e+01, 6.22640392e+01,-9.88235222e+01,
 -4.25119939e+00,-4.77098456e-01, 1.97705747e+00,-4.15500804e+00,
 -5.59436962e-01, 9.15323010e-01, 2.94388264e+00,-9.90136776e+00,
 -3.18367130e+00, 8.80264237e-01,-4.45130871e+00, 2.29615756e+01,
 -1.03862131e+02,-1.32509314e+01]

qfrc_actuator:
[ 5.00884684e-05, 9.49332714e-04, 1.07190281e-04, 2.37772150e-05,
 -6.03471427e-05, 1.12821618e-01, 1.05021706e-02, 9.09287271e-03,
 -1.35466567e-04, 8.30247769e-04, 1.38946204e-04, 2.54484955e-05,
  1.40093344e-03,-1.57831178e-03, 0.00000000e+00,-1.61653905e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.07257725,  4.95635227, -7.07257725, 15.93444409,
       10.41415844,  4.95635227, 10.41415844, 23.49707894,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004388690812605213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.90542579e-15, -1.26486813e-14,  1.00000000e+00,  9.99932110e-29,
        1.00000000e+00,  1.26486813e-14, -1.00000000e+00,  0.00000000e+00,
        7.90542579e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0050676 , -0.07783711,  0.06177855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.20516814e-05,-1.18254755e-03,-2.48091560e-04,-2.66625643e-04,
 -2.56789697e-05,-2.02172454e-05,-4.75465801e-06,-7.72504738e-06,
 -3.93679281e-06, 3.43340861e-05, 9.56526794e-08,-4.75164823e-05,
 -1.40076789e-04,-4.06457914e-04,-4.90339387e+00,-8.01722175e-04,
  3.30835948e-03,-2.83484884e-03]


--- Step 1744 ---
qpos:
[ 0.01866237, 0.03001486,-0.00944628,-0.02525598,-0.00328683, 1.19343527,
 -0.0294272 , 0.93655064, 0.01157793, 0.02735   ,-0.00826567, 0.02647881,
  1.37487354, 0.00761232, 1.25358967, 0.04459952,-0.08728884,-0.05374032,
  0.09306702, 0.69211359,-0.01984467,-0.70326727,-0.1612455 ]

qacc:
[-2.10278627e+00,-9.71738363e-02, 9.46835511e-01,-2.91514495e+00,
  5.56410354e-02,-1.00188754e+01, 2.27489741e+01,-2.79765117e+01,
  9.33714321e+00,-8.83864494e-01, 5.78648854e+00,-1.45459506e+01,
 -9.59874880e-01, 1.47383176e+00, 1.03171178e+01,-3.51854105e+01,
  3.93083675e+00,-6.35072912e-01, 5.77914662e-01,-3.02191308e+01,
  1.23687094e+02, 2.59589710e+01]

qfrc_actuator:
[ 3.89381103e-05, 9.37166856e-04, 9.71476882e-05, 1.51022300e-05,
 -5.26064996e-05, 1.12562117e-01, 1.05088083e-02, 9.04389022e-03,
 -7.83258577e-05, 8.84458728e-04, 1.58912258e-04, 4.25967096e-06,
  1.38444281e-03,-1.54168547e-03, 0.00000000e+00,-1.78532018e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004336770008817874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.56002283e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.56002283e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14511454, -0.04205146,  0.06178131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.45686897e-05,-9.89297996e-04,-2.65174228e-04,-9.61875056e-05,
  5.63807305e-05, 4.15933992e-05, 1.49507977e-05,-2.23653138e-05,
 -1.07597900e-05, 4.58601175e-05,-8.68341492e-06,-1.72181291e-04,
 -6.30792907e-05,-4.99868240e-04,-4.90337676e+00,-1.14734705e-03,
  3.22494487e-03,-2.81604914e-03]


--- Step 1745 ---
qpos:
[ 0.01866198, 0.03001612,-0.00944762,-0.02525527,-0.00328808, 1.19502323,
 -0.02942741, 0.93669115, 0.01157846, 0.02735066,-0.00826618, 0.0264777 ,
  1.37497154, 0.00761338, 1.25372494, 0.04459304,-0.08725752,-0.05367261,
  0.09314365, 0.6924443 ,-0.02076627,-0.7030946 ,-0.16046067]

qacc:
[ 1.81011572e+00, 1.72210779e+00,-2.70602561e+00,-5.34848100e+00,
 -1.57811092e-02,-5.13357503e+00, 1.28682798e+01,-2.98472814e+01,
  5.86364209e+00,-6.81537951e-01, 2.74603647e+00,-2.42462870e+00,
 -7.26561940e-01, 1.23126173e+00,-4.79649732e+00, 1.59536815e+01,
  3.53416554e+00,-5.49765043e-01,-5.29982037e-01,-2.68294246e+01,
  1.10651746e+02, 2.32011195e+01]

qfrc_actuator:
[ 5.03877198e-05, 1.00062005e-03, 7.36543980e-05,-8.26765159e-06,
 -6.53044320e-05, 1.12519529e-01, 1.04949169e-02, 8.95822427e-03,
 -4.46355699e-05, 9.16662997e-04, 1.88966154e-04, 1.00600694e-05,
  1.36037014e-03,-1.50247681e-03, 0.00000000e+00,-1.70397966e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004252037151766447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61103792e-14,  2.61103792e-14,  1.00000000e+00, -6.81751903e-28,
        1.00000000e+00, -2.61103792e-14, -1.00000000e+00,  0.00000000e+00,
        2.61103792e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14525313, -0.04201943,  0.06178556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.41459498e-06,-6.63429672e-04,-2.44737301e-04,-1.23601425e-04,
  3.53564461e-05, 5.76148892e-05, 3.97209590e-05, 7.66656681e-06,
 -1.96057404e-05, 5.04210469e-05,-2.69550970e-05, 6.98019018e-05,
 -1.62599681e-04,-3.91577579e-04,-4.90332850e+00,-7.19382831e-04,
  3.32992513e-03,-2.77941005e-03]


--- Step 1746 ---
qpos:
[ 0.01866208, 0.03001791,-0.00944898,-0.02525453,-0.00328941, 1.19660589,
 -0.02942784, 0.93682712, 0.01157904, 0.02735143,-0.0082665 , 0.02647707,
  1.37506922, 0.00761499, 1.25385975, 0.04458986,-0.08721348,-0.05360787,
  0.09321655, 0.69291938,-0.02169522,-0.70277156,-0.15970031]

qacc:
[ 4.14991501e+00, 8.61324163e-01,-2.19836950e+00, 2.48861921e+00,
 -3.47097677e-02,-1.41515481e+01, 4.72111193e+01,-9.05747096e+01,
  4.82219155e-01, 6.05297182e-01,-3.91530737e+00, 1.16651578e+01,
 -3.32851594e-01, 6.35860727e-01,-1.06966063e+01, 3.64825659e+01,
  3.18001242e+00,-7.38715444e-01,-9.29735572e-01,-2.17177490e+01,
  1.02479678e+02, 7.25878857e+00]

qfrc_actuator:
[ 7.50356678e-05, 1.03776882e-03, 7.82366913e-05,-4.52012843e-06,
 -7.24006510e-05, 1.12270037e-01, 1.04876660e-02, 8.72747454e-03,
 -4.27976466e-05, 9.00015194e-04, 1.89177748e-04, 3.16897636e-05,
  1.34242154e-03,-1.47985975e-03, 0.00000000e+00,-1.52914135e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0041438893604649404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.67918115e-14, -1.33959057e-14,  1.00000000e+00,  3.58900581e-28,
        1.00000000e+00,  1.33959057e-14, -1.00000000e+00,  0.00000000e+00,
        2.67918115e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14252996, -0.04027033,  0.06179086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.66313031e-06,-6.86729815e-04,-1.72749636e-04,-2.58896118e-04,
  2.89311033e-06, 2.41029529e-05, 1.72703442e-05, 2.56230705e-05,
 -1.64318233e-05, 3.28517475e-05,-6.40797963e-06, 1.74903224e-04,
 -2.18009015e-04,-2.91035597e-04,-4.90315322e+00,-3.00410422e-04,
  3.43694508e-03,-2.74191808e-03]


--- Step 1747 ---
qpos:
[ 0.01866247, 0.0300197 ,-0.00944951,-0.0252534 ,-0.00329067, 1.19818208,
 -0.02942708, 0.93695864, 0.0115793 , 0.02735216,-0.00826641, 0.02647671,
  1.37516693, 0.00761637, 1.25399475, 0.04458644,-0.08718648,-0.05353824,
  0.09327868, 0.69319488,-0.02260325,-0.70264956,-0.15891365]

qacc:
[ 2.55801001e+00,-1.53477346e+00, 3.79301401e+00, 1.70321026e+00,
  3.33176205e-02,-1.93352815e+01, 6.20625253e+01,-1.01612571e+02,
 -2.77435601e+00,-6.54446043e-01, 1.09939732e+00, 2.96333390e+00,
  1.44534059e-01,-2.99133277e-01, 1.03880024e+00,-3.25198795e+00,
 -4.25923479e+00, 1.21967782e+00,-2.69513026e+00, 3.03822394e+01,
 -1.38401529e+02,-1.63565941e+01]

qfrc_actuator:
[ 8.94939726e-05, 1.02350902e-03, 1.17054143e-04, 1.51635208e-05,
 -5.83237196e-05, 1.11916522e-01, 1.05368774e-02, 8.50185713e-03,
 -5.97155452e-05, 8.89644458e-04, 2.07075627e-04, 4.46386277e-05,
  1.33880526e-03,-1.50276710e-03, 0.00000000e+00,-1.54922794e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004155368310175642
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00383505e-14, -3.33972509e-15,  1.00000000e+00,  6.69225821e-29,
        1.00000000e+00,  3.33972509e-15, -1.00000000e+00,  0.00000000e+00,
        2.00383505e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00568386, -0.07804775,  0.06179073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.50043335e-06,-7.93524684e-04,-1.16597989e-04,-2.55487190e-04,
 -1.68245073e-05, 7.75325186e-06, 2.58870702e-05, 1.50784060e-05,
 -3.96759199e-06,-1.73542945e-05, 1.43684517e-05,-1.16284579e-05,
 -2.24159306e-04,-1.85206076e-04,-4.90296240e+00, 1.01963903e-04,
  3.53238731e-03,-2.70434378e-03]


--- Step 1748 ---
qpos:
[ 0.01866304, 0.03002158,-0.00944979,-0.02525236,-0.00329181, 1.19975346,
 -0.02942648, 0.93708709, 0.0115797 , 0.02735285,-0.00826661, 0.02647621,
  1.37526468, 0.0076175 , 1.25413012, 0.04458014,-0.08717462,-0.05346431,
  0.09332678, 0.69329369,-0.02349488,-0.70270564,-0.15810324]

qacc:
[ 1.46860865e+00,-7.69761239e-01, 3.28617635e+00,-5.29037173e+00,
  5.19705766e-02,-1.11303390e+01, 3.50968839e+01,-6.33085930e+01,
  1.18626615e+00, 4.53409745e-01,-1.09190206e+00,-8.61849178e-01,
 -4.18847819e-02,-9.95436909e-02, 9.25172556e+00,-3.15539281e+01,
 -3.78570141e+00, 1.07828564e+00,-3.50639290e+00, 2.61770701e+01,
 -1.22761410e+02,-1.35826791e+01]

qfrc_actuator:
[ 9.78342765e-05, 1.01423892e-03, 1.22302194e-04, 8.53112080e-06,
 -4.94178371e-05, 1.11787932e-01, 1.05653851e-02, 8.35204802e-03,
 -5.20213984e-05, 8.65410228e-04, 1.82027224e-04, 3.46371648e-05,
  1.33844152e-03,-1.51692995e-03, 0.00000000e+00,-1.70177951e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.34235563,  4.54715192, -7.34235563, 14.33039668,
        9.19424209,  4.54715192,  9.19424209, 23.48244671,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004121468214777359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34687806e-14,  1.34687806e-14,  1.00000000e+00, -1.81408051e-28,
        1.00000000e+00, -1.34687806e-14, -1.00000000e+00,  0.00000000e+00,
        1.34687806e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00577661, -0.0780852 ,  0.06179259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.37339809e-05,-6.16424004e-04,-1.51663275e-04,-1.81172528e-04,
  7.20466382e-06,-1.39365423e-05,-1.97443687e-05,-8.48029431e-06,
 -6.46347897e-06,-2.01668322e-05, 1.71103005e-06,-1.52176146e-04,
 -1.98105306e-04,-3.12708857e-04,-4.90323057e+00,-4.21559271e-04,
  3.41946350e-03,-2.68736217e-03]


--- Step 1749 ---
qpos:
[ 0.01866335, 0.0300239 ,-0.00945039,-0.02525175,-0.00329299, 1.20132167,
 -0.02942738, 0.93721443, 0.01158053, 0.02735332,-0.00826727, 0.02647528,
  1.37536229, 0.0076185 , 1.25426529, 0.04457375,-0.08717631,-0.05338653,
  0.0933581 , 0.6932349 ,-0.02437371,-0.70292037,-0.15727128]

qacc:
[-2.15581825e+00, 5.58869372e-01, 6.89138721e-01,-8.07375719e+00,
 -1.51854727e-02,-2.05893059e+00, 3.99206357e+00,-1.43796845e+01,
  3.69208897e+00, 1.38572757e-01, 8.68209102e-01,-7.28444420e+00,
 -3.24098432e-02,-7.95229332e-02,-2.22878471e-02,-3.78635080e-01,
 -3.38598388e+00, 9.60012287e-01,-4.19509672e+00, 2.26957370e+01,
 -1.09605257e+02,-1.13482165e+01]

qfrc_actuator:
[ 8.47577654e-05, 1.04337634e-03, 1.07659577e-04,-1.35649377e-05,
 -6.14408768e-05, 1.11741956e-01, 1.05290950e-02, 8.30139364e-03,
 -2.98959635e-05, 8.32861134e-04, 1.49493379e-04, 1.11688719e-05,
  1.32405043e-03,-1.52572170e-03, 0.00000000e+00,-1.70030313e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.29398712,  4.6243409 , -7.29398712, 15.01327277,
       10.05831838,  4.6243409 , 10.05831838, 24.50138015,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004047542816116051
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20004308e-14, -2.74295560e-14,  1.00000000e+00,  3.29166488e-28,
        1.00000000e+00,  2.74295560e-14, -1.00000000e+00,  0.00000000e+00,
        1.20004308e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0059595 , -0.07814331,  0.06179618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.18069675e-06,-4.40291028e-04,-1.83561863e-04,-7.59906625e-05,
  2.23346590e-05,-4.48022375e-05,-3.81425383e-05,-2.49139504e-05,
 -2.30544427e-05,-1.58978428e-05,-1.98083447e-05,-7.60942991e-06,
 -1.36317055e-04,-4.29361229e-04,-4.90330483e+00,-8.60443116e-04,
  3.32209328e-03,-2.66926315e-03]


--- Step 1750 ---
qpos:
[ 0.01866351, 0.0300263 ,-0.00945079,-0.02525071,-0.00329424, 1.2028863 ,
 -0.0294285 , 0.93734086, 0.01158094, 0.02735341,-0.00826798, 0.02647408,
  1.37545971, 0.0076192 , 1.25439973, 0.04457207,-0.08719019,-0.05330531,
  0.09337031, 0.69303443,-0.02524263,-0.70327731,-0.15641966]

qacc:
[-1.36011355e+00, 4.71418143e-01,-3.32255054e+00, 1.03908967e+01,
 -3.31845231e-02,-5.60687106e+00, 1.44901840e+01,-2.08161049e+01,
 -3.66759837e+00,-9.52333125e-01, 3.83936134e+00,-8.33225584e+00,
  4.53902813e-01,-7.81918946e-01,-1.53886384e+01, 5.21639516e+01,
 -3.04803699e+00, 8.60909937e-01,-4.77834084e+00, 1.98089300e+01,
 -9.85540213e+01,-9.54340469e+00]

qfrc_actuator:
[ 7.69353339e-05, 1.04192016e-03, 1.17053978e-04, 8.70252816e-06,
 -6.81629383e-05, 1.11586062e-01, 1.05263205e-02, 8.25623808e-03,
 -5.27195525e-05, 8.13271505e-04, 1.48270392e-04,-2.28753293e-06,
  1.30658404e-03,-1.54907905e-03, 0.00000000e+00,-1.44826454e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.30841442,  4.60150578, -7.30841442, 15.46852015,
       10.85128077,  4.60150578, 10.85128077, 25.87108215,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00394217473076184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93618594e-14, -2.81627046e-14,  1.00000000e+00,  5.45282328e-28,
        1.00000000e+00,  2.81627046e-14, -1.00000000e+00,  0.00000000e+00,
        1.93618594e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00621249, -0.07821761,  0.06180113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.14590094e-06,-4.55680885e-04,-1.16064048e-04,-6.36845363e-05,
 -2.21817454e-05,-5.35868637e-05,-1.60333982e-05,-1.71792777e-05,
 -3.34134785e-05,-3.31677413e-05,-1.20423486e-05, 2.48618126e-04,
 -5.05812005e-05,-5.36854834e-04,-4.90324122e+00,-1.23369557e-03,
  3.23593063e-03,-2.65032524e-03]


--- Step 1751 ---
qpos:
[ 0.01866391, 0.03002846,-0.00945088,-0.02524973,-0.00329557, 1.20444647,
 -0.029429  , 0.93746446, 0.01158106, 0.02735314,-0.00826875, 0.02647306,
  1.37555694, 0.00761961, 1.25453397, 0.04457406,-0.08718514,-0.05322857,
  0.09339572, 0.69305079,-0.02613194,-0.70341198,-0.15559342]

qacc:
[ 2.15602755e+00,-1.31118448e+00, 4.42238043e+00,-5.64440152e+00,
 -3.12702800e-02,-1.24092719e+01, 3.93135326e+01,-6.43607981e+01,
 -2.35696543e+00, 1.07702087e-01,-1.84441397e+00, 5.46419841e+00,
  3.19032681e-01,-6.12453185e-01,-1.14173911e+01, 3.94053538e+01,
  4.73158910e+00,-1.12290113e+00, 3.30226571e+00,-3.06434178e+01,
  1.51999131e+02, 1.81412409e+01]

qfrc_actuator:
[ 9.00274902e-05, 1.00452818e-03, 1.22737640e-04, 3.63721201e-06,
 -7.16481683e-05, 1.11330388e-01, 1.05430001e-02, 8.10810025e-03,
 -6.63166773e-05, 8.01719135e-04, 1.47849283e-04, 8.04145923e-06,
  1.29793290e-03,-1.56318763e-03, 0.00000000e+00,-1.26369667e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039594060918814455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.80401403e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.80401403e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14282259, -0.04017575,  0.06180042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.76149939e-06,-5.50252681e-04,-9.15287449e-05,-1.64861914e-04,
 -1.42649002e-05,-4.55651322e-05,-1.40481917e-05, 7.14856034e-06,
 -3.29750132e-05,-3.18056245e-05, 2.08934209e-05, 1.96604208e-04,
  5.06848812e-05,-6.36480318e-04,-4.90307933e+00,-1.55560592e-03,
  3.15781733e-03,-2.63075231e-03]


--- Step 1752 ---
qpos:
[ 0.01866378, 0.03003034,-0.00945081,-0.02524914,-0.00329695, 1.20600187,
 -0.02942996, 0.93758476, 0.01158137, 0.02735238,-0.00826919, 0.02647217,
  1.3756539 , 0.00761983, 1.25466861, 0.04457557,-0.08723659,-0.0531605 ,
  0.09340888, 0.69347202,-0.02727133,-0.70322011,-0.15438364]

qacc:
[-4.58746695e+00,-1.60190800e+00, 6.87882289e+00,-1.38177140e+01,
 -2.33553667e-02,-1.06753701e+01, 3.41052536e+01,-6.50381098e+01,
  1.55852348e+00,-1.34353443e+00, 3.31966965e+00,-1.36777592e+00,
 -1.45674700e-01,-1.93846055e-02, 2.00381151e+00,-6.14475248e+00,
 -1.41264753e+01,-2.16489231e+00,-3.06400761e+00, 2.81220672e+01,
  2.31076780e+02, 2.56620531e+02]

qfrc_actuator:
[ 6.20653625e-05, 9.81375273e-04, 1.25995402e-04,-1.75169024e-05,
 -7.31637833e-05, 1.11052663e-01, 1.04995710e-02, 7.93597252e-03,
 -5.66068392e-05, 7.77351395e-04, 1.65696254e-04, 1.45321702e-05,
  1.28392688e-03,-1.57164477e-03, 0.00000000e+00,-1.29796726e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.50083186,  8.50495624, -1.50083186, 26.76463057,
        3.19901477,  8.50495624,  3.19901477,  9.20087957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011129986526989393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.35901098e-01, -4.17950549e-01,  3.55790239e-01, -3.84564606e-01,
        9.08469779e-01,  1.63684835e-01, -3.91636846e-01, -2.77555756e-17,
       -9.20119873e-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([-0.14282473, -0.04016989,  0.06180053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.57827035e-06,-6.22773414e-04,-1.70301218e-04,-1.93323669e-04,
  9.27453507e-06,-5.24272146e-05, 6.96697993e-06, 4.19630960e-06,
 -3.74067293e-05,-2.58290150e-05, 2.82277938e-05,-2.13776436e-05,
 -9.73326435e-05,-4.77759345e-04,-4.90326685e+00,-1.03840516e-03,
  3.25745585e-03,-2.59195582e-03]


--- Step 1753 ---
qpos:
[ 0.01866298, 0.03003191,-0.00945038,-0.02524917,-0.00329837, 1.20755277,
 -0.02943227, 0.93770385, 0.01158214, 0.02735124,-0.00826944, 0.02647135,
  1.37575088, 0.00761937, 1.25480319, 0.04457805,-0.08725765,-0.05309473,
  0.09342824, 0.69401821,-0.02837755,-0.7028792 ,-0.15327842]

qacc:
[-5.80857522e+00,-2.71702964e+00, 1.16692250e+01,-2.26314910e+01,
 -1.46850230e-02,-4.34115796e+00, 9.55119352e+00,-1.95560573e+01,
  3.92448171e+00,-8.56930539e-01, 1.99114272e+00,-6.24235743e-01,
  5.21562309e-01,-1.03713214e+00,-3.03409760e+00, 1.03560262e+01,
  7.59942674e+00,-5.73477443e-01, 1.54806194e+00,-3.50602596e+01,
  9.96026851e+01,-3.62361088e+01]

qfrc_actuator:
[ 2.79088698e-05, 9.66893080e-04, 1.45584724e-04,-4.79579107e-05,
 -7.34867339e-05, 1.10852576e-01, 1.04386731e-02, 7.87531906e-03,
 -3.32592324e-05, 7.63331890e-04, 1.76377725e-04, 1.87108696e-05,
  1.28269785e-03,-1.61220203e-03, 0.00000000e+00,-1.24784544e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.76311535,  7.77339949, -3.76311535, 16.75178446,
        3.92868844,  7.77339949,  3.92868844, 10.53824811,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039142463161634805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41818237e-14, -1.41818237e-14,  1.00000000e+00,  2.01124124e-28,
        1.00000000e+00,  1.41818237e-14, -1.00000000e+00,  0.00000000e+00,
        1.41818237e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14298607, -0.04019747,  0.06180268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.13701172e-06,-6.01417392e-04,-2.11740799e-04,-8.70079022e-05,
  2.35975208e-05,-4.16793451e-05, 8.71125642e-07, 2.25905387e-06,
 -2.60133308e-05,-5.69737883e-05, 5.72189280e-06, 5.14443073e-05,
 -5.14898687e-05,-6.71106031e-04,-4.90145236e+00,-5.01404811e-05,
  3.07774185e-03,-2.52767044e-03]


--- Step 1754 ---
qpos:
[ 0.01866245, 0.03003369,-0.00944997,-0.02524925,-0.00329996, 1.20909915,
 -0.02943466, 0.93782299, 0.01158352, 0.02735046,-0.00826991, 0.02647087,
  1.37584786, 0.00761836, 1.2549376 , 0.04458244,-0.08725358,-0.05303455,
  0.09345287, 0.69467601,-0.0293964 ,-0.70239923,-0.15230366]

qacc:
[ 2.44409080e+00, 2.20034729e-01,-1.27494499e-01,-1.03536631e+00,
 -7.20745666e-02,-5.63702859e+00, 1.11318338e+01,-6.28825817e+00,
  5.26350597e+00, 1.74087177e+00,-6.97826330e+00, 1.29026046e+01,
  5.27957172e-01,-9.66830950e-01,-6.12597720e+00, 2.09105956e+01,
  6.28214756e+00,-1.39913393e+00, 1.31971674e+00,-2.46074347e+01,
  9.60260704e+01,-6.54520248e+01]

qfrc_actuator:
[ 4.36511494e-05, 1.01102830e-03, 1.56939616e-04,-4.80922691e-05,
 -9.08453700e-05, 1.10682942e-01, 1.04571239e-02, 7.88078181e-03,
 -2.07912412e-06, 8.26608210e-04, 1.82775498e-04, 3.92490009e-05,
  1.28912065e-03,-1.63594304e-03, 0.00000000e+00,-1.14832559e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.44846367,  7.91800954, -3.44846367,  9.77182906,
        0.49451965,  7.91800954,  0.49451965,  8.85173759,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038527202551363604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.32249015e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.32249015e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13794486, -0.03574545,  0.06180558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.97701761e-05,-5.63887530e-04,-1.29754009e-04,-1.90035958e-05,
  3.18526765e-05, 4.03021580e-05,-2.00839610e-06, 1.88301853e-05,
 -2.00784114e-05,-4.64593006e-05, 5.46312594e-06, 1.02443036e-04,
 -1.14729235e-04,-4.69280347e-04,-4.90160064e+00, 4.30961434e-04,
  3.27494860e-03,-2.48039656e-03]


--- Step 1755 ---
qpos:
[ 0.01866178, 0.03003552,-0.00944968,-0.02524897,-0.00330172, 1.21064107,
 -0.02943634, 0.9379409 , 0.01158492, 0.02735046,-0.00827056, 0.02647058,
  1.37594443, 0.00761779, 1.25507201, 0.04458799,-0.08726031,-0.05297049,
  0.09346943, 0.69508913,-0.03039125,-0.70216674,-0.15129225]

qacc:
[-1.31052324e+00, 1.19539130e+00,-5.71537651e+00, 1.22877404e+01,
 -7.66087351e-02,-9.86000095e+00, 2.76360004e+01,-3.53855966e+01,
  1.37395409e-01, 1.93875833e+00,-6.20673283e+00, 9.20074319e+00,
 -5.39230527e-01, 7.94272046e-01,-3.44347927e+00, 1.21757290e+01,
 -2.69852056e+00, 9.70383501e-01,-2.01704561e+00, 3.64546320e+01,
 -1.70602512e+02,-1.79699103e+01]

qfrc_actuator:
[ 3.53820462e-05, 1.00116534e-03, 1.45849777e-04,-3.03489853e-05,
 -1.00526269e-04, 1.10497899e-01, 1.05047040e-02, 7.81862562e-03,
 -2.04785312e-06, 9.00185644e-04, 1.86929330e-04, 5.15616758e-05,
  1.27883063e-03,-1.59618588e-03, 0.00000000e+00,-1.09152271e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003940551122398349
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23262599e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.23262599e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00602712, -0.07828318,  0.06180171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.10810777e-05,-5.40269382e-04,-8.18901911e-05,-8.15085305e-05,
  9.74600589e-07, 9.65572469e-05, 1.28988466e-05, 1.43395677e-05,
 -3.11672308e-05, 2.14357268e-05, 1.13009755e-05, 6.25919759e-05,
 -9.12937117e-05,-2.74082575e-04,-4.90185311e+00, 8.01678959e-04,
  3.41203693e-03,-2.43814749e-03]


--- Step 1756 ---
qpos:
[ 0.01866032, 0.03003715,-0.00944906,-0.02524951,-0.00330333, 1.21218143,
 -0.02943869, 0.93805632, 0.01158528, 0.02735092,-0.00827105, 0.02647046,
  1.37604047, 0.00761817, 1.25520658, 0.04459318,-0.0872774 ,-0.05290283,
  0.09347441, 0.69528817,-0.03136829,-0.70215091,-0.15024809]

qacc:
[-6.70563678e+00,-2.88494833e+00, 1.33854240e+01,-2.80297513e+01,
  6.77879077e-02,-4.52945969e+00, 1.74868930e+01,-4.33407351e+01,
 -8.91277519e+00, 5.33607720e-01,-1.68752925e+00, 3.95084371e+00,
 -1.06927354e+00, 1.69101548e+00, 1.42374716e+00,-4.37605694e+00,
 -2.59192203e+00, 8.98348777e-01,-2.89543185e+00, 3.08295524e+01,
 -1.49610302e+02,-1.43544136e+01]

qfrc_actuator:
[-4.72307810e-06, 9.76729159e-04, 1.56910903e-04,-7.32973669e-05,
 -7.00173151e-05, 1.10607152e-01, 1.05334962e-02, 7.69939076e-03,
 -5.58585428e-05, 9.08355910e-04, 1.89790590e-04, 5.89512388e-05,
  1.26387688e-03,-1.53687270e-03, 0.00000000e+00,-1.11361310e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.64359592,  8.22181108, -2.64359592, 10.94141466,
        0.74115343,  8.22181108,  0.74115343,  8.87467003,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00397915171723006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56943111e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.56943111e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00589795, -0.078271  ,  0.06180005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.83516285e-05,-2.25308387e-04,-9.24109528e-05,-1.37917043e-04,
 -5.37503223e-05, 6.54577383e-05, 2.49011187e-05, 1.22551422e-05,
 -2.54862255e-05, 5.81519161e-05, 8.32153900e-06,-1.80284057e-05,
 -7.65873480e-05,-4.15778467e-04,-4.90233785e+00, 2.26141605e-05,
  3.25821698e-03,-2.42115605e-03]


--- Step 1757 ---
qpos:
[ 0.01865942, 0.03003887,-0.00944843,-0.02525058,-0.00330484, 1.21372553,
 -0.02944323, 0.938168  , 0.01158499, 0.02735169,-0.00827142, 0.0264708 ,
  1.37613647, 0.00761869, 1.25534174, 0.04459339,-0.08730439,-0.05283185,
  0.09346478, 0.69529859,-0.03233239,-0.70232575,-0.14917449]

qacc:
[ 4.83901893e+00,-1.00443303e+00, 5.96011589e+00,-1.51274327e+01,
  4.18183184e-02, 4.41263164e+00,-7.39563731e-01,-4.50999096e+01,
 -5.53063257e+00, 1.03126461e+00,-4.99299469e+00, 1.24732318e+01,
 -5.41875411e-01, 7.16026428e-01, 1.60072608e+01,-5.45928016e+01,
 -2.47396224e+00, 8.31973252e-01,-3.65199983e+00, 2.61941865e+01,
 -1.31988019e+02,-1.14690064e+01]

qfrc_actuator:
[ 2.55251484e-05, 9.97044217e-04, 1.63100652e-04,-9.83563213e-05,
 -6.89151529e-05, 1.11158164e-01, 1.05521173e-02, 7.52992937e-03,
 -8.76616082e-05, 9.12794465e-04, 1.91608998e-04, 8.10863293e-05,
  1.26212723e-03,-1.53750894e-03, 0.00000000e+00,-1.37726812e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.69458504,  8.20524152, -2.69458504, 11.56862804,
        0.96294981,  8.20524152,  0.96294981,  8.95259445,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039636601632586435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.27581622e-14, -1.40050229e-14,  1.00000000e+00,  3.18728582e-28,
        1.00000000e+00,  1.40050229e-14, -1.00000000e+00,  0.00000000e+00,
        2.27581622e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00590117, -0.0782894 ,  0.06180078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.16509845e-05, 3.87021323e-04,-4.37798050e-05,-1.80273818e-04,
 -3.33552896e-05, 4.66834852e-05, 1.88338983e-05, 2.60429661e-05,
 -1.07456911e-06, 1.03524730e-05,-2.46787273e-06,-2.64562074e-04,
 -4.96543514e-06,-5.42437258e-04,-4.90251784e+00,-6.25853803e-04,
  3.12866888e-03,-2.40211405e-03]


--- Step 1758 ---
qpos:
[ 0.0186589 , 0.03004045,-0.00944797,-0.0252512 ,-0.00330613, 1.21527574,
 -0.02944967, 0.93827623, 0.01158466, 0.02735278,-0.00827199, 0.02647107,
  1.37623268, 0.00761851, 1.25547646, 0.0445938 ,-0.08734078,-0.05275778,
  0.09343795, 0.69514159,-0.03328742,-0.70266928,-0.14807432]

qacc:
[ 3.16618263e+00, 1.17466728e+00,-6.32167884e+00, 1.43127418e+01,
  9.29667136e-02, 7.26789771e+00,-6.86192093e+00,-3.79895522e+01,
 -3.09110758e-01, 8.50468946e-01,-2.18497698e+00, 1.24471551e+00,
  6.69857153e-01,-1.16460588e+00,-1.31047260e+00, 3.47959851e+00,
 -2.35130743e+00, 7.71361059e-01,-4.30160368e+00, 2.23658252e+01,
 -1.17197825e+02,-9.16246334e+00]

qfrc_actuator:
[ 4.36934140e-05, 9.72983585e-04, 1.48802547e-04,-7.71443526e-05,
 -4.99565932e-05, 1.11667759e-01, 1.05309108e-02, 7.36806494e-03,
 -8.84859797e-05, 9.14960773e-04, 1.75024332e-04, 7.62059949e-05,
  1.25762378e-03,-1.59144420e-03, 0.00000000e+00,-1.35502836e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.78818261,  8.1739106 , -2.78818261, 12.27818444,
        1.24225257,  8.1739106 ,  1.24225257,  9.06010537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003904897511902636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24388046e-14, -4.26473302e-14,  1.00000000e+00,  5.30481810e-28,
        1.00000000e+00,  4.26473302e-14, -1.00000000e+00,  0.00000000e+00,
        1.24388046e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00600902, -0.07833209,  0.06180341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.56887502e-05, 6.92641601e-04, 4.05292069e-05,-1.53791407e-04,
 -1.78485395e-06, 3.32415006e-05,-3.72504537e-06,-1.72156546e-06,
 -3.68392163e-06,-5.06846882e-05,-3.47626816e-05, 6.21630836e-06,
  1.03587164e-04,-6.57036226e-04,-4.90248634e+00,-1.17396571e-03,
  3.01666722e-03,-2.38149794e-03]


--- Step 1759 ---
qpos:
[ 0.01865825, 0.03004213,-0.00944779,-0.02525124,-0.0033069 , 1.21683173,
 -0.02945656, 0.93838133, 0.01158467, 0.02735366,-0.00827278, 0.02647101,
  1.37632868, 0.00761829, 1.25561036, 0.04459943,-0.0873536 ,-0.05269057,
  0.09343353, 0.69518784,-0.03415095,-0.70278544,-0.14710609]

qacc:
[ -1.06373306,  2.14688963, -9.91785474, 20.38036047,  0.22690641,
   3.39541728,  4.58689153,-44.17201996,  2.87694319, -0.38127866,
   2.38517873, -7.73508999,  0.30110828, -0.44161945,-17.06558367,
  57.84299292,  5.89213445, -1.71547575,  5.60400775,-28.01020137,
 159.40766381,-59.17446577]

qfrc_actuator:
[ 3.68302581e-05, 9.93503521e-04, 1.40135303e-04,-4.66789020e-05,
 -2.68941473e-06, 1.11988850e-01, 1.05219048e-02, 7.21196742e-03,
 -7.10769592e-05, 8.62382903e-04, 1.47670909e-04, 5.54506711e-05,
  1.24612080e-03,-1.58780323e-03, 0.00000000e+00,-1.07567594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039028059871408297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84467900e-14,  4.26701851e-14,  1.00000000e+00, -1.21382979e-27,
        1.00000000e+00, -4.26701851e-14, -1.00000000e+00,  0.00000000e+00,
        2.84467900e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13809292, -0.03590616,  0.06180338])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.21015306e-05, 6.90550775e-04, 1.22934396e-04,-1.35731537e-04,
  1.73714493e-05,-3.48670654e-05,-2.10121459e-05,-1.94949315e-05,
 -2.60516500e-05,-1.16265774e-05,-1.59529004e-05, 2.75059561e-04,
  2.34911345e-04,-7.61612661e-04,-4.90230852e+00,-1.64413120e-03,
  2.91740609e-03,-2.35965392e-03]


--- Step 1760 ---
qpos:
[ 0.01865821, 0.03004386,-0.00944745,-0.02525095,-0.00330727, 1.21839213,
 -0.02946278, 0.93848418, 0.0115849 , 0.02735383,-0.00827311, 0.02647141,
  1.37642459, 0.00761782, 1.25574458, 0.04460464,-0.08734595,-0.05262947,
  0.09344427, 0.6954155 ,-0.03493639,-0.70270048,-0.14624901]

qacc:
[ 5.25665559e+00, 2.93541154e-01,-2.38967295e+00, 7.95992471e+00,
  1.69653779e-01, 1.60246971e-01, 1.11175188e+01,-3.85424189e+01,
  1.80982150e+00,-1.24986591e+00, 1.13521236e+00, 6.68355428e+00,
  3.99523017e-02,-2.33093865e-01, 1.75342471e+00,-5.47880876e+00,
  5.11925321e+00,-1.52584341e+00, 3.78948672e+00,-2.36035271e+01,
  1.41299224e+02,-4.92974153e+01]

qfrc_actuator:
[ 6.85505333e-05, 1.00508541e-03, 1.52792733e-04,-2.87324058e-05,
  7.91013613e-06, 1.12159236e-01, 1.05372751e-02, 7.09590832e-03,
 -6.08389299e-05, 8.12853736e-04, 1.67204179e-04, 7.87303150e-05,
  1.24110054e-03,-1.60326153e-03, 0.00000000e+00,-1.10873280e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.22667093,  4.72884807, -7.22667093, 16.90029276,
       12.62901566,  4.72884807, 12.62901566, 27.93614637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003943119973455103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.81559535e-14, -1.40779767e-14,  1.00000000e+00,  3.96378858e-28,
        1.00000000e+00,  1.40779767e-14, -1.00000000e+00,  0.00000000e+00,
        2.81559535e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13806296, -0.0359466 ,  0.06180154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.64187350e-05, 5.55395630e-04, 1.56831249e-04,-9.29140669e-05,
  1.07383575e-05,-7.42193495e-05, 9.06667947e-06, 2.06782088e-05,
 -2.05340195e-05,-2.51452608e-05, 2.23075048e-05,-2.00116210e-05,
  7.71877173e-05,-5.00705271e-04,-4.90297299e+00,-9.31472142e-04,
  3.05840460e-03,-2.31445233e-03]


--- Step 1761 ---
qpos:
[ 0.0186589 , 0.03004537,-0.00944682,-0.02525041,-0.00330752, 1.21995581,
 -0.02946805, 0.93858634, 0.01158455, 0.02735397,-0.00827317, 0.02647167,
  1.37652051, 0.00761687, 1.25587921, 0.04460676,-0.08732037,-0.05257383,
  0.09346403, 0.69580587,-0.03565464,-0.70243626,-0.14548622]

qacc:
[ 6.23552873e+00,-6.07835033e-01, 7.16115259e-01, 3.15103646e+00,
  5.57295306e-02, 5.52766799e-01, 4.84964499e+00,-1.43059920e+01,
 -4.84442728e+00,-1.08860670e+00, 4.44349848e+00,-7.37131671e+00,
  6.11098709e-02,-3.59229435e-01, 9.93957372e+00,-3.38846347e+01,
  4.48153345e+00,-1.36602164e+00, 2.25312377e+00,-2.00356166e+01,
  1.26057395e+02,-4.13603763e+01]

qfrc_actuator:
[ 1.04982361e-04, 9.75804728e-04, 1.60151320e-04,-1.82863147e-05,
 -3.56806485e-06, 1.12273762e-01, 1.05663444e-02, 7.05748835e-03,
 -9.04152998e-05, 8.54504119e-04, 1.96538955e-04, 7.45074593e-05,
  1.23996650e-03,-1.62994454e-03, 0.00000000e+00,-1.27241252e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.28191809,  4.64332271, -7.28191809, 17.35428106,
       13.67192518,  4.64332271, 13.67192518, 30.07744055,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003933352596910224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.05646772e-15,  1.41129354e-14,  1.00000000e+00, -9.95874733e-29,
        1.00000000e+00, -1.41129354e-14, -1.00000000e+00,  0.00000000e+00,
        7.05646772e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13809509, -0.03595961,  0.06180204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.53076761e-05, 4.32734901e-04, 1.49218170e-04,-1.73500559e-05,
 -2.92886352e-05, 2.90666534e-06, 1.58366995e-05,-6.68824432e-06,
 -1.73232979e-05,-3.88764780e-05, 3.73288737e-06,-1.62932897e-04,
  8.64519598e-06,-3.18808306e-04,-4.90331037e+00,-3.90161516e-04,
  3.16742119e-03,-2.27527179e-03]


--- Step 1762 ---
qpos:
[ 0.01865933, 0.03004649,-0.00944599,-0.02524973,-0.0033076 , 1.22152346,
 -0.02947368, 0.93868661, 0.01158419, 0.02735459,-0.0082737 , 0.02647185,
  1.37661615, 0.00761611, 1.25601395, 0.04460625,-0.08727898,-0.05252311,
  0.0934876 , 0.69634298,-0.03631462,-0.70201103,-0.14480405]

qacc:
[-2.19677372e+00,-7.97246122e-01, 1.47337047e+00, 1.04121526e+00,
  7.15248005e-02, 2.95312652e+00, 5.83426321e-01,-2.50893070e+01,
 -8.66741884e-02, 1.81032919e+00,-5.23544007e+00, 4.43506873e+00,
 -5.60734308e-01, 6.98334489e-01, 8.17150137e+00,-2.82365629e+01,
  3.95502689e+00,-1.23104750e+00, 9.54920948e-01,-1.71378273e+01,
  1.13231853e+02,-3.49703231e+01]

qfrc_actuator:
[ 9.06252001e-05, 9.40010527e-04, 1.64144482e-04,-1.23766540e-05,
  7.31865210e-06, 1.12496144e-01, 1.05498104e-02, 6.95847833e-03,
 -8.99283759e-05, 8.97212464e-04, 1.78497212e-04, 7.19580893e-05,
  1.23050589e-03,-1.60978504e-03, 0.00000000e+00,-1.40512547e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.3472375 ,  4.53925964, -7.3472375 , 17.76948485,
       14.78285359,  4.53925964, 14.78285359, 32.5638639 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038835080010456297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.85881482e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.85881482e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13817659, -0.03595105,  0.0618044 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.97367520e-05, 4.73582123e-04, 8.09891141e-05,-8.00970312e-05,
 -3.69937938e-07, 4.73023379e-05,-1.57227640e-05,-2.00659647e-06,
 -2.80046797e-05, 5.07796577e-06,-2.02921132e-05,-1.42216681e-04,
  2.42313299e-06,-1.93785255e-04,-4.90341485e+00, 2.76406376e-05,
  3.25513452e-03,-2.24069987e-03]


--- Step 1763 ---
qpos:
[ 0.01865959, 0.03004726,-0.00944506,-0.02524932,-0.00330738, 1.22309396,
 -0.02947904, 0.93878398, 0.0115835 , 0.02735549,-0.0082744 , 0.02647201,
  1.37671146, 0.00761539, 1.25614841, 0.04460547,-0.08725607,-0.05246786,
  0.0935041 , 0.69665447,-0.03699602,-0.70181687,-0.14407263]

qacc:
[-1.49489922e+00,-1.26817129e+00, 5.00299050e+00,-9.63477428e+00,
  1.29956363e-01,-1.99063232e+00, 1.70226854e+01,-5.03097749e+01,
 -2.87928729e+00, 7.96694078e-01,-2.18298974e+00, 1.77808471e+00,
 -2.87260724e-01, 2.63472124e-01, 4.34034280e-01,-2.06332746e+00,
 -4.62308420e+00, 1.13531379e+00,-1.76786601e+00, 2.24591440e+01,
 -1.62091944e+02, 4.13313973e+00]

qfrc_actuator:
[ 8.19927022e-05, 9.18319856e-04, 1.66078152e-04,-2.69466696e-05,
  3.15354037e-05, 1.12585973e-01, 1.05423677e-02, 6.80684724e-03,
 -1.07242389e-04, 9.04546315e-04, 1.68166768e-04, 7.03950416e-05,
  1.20542458e-03,-1.61525849e-03, 0.00000000e+00,-1.41195836e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039042899377956797
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42179890e-14, -2.84359779e-14,  1.00000000e+00,  4.04302420e-28,
        1.00000000e+00,  2.84359779e-14, -1.00000000e+00,  0.00000000e+00,
        1.42179890e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00595599, -0.0783181 ,  0.06180357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.56278280e-05, 3.48392357e-04, 8.84627891e-05,-1.34938687e-04,
 -1.73061861e-05, 3.04339590e-05,-2.56726338e-06,-1.19693817e-07,
 -3.90086717e-05,-1.01102135e-05,-2.81669613e-05,-1.80392505e-05,
  4.02854511e-05,-1.10154940e-04,-4.90335308e+00, 3.55568445e-04,
  3.32875164e-03,-2.20970386e-03]


--- Step 1764 ---
qpos:
[ 0.01866009, 0.03004772,-0.00944414,-0.02524908,-0.00330701, 1.22466353,
 -0.02948275, 0.93887804, 0.01158261, 0.02735629,-0.00827447, 0.02647146,
  1.37680649, 0.00761463, 1.2562827 , 0.04460456,-0.0872496 ,-0.05240849,
  0.09350977, 0.6967673 ,-0.03769595,-0.70182619,-0.1432981 ]

qacc:
[ 2.05526317e+00,-7.75524081e-01, 2.92499299e+00,-5.77766402e+00,
  6.30923427e-02,-1.12964869e+01, 4.22441250e+01,-7.45394250e+01,
 -1.70347971e+00,-3.38708394e+00, 1.49360600e+01,-2.83326464e+01,
 -1.93803214e-01, 1.18757371e-01, 1.32062270e-01,-7.95380671e-01,
 -4.10811064e+00, 1.02888275e+00,-2.70748715e+00, 1.96605159e+01,
 -1.42724996e+02, 3.44657771e+00]

qfrc_actuator:
[ 9.45683056e-05, 9.05212399e-04, 1.66819237e-04,-3.56875066e-05,
  2.80440934e-05, 1.12311757e-01, 1.05398736e-02, 6.62540309e-03,
 -1.17152650e-04, 8.90666552e-04, 1.97857198e-04, 3.39037854e-05,
  1.19228814e-03,-1.61827660e-03, 0.00000000e+00,-1.41558118e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   3.61226977,   7.84463409,   3.61226977,
        44.00118572, -16.28467003,   7.84463409, -16.28467003,
        16.13507175,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0039325984364190145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.05782095e-15, -1.41156419e-14,  1.00000000e+00, -9.96256730e-29,
        1.00000000e+00,  1.41156419e-14, -1.00000000e+00,  0.00000000e+00,
       -7.05782095e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00589052, -0.07829336,  0.06180238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.70877645e-05,-8.50671144e-05, 6.81631056e-05,-1.69565661e-04,
 -1.04043224e-05, 2.57073708e-06, 3.56539820e-05,-3.52784098e-05,
 -3.59331193e-05,-1.47896956e-05,-1.69749576e-05,-8.68921791e-06,
  3.37770148e-06,-1.89493840e-04,-4.90363816e+00,-1.39730282e-04,
  3.26457877e-03,-2.19673132e-03]


--- Step 1765 ---
qpos:
[ 0.01866073, 0.03004778,-0.00944318,-0.02524895,-0.00330658, 1.22622716,
 -0.02948436, 0.93897071, 0.01158195, 0.02735678,-0.00827431, 0.02647052,
  1.37690142, 0.00761376, 1.2564167 , 0.04460493,-0.0872578 ,-0.05234537,
  0.0935014 , 0.69670398,-0.03841207,-0.70201563,-0.14248557]

qacc:
[ 1.26792223e+00,-8.47288857e-01, 2.65935682e+00,-4.10746255e+00,
  2.90649161e-02,-1.58781086e+01, 4.52831225e+01,-5.18536032e+01,
  1.99970323e+00,-1.83112400e+00, 7.48689145e+00,-1.40841919e+01,
  1.04036709e-01,-2.26174448e-01,-4.28427910e+00, 1.43441924e+01,
 -3.66887743e+00, 9.36233946e-01,-3.50991893e+00, 1.72781446e+01,
 -1.26438428e+02, 2.89730378e+00]

qfrc_actuator:
[ 1.01772026e-04, 8.79593726e-04, 1.66894718e-04,-4.09174624e-05,
  2.57165819e-05, 1.11679727e-01, 1.05211252e-02, 6.53414924e-03,
 -1.04867737e-04, 8.46567791e-04, 1.97560812e-04, 1.26635879e-05,
  1.19697770e-03,-1.61975692e-03, 0.00000000e+00,-1.34630839e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   3.44365695,   7.92010124,   3.44365695,
        47.56093997, -16.9243907 ,   7.92010124, -16.9243907 ,
        15.99508215,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003909832469311703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59725629e-14, -2.83956674e-14,  1.00000000e+00,  4.53551585e-28,
        1.00000000e+00,  2.83956674e-14, -1.00000000e+00,  0.00000000e+00,
        1.59725629e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00594223, -0.078302  ,  0.06180344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.53327883e-06,-6.87626609e-04,-3.62205219e-05,-9.38131572e-05,
  1.19834483e-05,-3.68417880e-05, 3.39755129e-06,-2.05831020e-05,
 -1.74408267e-05,-1.39912121e-05,-1.12410551e-05, 6.60584631e-05,
  2.85354196e-05,-2.79054212e-04,-4.90367972e+00,-5.78630225e-04,
  3.20197088e-03,-2.18238936e-03]


--- Step 1766 ---
qpos:
[ 0.01866145, 0.03004747,-0.0094428 ,-0.02524849,-0.00330598, 1.22778121,
 -0.02948426, 0.93906369, 0.01158179, 0.02735702,-0.00827472, 0.02646973,
  1.37699624, 0.00761282, 1.25655027, 0.04460877,-0.08727917,-0.05227883,
  0.09347626, 0.69648331,-0.03914247,-0.7023654 ,-0.14163936]

qacc:
[ 6.88170434e-01, 1.80126073e+00,-8.49614423e+00, 1.52709823e+01,
  7.66482217e-02,-1.66376419e+01, 3.84735595e+01,-2.38150566e+01,
  4.22892839e+00, 1.58079433e+00,-6.71809411e+00, 1.03254058e+01,
  2.47582820e-01,-3.55117211e-01,-1.11833786e+01, 3.81384770e+01,
 -3.29364427e+00, 8.55458976e-01,-4.19355045e+00, 1.52483963e+01,
 -1.12746333e+02, 2.46102355e+00]

qfrc_actuator:
[ 1.05749135e-04, 8.46685288e-04, 1.31024302e-04,-2.62980718e-05,
  4.18623080e-05, 1.10944916e-01, 1.05092564e-02, 6.53193042e-03,
 -7.96198164e-05, 8.20107573e-04, 1.61677086e-04, 1.82698395e-05,
  1.19638000e-03,-1.62022458e-03, 0.00000000e+00,-1.16363409e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   3.2132121 ,   8.01636107,   3.2132121 ,
        53.00623735, -17.78485446,   8.01636107, -17.78485446,
        15.76509811,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038462490286358467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.21627108e-15, -1.44325422e-14,  1.00000000e+00, -1.04149136e-28,
        1.00000000e+00,  1.44325422e-14, -1.00000000e+00,  0.00000000e+00,
       -7.21627108e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00608652, -0.07833711,  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:
[ 4.17884239e-06,-6.36372077e-05,-4.78324542e-05, 1.19573323e-05,
  2.04600549e-05,-1.14175393e-03,-1.56866087e-04,-2.42142996e-05,
  2.55883386e-05,-4.72579199e-05,-4.37942929e-05, 3.74441833e-06,
 -1.28833369e-05,-8.54287042e-06, 8.61952748e-08, 1.84430790e-04,
  9.58263526e-05,-3.72788318e-04,-4.90355261e+00,-9.69138106e-04,
  3.14059246e-03,-2.16686453e-03]


--- Step 1767 ---
qpos:
[ 0.01866188, 0.03004675,-0.00944286,-0.02524787,-0.00330549, 1.2293238 ,
 -0.02948314, 0.93915617, 0.01158227, 0.02735709,-0.00827565, 0.0264697 ,
  1.37709097, 0.00761187, 1.25668426, 0.04461108,-0.08728014,-0.05221916,
  0.09347247, 0.69647924,-0.03980379,-0.70248308,-0.14088951]

qacc:
[-2.60222797e+00, 1.03425719e+00,-5.15495940e+00, 9.01065244e+00,
 -5.02347312e-02,-1.86654888e+01, 4.37622041e+01,-3.65788597e+01,
  5.52434168e+00, 2.75524523e+00,-1.33568336e+01, 2.73562601e+01,
 -2.03759751e-01, 1.99011426e-01, 5.28739613e+00,-1.75739124e+01,
  5.10230615e+00,-1.71760632e+00, 5.33751825e+00,-2.19813200e+01,
  1.63667779e+02,-3.79305761e+01]

qfrc_actuator:
[ 9.00442094e-05, 8.27289433e-04, 1.09700747e-04,-1.79021256e-05,
  1.56988896e-05, 1.10225451e-01, 1.05010747e-02, 6.49322336e-03,
 -4.69514299e-05, 8.22029428e-04, 1.40657180e-04, 5.73676809e-05,
  1.19261306e-03,-1.62009922e-03, 0.00000000e+00,-1.25293430e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003925541187187416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82820373e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.82820373e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13816811, -0.03602878,  0.06180258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.44030953e-05,-1.39896526e-03,-2.53681402e-04,-7.62933729e-05,
  3.34032690e-05,-3.33848724e-05,-3.60437839e-05, 3.56312375e-05,
 -1.19198325e-05,-5.54524247e-06, 1.84947009e-05,-7.94991225e-05,
  1.90954050e-04,-4.66830698e-04,-4.90330913e+00,-1.31834479e-03,
  3.08010308e-03,-2.15032119e-03]


--- Step 1768 ---
qpos:
[ 0.01866176, 0.03004583,-0.00944276,-0.02524688,-0.00330521, 1.2308535 ,
 -0.02948047, 0.93924796, 0.01158246, 0.02735703,-0.00827689, 0.02647011,
  1.37718563, 0.00761069, 1.25681869, 0.04460931,-0.08726313,-0.05216558,
  0.09348297, 0.69666714,-0.0404054 ,-0.70239594,-0.14022211]

qacc:
[-4.59393183e+00, 6.97682030e-02,-2.20934409e+00, 8.56320194e+00,
 -8.55543094e-02,-2.23076176e+01, 5.37650114e+01,-4.66172384e+01,
 -2.57730357e+00, 1.60223898e+00,-7.84915490e+00, 1.61736883e+01,
 -2.44407619e-01, 1.28306317e-01, 1.30036746e+01,-4.44666179e+01,
  4.49494283e+00,-1.52046607e+00, 3.57273576e+00,-1.87739429e+01,
  1.44599863e+02,-3.20941455e+01]

qfrc_actuator:
[ 6.28815516e-05, 8.51687940e-04, 1.32697743e-04, 4.53960876e-06,
 -1.20507719e-07, 1.09503159e-01, 1.05483601e-02, 6.45105811e-03,
 -6.34391448e-05, 8.23260629e-04, 1.28729158e-04, 8.03894299e-05,
  1.18162183e-03,-1.63738178e-03, 0.00000000e+00,-1.46628450e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.6094562 ,  0.68120541, -8.6094562 ,  9.05661296,
        5.31134673,  0.68120541,  5.31134673, 75.76414395,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003961274544004918
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.60538288e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.60538288e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13812694, -0.03605421,  0.06180095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.42170058e-05,-1.56443191e-03,-2.61055091e-04,-9.15406813e-05,
 -1.55216543e-05,-2.33346185e-05,-2.20214810e-05, 2.10380807e-05,
 -1.84651182e-05,-2.16153632e-05,-4.73534403e-06,-2.16419328e-04,
  6.36124928e-05,-2.90198480e-04,-4.90378706e+00,-7.73422102e-04,
  3.15926585e-03,-2.11541697e-03]


--- Step 1769 ---
qpos:
[ 0.01866201, 0.03004471,-0.00944246,-0.02524494,-0.00330498, 1.23236937,
 -0.0294769 , 0.93933696, 0.0115821 , 0.02735706,-0.00827835, 0.02647007,
  1.37728008, 0.00760916, 1.25695306, 0.04460534,-0.08723016,-0.05211741,
  0.09350177, 0.69702613,-0.04095495,-0.70212669,-0.13962582]

qacc:
[ 3.13708162e+00, 1.11333252e+00,-8.32262046e+00, 2.44723447e+01,
 -1.84539904e-02,-2.53266099e+01, 6.64932159e+01,-8.14413829e+01,
 -4.64895248e+00,-1.74554248e-01, 2.72655081e+00,-1.02902871e+01,
 -1.09557599e-01,-1.49574299e-01, 6.57190962e+00,-2.31251236e+01,
  3.98833365e+00,-1.35458463e+00, 2.07651129e+00,-1.61519523e+01,
  1.28610620e+02,-2.73696532e+01]

qfrc_actuator:
[ 8.24570772e-05, 8.49070743e-04, 1.46364151e-04, 5.28870894e-05,
  8.14960224e-06, 1.08731937e-01, 1.05569791e-02, 6.30069483e-03,
 -9.09774739e-05, 8.41857021e-04, 1.22249340e-04, 5.82638649e-05,
  1.15564540e-03,-1.66489588e-03, 0.00000000e+00,-1.57339296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63021558,  0.32581572, -8.63021558,  8.74133817,
        2.78056826,  0.32581572,  2.78056826, 82.28813161,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003947619134004501
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.51548296e-14,  1.40619318e-14,  1.00000000e+00, -4.94344818e-28,
        1.00000000e+00, -1.40619318e-14, -1.00000000e+00,  0.00000000e+00,
        3.51548296e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13815053, -0.036056  ,  0.06180162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.81339058e-06,-1.70659473e-03,-3.33332683e-04,-2.05291614e-04,
 -2.80025064e-05, 1.91123220e-06,-1.32692840e-05,-2.34754101e-05,
 -4.13352594e-05,-3.76936534e-05,-3.00933298e-05,-1.20650380e-04,
  1.65806842e-05,-1.72128097e-04,-4.90397689e+00,-3.49894707e-04,
  3.22517645e-03,-2.08472487e-03]


--- Step 1770 ---
qpos:
[ 0.01866318, 0.03004315,-0.00944153,-0.02524312,-0.00330488, 1.23387102,
 -0.02947297, 0.93942289, 0.01158175, 0.02735721,-0.00827991, 0.0264694 ,
  1.37737413, 0.00760761, 1.25708689, 0.04460309,-0.08718293,-0.0520741 ,
  0.09352382, 0.69753854,-0.04145877,-0.70169421,-0.1390913 ]

qacc:
[ 7.93767344e+00,-2.60578146e+00, 8.92781805e+00,-1.16939521e+01,
 -5.66115713e-02,-2.49436247e+01, 6.52046498e+01,-8.34566328e+01,
  1.39450673e-01,-8.28850257e-01, 5.81949955e+00,-1.65203036e+01,
 -1.41040266e-01, 3.16135557e-02,-5.99049201e+00, 1.98125567e+01,
  3.56561129e+00,-1.21489886e+00, 8.10744247e-01,-1.40025304e+01,
  1.15203529e+02,-2.35372230e+01]

qfrc_actuator:
[ 1.29389143e-04, 8.12555941e-04, 1.72071931e-04, 4.50472746e-05,
 -4.70608719e-06, 1.07990694e-01, 1.05601882e-02, 6.14104117e-03,
 -8.92779258e-05, 8.52948316e-04, 1.19080206e-04, 2.75240724e-05,
  1.13667099e-03,-1.66283179e-03, 0.00000000e+00,-1.47497346e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364e+00, -8.63617594e+00, -5.69386586e-02, -8.63617594e+00,
        8.63985422e+00, -5.29434315e-01, -5.69386586e-02, -5.29434315e-01,
        8.89383589e+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: -0.0038944721784374137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13822556, -0.03603919,  0.06180412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.63061782e-05,-1.77265467e-03,-3.78092308e-04,-2.23624260e-04,
  8.80046877e-07, 8.41832971e-06,-5.20339219e-06,-3.15695067e-05,
 -4.97697914e-05,-1.81228000e-05,-2.95048191e-05, 8.73396747e-05,
  2.58542783e-05,-9.61801521e-05,-4.90396332e+00,-1.57935788e-05,
  3.28256782e-03,-2.05730560e-03]


--- Step 1771 ---
qpos:
[ 0.01866387, 0.03004133,-0.00944001,-0.02524212,-0.00330478, 1.23535864,
 -0.02946894, 0.93950869, 0.01158178, 0.02735713,-0.00828139, 0.02646876,
  1.37746766, 0.00760676, 1.25722057, 0.04460164,-0.08715553,-0.05202606,
  0.09353918, 0.69782728,-0.04199793,-0.70149166,-0.13850167]

qacc:
[-4.09959535e+00,-3.66844911e+00, 1.60668686e+01,-3.10276179e+01,
  4.43366272e-03,-1.88635400e+01, 3.95800426e+01,-2.70160827e+01,
  3.14447793e+00,-5.31727184e-01, 1.38368793e+00,-1.09905886e+00,
 -7.96217643e-01, 1.22002871e+00,-2.57163908e+00, 8.87809553e+00,
 -4.95698664e+00, 1.18244641e+00,-1.67261470e+00, 1.83680690e+01,
 -1.62266237e+02, 1.13041642e+01]

qfrc_actuator:
[ 1.03268549e-04, 8.09291087e-04, 2.04502196e-04, 4.18477457e-06,
  5.37514717e-06, 1.07326629e-01, 1.05780706e-02, 6.13699314e-03,
 -7.03788606e-05, 8.23963716e-04, 1.17867041e-04, 2.74720130e-05,
  1.13257411e-03,-1.60769952e-03, 0.00000000e+00,-1.43380464e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038522843254742145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26086896e-14, -2.88198620e-14,  1.00000000e+00,  3.63380694e-28,
        1.00000000e+00,  2.88198620e-14, -1.00000000e+00,  0.00000000e+00,
        1.26086896e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00608404, -0.07828248,  0.06180615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.55278414e-07,-1.74112010e-03,-3.81927077e-04,-7.17553550e-05,
  1.89280498e-05,-2.66912036e-05,-1.18984796e-06,-4.81207081e-07,
 -3.38904191e-05, 3.83650529e-05,-5.35007077e-06, 4.19309170e-05,
  7.50974728e-05,-5.08376797e-05,-4.90380608e+00, 2.51746315e-04,
  3.33466855e-03,-2.03246532e-03]


--- Step 1772 ---
qpos:
[ 0.0186639 , 0.03003963,-0.00943853,-0.02524162,-0.00330477, 1.23683435,
 -0.02946624, 0.939593  , 0.01158134, 0.02735661,-0.00828223, 0.02646879,
  1.37756082, 0.00760651, 1.25735436, 0.04459935,-0.08714563,-0.05197375,
  0.09354402, 0.6979189 ,-0.04256705,-0.70149184,-0.1378639 ]

qacc:
[-5.69099447e+00,-7.41381226e-01, 4.98280823e+00,-1.36555883e+01,
 -3.99797346e-02,-1.46329759e+01, 3.19024359e+01,-3.74253495e+01,
 -3.92310214e+00,-9.22005404e-01,-4.28343984e-01, 1.15759636e+01,
 -7.47928087e-01, 1.14812950e+00, 2.80376660e+00,-9.39629650e+00,
 -4.37455100e+00, 1.06887771e+00,-2.62762261e+00, 1.63282025e+01,
 -1.42959410e+02, 9.39380662e+00]

qfrc_actuator:
[ 6.98553027e-05, 8.25960976e-04, 2.05244894e-04,-2.02389293e-05,
 -6.37444467e-06, 1.06856376e-01, 1.05516319e-02, 6.06481550e-03,
 -9.47754396e-05, 8.06742610e-04, 1.53180460e-04, 6.31973170e-05,
  1.12145112e-03,-1.57470223e-03, 0.00000000e+00,-1.48001952e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.07366406,   3.0663864 ,   8.07366406,
        14.59093385, -15.67812835,   3.0663864 , -15.67812835,
        49.91620414,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038849833664691344
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60747265e-14, -2.85772916e-14,  1.00000000e+00,  4.59372147e-28,
        1.00000000e+00,  2.85772916e-14, -1.00000000e+00,  0.00000000e+00,
        1.60747265e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00601446, -0.07824995,  0.06180474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.15177774e-05,-1.52576753e-03,-4.15976285e-04,-1.35539569e-04,
 -2.38532507e-05,-3.23851792e-05, 2.96556382e-05, 3.45350761e-05,
 -1.93669305e-05, 3.63095246e-05,-9.87038530e-07,-4.52628386e-05,
  1.83266693e-05,-1.03378110e-04,-4.90407977e+00,-1.35254467e-04,
  3.29401215e-03,-2.02175963e-03]


--- Step 1773 ---
qpos:
[ 0.01866387, 0.03003804,-0.00943766,-0.02524104,-0.00330502, 1.23830029,
 -0.02946472, 0.9396746 , 0.01158062, 0.02735606,-0.0082825 , 0.0264692 ,
  1.37765379, 0.00760646, 1.25748795, 0.04459785,-0.08715126,-0.05191755,
  0.0935351 , 0.69783558,-0.04316177,-0.70167168,-0.13718385]

qacc:
[-5.02568494e-01, 1.99959241e+00,-7.27563530e+00, 9.64478265e+00,
 -1.12661642e-01,-1.42797739e+01, 3.67344452e+01,-5.73831427e+01,
 -2.45110885e+00,-8.64616521e-01, 1.41612736e+00, 4.25632214e+00,
 -2.14421207e-01, 3.11082483e-01,-2.69330346e+00, 9.04648968e+00,
 -3.88196138e+00, 9.70571590e-01,-3.44239315e+00, 1.45567247e+01,
 -1.26718156e+02, 7.85496560e+00]

qfrc_actuator:
[ 6.79464110e-05, 8.18823941e-04, 1.69623845e-04,-1.70391415e-05,
 -3.11233344e-05, 1.06541427e-01, 1.05532319e-02, 5.93541444e-03,
 -1.08960735e-04, 8.32384251e-04, 1.92081115e-04, 8.42078687e-05,
  1.10611691e-03,-1.57292052e-03, 0.00000000e+00,-1.43531043e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.03479197,   3.16684305,   8.03479197,
        15.56336518, -17.57492097,   3.16684305, -17.57492097,
        53.22677481,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038663694209781635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.97339745e-15,  1.43574359e-14,  1.00000000e+00, -1.28834979e-28,
        1.00000000e+00, -1.43574359e-14, -1.00000000e+00,  0.00000000e+00,
        8.97339745e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00606141, -0.0782525 ,  0.06180561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.14956896e-05,-1.25973190e-03,-3.51506046e-04,-1.88773310e-04,
 -1.49004315e-05, 1.51561983e-05, 3.70750064e-05, 2.13248042e-05,
 -1.69336534e-05, 7.99262414e-06,-9.10177990e-06, 4.12591803e-05,
  2.66466830e-05,-1.74183246e-04,-4.90411187e+00,-4.90730442e-04,
  3.25022473e-03,-2.00994370e-03]


--- Step 1774 ---
qpos:
[ 0.01866417, 0.03003653,-0.0094375 ,-0.02524041,-0.00330555, 1.2397573 ,
 -0.0294636 , 0.93975427, 0.01158041, 0.0273556 ,-0.00828258, 0.02646919,
  1.37774675, 0.00760619, 1.25762141, 0.04459722,-0.08713888,-0.05186742,
  0.0935411 , 0.69795032,-0.0437025 ,-0.70164213,-0.13657876]

qacc:
[ 2.73785998e+00, 2.19782101e+00,-7.90993900e+00, 9.84496418e+00,
 -1.17658337e-01,-1.39552217e+01, 3.53535546e+01,-4.74302624e+01,
  4.48083021e+00,-1.32236558e+00, 6.70550538e+00,-1.45631483e+01,
  2.11144454e-01,-3.83795715e-01,-2.81465201e+00, 9.50892289e+00,
  4.49958104e+00,-1.51490844e+00, 3.72978090e+00,-1.75489236e+01,
  1.47866437e+02,-2.70018551e+01]

qfrc_actuator:
[ 8.45986010e-05, 8.15109347e-04, 1.30506736e-04,-1.54048761e-05,
 -4.57128733e-05, 1.06198004e-01, 1.05720508e-02, 5.84452156e-03,
 -8.15023473e-05, 8.30260900e-04, 1.97434023e-04, 6.09154531e-05,
  1.10423238e-03,-1.58969847e-03, 0.00000000e+00,-1.39061506e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003826707845060777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.45062423e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.45062423e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1383296 , -0.03603495,  0.06180738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.28966775e-05,-1.12984865e-03,-2.76413078e-04,-1.41616317e-04,
  2.70228672e-05, 1.49391590e-05, 1.37966225e-05,-2.09436703e-05,
 -8.78039607e-06,-1.83210461e-05,-2.07363466e-06, 4.52702043e-05,
  7.97901569e-05,-2.54729774e-04,-4.90397672e+00,-8.15934005e-04,
  3.20403837e-03,-1.99710510e-03]


--- Step 1775 ---
qpos:
[ 0.01866466, 0.03003499,-0.00943727,-0.02523981,-0.00330616, 1.24120799,
 -0.02946413, 0.93983175, 0.01158054, 0.02735471,-0.00828235, 0.02646929,
  1.37783958, 0.00760598, 1.2577552 , 0.0445941 ,-0.08711051,-0.05182267,
  0.09355598, 0.69824141,-0.04419602,-0.70142651,-0.13603859]

qacc:
[ 1.69611286e+00,-3.04864243e-01, 1.17450717e+00,-1.79248148e+00,
 -3.44610929e-02,-7.59519597e+00, 1.92668750e+01,-3.81625212e+01,
  2.84208519e+00,-1.15654017e+00, 2.77174957e+00,-7.55944079e-01,
 -3.54420527e-01, 4.21147932e-01, 8.03803505e+00,-2.73249142e+01,
  4.00098392e+00,-1.34805823e+00, 2.22248830e+00,-1.51552163e+01,
  1.31446203e+02,-2.31007005e+01]

qfrc_actuator:
[ 9.42792398e-05, 8.31197478e-04, 1.42910440e-04,-1.47059090e-05,
 -3.63369941e-05, 1.06053598e-01, 1.05476236e-02, 5.74151822e-03,
 -6.52611309e-05, 7.75858188e-04, 2.00559843e-04, 6.49599250e-05,
  1.09975525e-03,-1.58177419e-03, 0.00000000e+00,-1.52383255e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003825786933963342
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.90194683e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.90194683e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13833395, -0.03604032,  0.06180745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.74303364e-06,-8.42675683e-04,-2.84257983e-04,-1.46532554e-04,
  1.70367583e-05,-4.40698218e-05, 7.19143158e-06, 4.75453073e-06,
 -1.33198994e-05, 5.65718446e-07, 1.59112607e-06,-1.31536342e-04,
  2.13220927e-05,-1.46351434e-04,-4.90419051e+00,-4.25189806e-04,
  3.25703976e-03,-1.96933587e-03]


--- Step 1776 ---
qpos:
[ 0.01866561, 0.03003362,-0.00943669,-0.02523959,-0.00330662, 1.24265431,
 -0.02946641, 0.93990692, 0.01158052, 0.02735349,-0.00828266, 0.02647019,
  1.37793218, 0.00760592, 1.25788915, 0.04458808,-0.08709978,-0.05177357,
  0.09356045, 0.69833511,-0.04472225,-0.70141406,-0.13544857]

qacc:
[ 3.92840686e+00,-1.53464314e+00, 7.39153641e+00,-1.46822096e+01,
  6.54796812e-02,-4.98823757e+00, 1.41676204e+01,-3.65392123e+01,
 -1.29558472e+00, 2.66293737e+00,-1.34708042e+01, 2.81971774e+01,
 -5.01539187e-01, 6.05412902e-01, 9.07280654e+00,-3.12713000e+01,
 -4.41387875e+00, 1.09063706e+00,-2.60436640e+00, 1.55278457e+01,
 -1.43488230e+02, 1.09590079e+01]

qfrc_actuator:
[ 1.17525293e-04, 8.59226166e-04, 1.67964139e-04,-3.22623003e-05,
 -1.26660273e-05, 1.05994067e-01, 1.05164187e-02, 5.63228243e-03,
 -7.35192110e-05, 7.43823651e-04, 1.66656089e-04, 1.02773282e-04,
  1.08308229e-03,-1.57697860e-03, 0.00000000e+00,-1.67203545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038334374630804233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.05048533e-15, -2.89615531e-14,  1.00000000e+00, -2.62116111e-28,
        1.00000000e+00,  2.89615531e-14, -1.00000000e+00,  0.00000000e+00,
       -9.05048533e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00614943, -0.07824354,  0.06180718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.79814481e-05,-6.00476044e-04,-2.35847344e-04,-1.44480345e-04,
 -7.77742955e-06,-5.49539826e-05,-4.19498560e-05, 3.62666891e-05,
 -2.38495724e-05, 2.10438109e-06,-1.77091214e-05,-1.56186277e-04,
  2.16411779e-05,-7.72471911e-05,-4.90419469e+00,-1.14266084e-04,
  3.30461006e-03,-1.94444270e-03]


--- Step 1777 ---
qpos:
[ 0.01866752, 0.03003253,-0.00943583,-0.02524028,-0.00330702, 1.2440972 ,
 -0.0294695 , 0.93998043, 0.01158074, 0.02735207,-0.00828396, 0.02647085,
  1.37802481, 0.00760539, 1.25802245, 0.04458465,-0.08710472,-0.0517205 ,
  0.09355124, 0.69825359,-0.04527644,-0.70158175,-0.13481472]

qacc:
[ 8.24693350e+00,-2.31165851e+00, 1.25928386e+01,-2.90015066e+01,
  2.55415433e-02,-5.14660498e+00, 1.47313762e+01,-2.97554119e+01,
  2.07083478e+00, 2.04843356e+00,-6.69929036e+00, 4.43409305e+00,
  5.54213282e-01,-9.26743883e-01,-8.89638494e+00, 2.95700939e+01,
 -3.91539564e+00, 9.89447607e-01,-3.42020256e+00, 1.38842358e+01,
 -1.27219370e+02, 9.21234037e+00]

qfrc_actuator:
[ 1.66324644e-04, 8.76492022e-04, 1.82561197e-04,-7.81580860e-05,
 -1.61233851e-05, 1.05932761e-01, 1.05174052e-02, 5.55582189e-03,
 -6.06223499e-05, 7.25298759e-04, 1.11251264e-04, 8.91257312e-05,
  1.08040890e-03,-1.60965992e-03, 0.00000000e+00,-1.52602194e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.25983009,   2.52229731,   8.25983009,
        12.87830174, -13.89118078,   2.52229731, -13.89118078,
        54.12616075,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003819176727612429
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.08427967e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.08427967e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00618667, -0.07824304,  0.06180785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.93953284e-06,-4.58600615e-04,-1.50659141e-04,-1.02959899e-04,
  1.26460440e-05,-5.63235176e-05,-7.06522673e-05,-1.67464986e-05,
 -1.51897274e-05,-3.72196474e-05,-2.86056814e-05, 1.34360068e-04,
  2.28533874e-05,-1.41207072e-04,-4.90423695e+00,-4.43055277e-04,
  3.26603976e-03,-1.93346505e-03]


--- Step 1778 ---
qpos:
[ 0.01867   , 0.03003193,-0.00943518,-0.02524152,-0.0033077 , 1.24553672,
 -0.02947261, 0.94005451, 0.01158147, 0.0273504 ,-0.00828538, 0.02647095,
  1.37811712, 0.00760525, 1.2581554 , 0.04458429,-0.08709177,-0.05167338,
  0.09355672, 0.69837052,-0.0457803 ,-0.70154074,-0.13425114]

qacc:
[ 4.87940955e+00, 9.96261231e-02, 2.82629485e+00,-1.21343919e+01,
 -1.20257325e-01,-3.36284811e+00, 4.47261995e+00, 4.83389711e+00,
  4.24434208e+00,-1.16149544e+00, 6.04379452e+00,-1.54605001e+01,
 -2.49161198e-01, 4.38840861e-01,-9.74560230e+00, 3.33894508e+01,
  4.47333456e+00,-1.48423542e+00, 3.67353119e+00,-1.66515850e+01,
  1.47457561e+02,-2.40864116e+01]

qfrc_actuator:
[ 1.94264070e-04, 9.04874190e-04, 1.73057105e-04,-1.04869215e-04,
 -5.35781260e-05, 1.05817967e-01, 1.05374742e-02, 5.58804292e-03,
 -3.53687259e-05, 7.32617362e-04, 1.14630797e-04, 6.30579068e-05,
  1.07546891e-03,-1.57552729e-03, 0.00000000e+00,-1.36759497e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038345132964199835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89534274e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.89534274e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13833005, -0.03606036,  0.06180711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.34521040e-05,-4.15554057e-04,-9.28596646e-05, 1.34462923e-05,
  2.56022768e-05,-3.94196699e-05,-1.75065832e-05,-3.12479591e-05,
 -2.16160208e-05, 1.98289294e-05, 1.22021966e-06, 1.62111285e-04,
  7.01668717e-05,-2.16368641e-04,-4.90410938e+00,-7.47020713e-04,
  3.22423296e-03,-1.92152185e-03]


--- Step 1779 ---
qpos:
[ 0.01867176, 0.03003163,-0.00943488,-0.02524303,-0.00330858, 1.24697231,
 -0.02947527, 0.94012812, 0.01158214, 0.02734875,-0.00828639, 0.026471  ,
  1.37820901, 0.00760578, 1.25828843, 0.04458481,-0.0870629 ,-0.05163153,
  0.0935709 , 0.69866411,-0.04624011,-0.70131423,-0.1337485 ]

qacc:
[-6.17330220e+00, 8.10170966e-01,-1.10007950e+00,-3.40992856e+00,
 -8.47899786e-02,-7.21612398e+00, 1.82890476e+01,-1.89189035e+01,
 -3.95152219e-01,-1.22316771e+00, 4.55246968e+00,-5.91369363e+00,
 -6.95852324e-01, 1.10269249e+00,-2.46984453e+00, 9.00328423e+00,
  3.98019047e+00,-1.32022717e+00, 2.17449813e+00,-1.44046365e+01,
  1.31093497e+02,-2.06259092e+01]

qfrc_actuator:
[ 1.56435702e-04, 9.04100959e-04, 1.49465239e-04,-1.20079875e-04,
 -5.78580676e-05, 1.05601357e-01, 1.05507785e-02, 5.55964878e-03,
 -3.85560887e-05, 7.73329050e-04, 1.52806625e-04, 6.54713154e-05,
  1.05854739e-03,-1.53747257e-03, 0.00000000e+00,-1.32748473e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038314293097540947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89767326e-14,  4.34650989e-14,  1.00000000e+00, -1.25947655e-27,
        1.00000000e+00, -4.34650989e-14, -1.00000000e+00,  0.00000000e+00,
        2.89767326e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1383366 , -0.03606399,  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:
[-3.69507940e-05, 2.75223070e-05,-1.36367492e-05,-1.34578021e-05,
 -2.37108711e-05,-4.78595012e-04,-8.11553458e-05,-4.14801391e-05,
 -2.45586145e-06, 1.38005222e-05, 2.68312335e-05,-4.84014237e-07,
 -2.28482165e-05, 3.86152720e-05, 1.60287895e-05, 4.87280597e-05,
  1.86246369e-05,-1.19690046e-04,-4.90429268e+00,-3.85257743e-04,
  3.27098132e-03,-1.89561533e-03]


--- Step 1780 ---
qpos:
[ 0.01867202, 0.03003157,-0.00943456,-0.02524473,-0.00330944, 1.24840308,
 -0.02947677, 0.9402009 , 0.01158277, 0.02734764,-0.00828718, 0.02647069,
  1.37830091, 0.00760599, 1.2584213 , 0.04458749,-0.08705178,-0.05158521,
  0.09357478, 0.6987597 ,-0.04673443,-0.70129166,-0.13319454]

qacc:
[-1.28817449e+01,-7.75747856e-02, 1.55015151e+00,-4.98756657e+00,
  7.78940491e-03,-1.08982922e+01, 2.96283734e+01,-3.23644144e+01,
 -3.76059465e-01,-6.58138197e-01, 4.96711452e+00,-1.21811502e+01,
  3.75549814e-01,-6.27903184e-01,-6.84512324e+00, 2.34845284e+01,
 -4.44019332e+00, 1.11677432e+00,-2.57459558e+00, 1.50054225e+01,
 -1.44168496e+02, 1.20690914e+01]

qfrc_actuator:
[ 8.02066248e-05, 9.21320853e-04, 1.53146270e-04,-1.28434860e-04,
 -4.22029147e-05, 1.05325579e-01, 1.05950538e-02, 5.51345300e-03,
 -4.07092894e-05, 8.33916187e-04, 1.75867613e-04, 4.91679654e-05,
  1.05043462e-03,-1.56850085e-03, 0.00000000e+00,-1.21539371e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003798512928677701
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.82673958e-15, -4.38417499e-14,  1.00000000e+00, -8.00874596e-29,
        1.00000000e+00,  4.38417499e-14, -1.00000000e+00,  0.00000000e+00,
       -1.82673958e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00624645, -0.07822628,  0.06180885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.86887609e-06,-5.71907091e-04,-6.27741230e-05,-6.21059726e-05,
 -2.22764616e-06, 7.38989581e-05, 2.92315521e-05,-1.47869285e-05,
 -1.03505362e-05,-2.52364080e-05, 8.68882166e-06, 1.15945432e-04,
  2.42564434e-05,-5.91327678e-05,-4.90427257e+00,-9.57238809e-05,
  3.31396178e-03,-1.87230555e-03]


--- Step 1781 ---
qpos:
[ 0.01867171, 0.03003187,-0.00943429,-0.02524618,-0.00331051, 1.24982796,
 -0.02947716, 0.94027235, 0.01158302, 0.02734696,-0.00828769, 0.02647053,
  1.37839275, 0.0076059 , 1.25855446, 0.04458916,-0.08702465,-0.05154415,
  0.09358758, 0.6990333 ,-0.04718558,-0.70108238,-0.13270068]

qacc:
[-4.91246741e+00, 1.10892503e+00,-4.30206043e+00, 8.36429489e+00,
 -8.78301929e-02,-1.29492856e+01, 3.56807391e+01,-4.27319192e+01,
 -3.20235563e+00, 1.02251449e-01,-2.02866775e-01, 2.19700353e+00,
  5.97735515e-02,-2.80373339e-01, 3.51398687e+00,-1.16878883e+01,
  4.00563083e+00,-1.31118058e+00, 2.22981503e+00,-1.42671351e+01,
  1.31931986e+02,-1.99111519e+01]

qfrc_actuator:
[ 5.30180730e-05, 9.49288085e-04, 1.55220856e-04,-1.14905539e-04,
 -6.79797914e-05, 1.04963508e-01, 1.06215194e-02, 5.43937080e-03,
 -5.99795250e-05, 8.52634038e-04, 1.89890452e-04, 5.74894409e-05,
  1.04225829e-03,-1.58702226e-03, 0.00000000e+00,-1.27478187e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003789422518336548
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.92979476e-14, -1.46489738e-14,  1.00000000e+00,  4.29184867e-28,
        1.00000000e+00,  1.46489738e-14, -1.00000000e+00,  0.00000000e+00,
        2.92979476e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13839703, -0.03605536,  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:
[-2.94305182e-05, 4.54285423e-05, 8.72697486e-06, 1.48822265e-05,
 -2.47203880e-05,-7.06731661e-04,-9.73240715e-05,-9.27364807e-05,
 -1.93146779e-05, 6.54985680e-05, 3.24002477e-05, 1.22171697e-05,
 -1.90380722e-05,-2.84669873e-05, 1.42213424e-05,-5.24406357e-05,
  2.01048966e-05,-1.18099302e-04,-4.90432411e+00,-4.04927692e-04,
  3.27901360e-03,-1.86196138e-03]


--- Step 1782 ---
qpos:
[ 0.01867176, 0.03003229,-0.00943449,-0.0252467 ,-0.00331183, 1.25124631,
 -0.02947736, 0.94034112, 0.0115827 , 0.02734615,-0.00828777, 0.02647123,
  1.37848444, 0.0076058 , 1.25868784, 0.04458878,-0.08701519,-0.05149857,
  0.09358998, 0.69911002,-0.04767138,-0.70107602,-0.13215533]

qacc:
[ 3.11770942e+00, 3.40812950e+00,-1.57888162e+01, 3.24071878e+01,
 -1.04303216e-01,-1.37258047e+01, 3.99532211e+01,-6.17097497e+01,
 -4.91173062e+00, 4.11636191e-01,-5.31375339e+00, 1.95188106e+01,
 -2.96527733e-01, 3.05174517e-01, 6.53132364e+00,-2.23066636e+01,
 -4.42013310e+00, 1.12588771e+00,-2.60238058e+00, 1.47565670e+01,
 -1.43452253e+02, 1.22890720e+01]

qfrc_actuator:
[ 7.26775991e-05, 9.30234896e-04, 1.20878093e-04,-7.08509566e-05,
 -8.28945326e-05, 1.04570395e-01, 1.06013958e-02, 5.29612838e-03,
 -8.91708338e-05, 8.10617864e-04, 1.98331808e-04, 9.79533001e-05,
  1.03937501e-03,-1.58015646e-03, 0.00000000e+00,-1.38147775e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003825495343059142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81385501e-15,  1.45108401e-14,  1.00000000e+00, -2.63205601e-29,
        1.00000000e+00, -1.45108401e-14, -1.00000000e+00,  0.00000000e+00,
        1.81385501e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00619399, -0.07818794,  0.0618077 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.93073467e-05,-8.19930494e-04,-1.75097098e-04,-1.67674324e-04,
 -2.97387395e-05, 1.85219268e-06, 2.63996926e-05, 4.46334150e-05,
 -1.93118496e-05,-5.86266272e-06,-3.23994113e-06,-1.08703323e-04,
  2.20709414e-05,-5.74413524e-05,-4.90431540e+00,-1.18559290e-04,
  3.32026515e-03,-1.83907103e-03]


--- Step 1783 ---
qpos:
[ 0.01867205, 0.03003261,-0.00943472,-0.02524635,-0.00331335, 1.25265644,
 -0.02947682, 0.94040918, 0.01158203, 0.02734545,-0.00828776, 0.02647241,
  1.37857607, 0.00760572, 1.25882078, 0.04459047,-0.08702142,-0.05144893,
  0.09357869, 0.69901198,-0.04818694,-0.7012496 ,-0.13156469]

qacc:
[ 2.01889677e+00, 1.72432158e+00,-1.00751136e+01, 2.53937553e+01,
 -8.96713771e-02,-1.39915285e+01, 3.40883180e+01,-3.26532042e+01,
 -2.96851641e+00, 8.98766137e-01,-4.99259070e+00, 1.29766874e+01,
  1.42131263e-01,-1.80647023e-01,-6.94588223e+00, 2.32898039e+01,
 -3.92024258e+00, 1.01891854e+00,-3.41844920e+00, 1.31959855e+01,
 -1.27202392e+02, 1.04271130e+01]

qfrc_actuator:
[ 8.42323452e-05, 9.18552042e-04, 1.18394188e-04,-2.70081416e-05,
 -9.11712335e-05, 1.04072908e-01, 1.06070295e-02, 5.25529243e-03,
 -1.06210086e-04, 8.21315158e-04, 2.03173353e-04, 1.21438519e-04,
  1.04500438e-03,-1.57600281e-03, 0.00000000e+00,-1.26659273e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.24396556,   2.57367612,   8.24396556,
        13.37568158, -15.180921  ,   2.57367612, -15.180921  ,
        57.26369045,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003811456211044298
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82053617e-15,  1.45642894e-14,  1.00000000e+00, -2.65148157e-29,
        1.00000000e+00, -1.45642894e-14, -1.00000000e+00,  0.00000000e+00,
        1.82053617e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00623014, -0.07818798,  0.06180836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.53439004e-05,-1.00430062e-03,-1.82519672e-04,-7.26932277e-05,
 -1.79151266e-05, 1.91162418e-05, 1.00298214e-05, 2.53482791e-05,
 -6.08453406e-06,-1.82248000e-06,-1.70694458e-05, 1.07619053e-04,
  2.16287839e-05,-1.16615976e-04,-4.90435013e+00,-4.20214840e-04,
  3.28593858e-03,-1.82890761e-03]


--- Step 1784 ---
qpos:
[ 0.01867179, 0.03003296,-0.00943504,-0.02524549,-0.00331488, 1.25405901,
 -0.02947637, 0.94047556, 0.01158116, 0.02734467,-0.00828731, 0.0264735 ,
  1.37866755, 0.00760571, 1.2589535 , 0.04459416,-0.08700968,-0.05140503,
  0.09358218, 0.69911401,-0.04865605,-0.70121376,-0.1310399 ]

qacc:
[-4.74812665e+00, 1.34355953e+00,-6.81543612e+00, 1.56390508e+01,
 -3.26649062e-03,-1.25379665e+01, 3.24122506e+01,-4.29818044e+01,
 -1.68610398e+00,-1.54241110e+00, 5.66096042e+00,-7.63360890e+00,
 -7.48292997e-03, 1.32022136e-02,-6.34400328e+00, 2.17364770e+01,
  4.49218904e+00,-1.43806060e+00, 3.69258794e+00,-1.58089227e+01,
  1.47983174e+02,-2.10925982e+01]

qfrc_actuator:
[ 5.54030161e-05, 9.29239115e-04, 1.17010947e-04,-1.37023069e-06,
 -7.76481040e-05, 1.03730119e-01, 1.06097490e-02, 5.16848498e-03,
 -1.15956579e-04, 8.10198679e-04, 2.23782922e-04, 1.17023412e-04,
  1.03443448e-03,-1.57347725e-03, 0.00000000e+00,-1.16407529e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003804785528366182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.9179648e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.9179648e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13838231, -0.03607661,  0.06180861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.25564738e-06,-9.50016424e-04,-2.19511942e-04,-1.22227017e-04,
 -1.02680453e-05, 2.74597612e-06, 2.66763773e-05,-2.75597544e-06,
 -1.42273148e-05, 6.37449430e-07, 2.65955759e-06, 1.05976836e-04,
  6.76835777e-05,-1.87487111e-04,-4.90421553e+00,-7.02143947e-04,
  3.24774257e-03,-1.81783543e-03]


--- Step 1785 ---
qpos:
[ 0.01867153, 0.03003364,-0.00943575,-0.02524469,-0.00331605, 1.25545586,
 -0.0294773 , 0.94053928, 0.01158087, 0.02734384,-0.00828656, 0.0264742 ,
  1.37875888, 0.00760575, 1.25908644, 0.04459703,-0.08698194,-0.05136625,
  0.09359444, 0.69939413,-0.04908452,-0.70099176,-0.13057223]

qacc:
[-9.15881848e-03, 1.43024627e+00,-4.23985492e+00, 3.64388068e+00,
  1.56839075e-01,-8.36218247e+00, 2.36849661e+01,-4.77908943e+01,
  4.95079390e+00,-1.68767972e+00, 7.60781087e+00,-1.49356116e+01,
 -2.35509952e-01, 2.63505793e-01, 2.82585869e+00,-9.34703795e+00,
  3.99787338e+00,-1.27944310e+00, 2.19327057e+00,-1.36844653e+01,
  1.31562497e+02,-1.80212601e+01]

qfrc_actuator:
[ 5.62952937e-05, 9.53232815e-04, 9.86030390e-05,-4.38656135e-06,
 -3.34095083e-05, 1.03553787e-01, 1.05757582e-02, 5.03760378e-03,
 -8.58315520e-05, 8.03893427e-04, 2.35689922e-04, 9.62272341e-05,
  1.02480740e-03,-1.57200598e-03, 0.00000000e+00,-1.21175112e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038037886091904297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45936478e-14,  2.91872956e-14,  1.00000000e+00, -4.25949112e-28,
        1.00000000e+00, -2.91872956e-14, -1.00000000e+00,  0.00000000e+00,
        1.45936478e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13838561, -0.03608085,  0.06180868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.34621983e-05,-7.62134811e-04,-2.51238175e-04,-1.66908150e-04,
  2.98224502e-05, 6.36914507e-07, 1.56654893e-05,-1.98105764e-05,
 -1.64890644e-05,-1.76533999e-06, 1.03398575e-05,-4.20509499e-05,
  1.75764734e-05,-9.94989507e-05,-4.90438807e+00,-3.65477761e-04,
  3.28831714e-03,-1.79369318e-03]


--- Step 1786 ---
qpos:
[ 0.01867162, 0.03003438,-0.00943628,-0.02524464,-0.00331679, 1.25684734,
 -0.0294788 , 0.94060194, 0.01158094, 0.02734304,-0.00828599, 0.02647501,
  1.37885006, 0.00760582, 1.25921983, 0.04459597,-0.08697197,-0.05132286,
  0.09359642, 0.69947652,-0.04954901,-0.70097363,-0.13005174]

qacc:
[   3.06926171,  -1.96204333,  10.22154643, -23.34585634,   0.18752314,
   -7.3547745 ,  17.6785764 , -24.36796157,   3.0957213 ,   0.74525324,
   -3.09023961,   5.31788034,  -0.46293635,   0.51810319,  12.58627771,
  -42.95839741,  -4.4397446 ,   1.15244949,  -2.57011414,  14.37513798,
 -144.24253876,  13.18479642]

qfrc_actuator:
[ 7.46876846e-05, 9.49412643e-04, 1.05838944e-04,-4.19865677e-05,
 -6.61674836e-06, 1.03354252e-01, 1.05743106e-02, 4.98843622e-03,
 -6.79874551e-05, 8.00467104e-04, 2.24611947e-04, 1.01462618e-04,
  1.01575188e-03,-1.57117259e-03, 0.00000000e+00,-1.41854097e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003791834791960727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.14978406e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.14978406e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00628554, -0.07817291,  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:
[ 1.84033212e-05, 8.60060611e-06, 1.10187100e-05,-3.69937655e-05,
  5.20310454e-05,-6.88842402e-04,-1.86833957e-04,-8.15210603e-05,
  1.87163283e-05,-6.53986985e-07,-9.70443629e-06, 5.41649924e-06,
 -1.79526217e-05,-3.48511537e-06,-3.77894202e-06,-2.08693831e-04,
  2.44936075e-05,-4.48124512e-05,-4.90435861e+00,-9.39869087e-05,
  3.32663485e-03,-1.77187339e-03]


--- Step 1787 ---
qpos:
[ 0.01867125, 0.03003476,-0.00943678,-0.02524531,-0.00331743, 1.25823485,
 -0.02948105, 0.94066309, 0.01158123, 0.02734192,-0.00828539, 0.02647591,
  1.3789411 , 0.0076057 , 1.25935287, 0.04459513,-0.08697774,-0.05127531,
  0.09358485, 0.69938342,-0.05004452,-0.70113628,-0.12948475]

qacc:
[-4.01927546e+00,-2.07412116e+00, 9.79041105e+00,-2.22234781e+01,
  3.93959417e-02,-5.73191917e+00, 1.55261828e+01,-2.84732079e+01,
  1.83203075e+00,-3.02596914e-01, 9.39886049e-02, 1.63378615e+00,
  6.23583603e-02,-2.36551200e-01,-1.18417994e+00, 3.35139834e+00,
 -3.93772829e+00, 1.04157792e+00,-3.38936654e+00, 1.28516602e+01,
 -1.27901982e+02, 1.12454196e+01]

qfrc_actuator:
[ 4.99655912e-05, 8.93529298e-04, 9.25308243e-05,-8.18784950e-05,
 -2.60137875e-05, 1.03267003e-01, 1.05743807e-02, 4.91676173e-03,
 -5.75278973e-05, 7.63207921e-04, 2.17838327e-04, 1.04210876e-04,
  1.00171837e-03,-1.58847122e-03, 0.00000000e+00,-1.39781503e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.17976392,   2.77096356,   8.17976392,
        14.37705792, -16.94627986,   2.77096356, -16.94627986,
        58.66104477,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037816840381595107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65138188e-14, -1.46789501e-14,  1.00000000e+00,  2.42405523e-28,
        1.00000000e+00,  1.46789501e-14, -1.00000000e+00,  0.00000000e+00,
        1.65138188e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00631244, -0.07817084,  0.06180975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.08370008e-05,-5.20687746e-04,-1.61092699e-04,-9.79614905e-05,
  1.10059379e-05,-3.93702142e-05,-7.91645087e-06, 2.48779007e-06,
 -2.48192254e-05,-2.21165345e-05,-2.89175058e-05, 7.71222920e-06,
  1.90840118e-05,-1.00404153e-04,-4.90440435e+00,-3.82977530e-04,
  3.29484398e-03,-1.76213297e-03]


--- Step 1788 ---
qpos:
[ 0.01867058, 0.0300345 ,-0.0094373 ,-0.02524607,-0.00331827, 1.25962058,
 -0.02948528, 0.94072246, 0.01158164, 0.02734096,-0.00828504, 0.02647611,
  1.379032  , 0.00760537, 1.25948544, 0.04459683,-0.08696557,-0.05123335,
  0.09358789, 0.69949042,-0.05049606,-0.70109004,-0.12898083]

qacc:
[-2.50429489e+00,-9.73061019e-01, 2.61246422e+00,-3.61953767e+00,
 -8.21404308e-02,-5.17356232e-02, 1.02011513e+00,-2.04283905e+01,
  1.03914068e+00,-5.74487082e-01, 5.33174033e+00,-1.72969252e+01,
  2.34559175e-01,-4.39489427e-01,-8.43281187e+00, 2.84176414e+01,
  4.48779343e+00,-1.39908533e+00, 3.65562597e+00,-1.52463075e+01,
  1.47621768e+02,-1.92851714e+01]

qfrc_actuator:
[ 3.55636934e-05, 8.42313104e-04, 8.47241140e-05,-8.73538795e-05,
 -5.52017926e-05, 1.03318875e-01, 1.05225227e-02, 4.83244786e-03,
 -5.14949864e-05, 7.94746501e-04, 2.13522482e-04, 6.99416846e-05,
  9.95353663e-04,-1.59867878e-03, 0.00000000e+00,-1.26090186e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003813120450823222
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45579328e-14,  1.45579328e-14,  1.00000000e+00, -2.11933407e-28,
        1.00000000e+00, -1.45579328e-14, -1.00000000e+00,  0.00000000e+00,
        1.45579328e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13837832, -0.03609908,  0.06180827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.29067079e-05,-2.83899971e-04,-1.77646516e-04,-1.05176711e-04,
  6.33903432e-06, 8.02999373e-06,-1.33334114e-05,-3.61831147e-05,
 -2.47323669e-05,-2.21985729e-05,-1.39256768e-05, 1.33293490e-04,
  6.13352345e-05,-1.68268088e-04,-4.90427740e+00,-6.55110786e-04,
  3.25881849e-03,-1.75150975e-03]


--- Step 1789 ---
qpos:
[ 0.01867009, 0.03003402,-0.00943781,-0.02524694,-0.00331906, 1.26100566,
 -0.02949037, 0.94078092, 0.01158074, 0.02734014,-0.00828504, 0.02647555,
  1.37912274, 0.00760491, 1.25961826, 0.04459711,-0.08693741,-0.05119637,
  0.09359958, 0.69977555,-0.05090914,-0.70085809,-0.12853159]

qacc:
[ 1.51904824e+00,-5.33690038e-01, 1.97312758e+00,-3.81887892e+00,
  1.82147556e-02,-9.46229940e-02, 1.15371510e+00,-1.11585789e+01,
 -1.11893762e+01,-3.33016139e-01, 4.64410150e+00,-1.71460344e+01,
 -1.60086939e-01, 5.38705100e-02, 4.69684285e+00,-1.58424327e+01,
  3.99443313e+00,-1.24517806e+00, 2.16121348e+00,-1.31972121e+01,
  1.31254735e+02,-1.64350678e+01]

qfrc_actuator:
[ 4.51180655e-05, 8.65331745e-04, 9.80091338e-05,-9.02837635e-05,
 -3.67608434e-05, 1.03418114e-01, 1.05297907e-02, 4.79468438e-03,
 -1.19123196e-04, 7.96206416e-04, 1.93183887e-04, 3.19746953e-05,
  9.88270284e-04,-1.60455590e-03, 0.00000000e+00,-1.34073775e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038104463371356825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45681493e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.45681493e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1383837 , -0.03610261,  0.06180841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.09477539e-06,-1.08917139e-04,-7.42671973e-05,-5.21661825e-05,
 -6.74403247e-05, 1.67918218e-06,-2.15673221e-05,-3.87876693e-05,
 -2.47899883e-05,-1.81643903e-05, 6.78850192e-06,-7.45754442e-05,
  1.59382050e-05,-8.63391659e-05,-4.90443067e+00,-3.33069551e-04,
  3.29644464e-03,-1.72827124e-03]


--- Step 1790 ---
qpos:
[ 0.01866971, 0.03003352,-0.00943773,-0.02524791,-0.00331958, 1.26239134,
 -0.02949524, 0.94083799, 0.01157903, 0.02733939,-0.00828527, 0.0264742 ,
  1.37921331, 0.00760435, 1.25975098, 0.04459745,-0.08692709,-0.05115468,
  0.09360112, 0.69986212,-0.05135937,-0.70083092,-0.12802829]

qacc:
[ 1.03071880e+00,-1.86947588e+00, 7.01715729e+00,-9.57605893e+00,
  1.14776287e-01,-2.19000569e+00, 1.09608442e+01,-2.60523888e+01,
 -6.86992522e+00,-8.99558742e-01, 6.71272088e+00,-2.01859467e+01,
 -7.18415583e-02,-2.08638710e-02,-3.29745817e-01, 9.35450542e-01,
 -4.45705303e+00, 1.17994099e+00,-2.53696291e+00, 1.40535790e+01,
 -1.44994067e+02, 1.39618206e+01]

qfrc_actuator:
[ 5.09410830e-05, 8.97216614e-04, 1.41688993e-04,-9.16222687e-05,
 -7.65239359e-06, 1.03580863e-01, 1.05899610e-02, 4.73143552e-03,
 -1.58554410e-04, 7.97328250e-04, 1.81197471e-04,-7.88808377e-06,
  9.80762135e-04,-1.60781084e-03, 0.00000000e+00,-1.33464155e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00377240504151638
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.51814598e-15, -4.41451678e-14,  1.00000000e+00,  2.43599480e-28,
        1.00000000e+00,  4.41451678e-14, -1.00000000e+00,  0.00000000e+00,
        5.51814598e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00634295, -0.07815047,  0.0618102 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.20698437e-05, 7.33170746e-05, 2.62264149e-05,-6.81326803e-05,
 -4.14062734e-05,-4.05175409e-06,-1.56254067e-05,-4.12862319e-05,
 -2.45961722e-05,-1.42358185e-05,-9.00191398e-06, 1.93977612e-06,
  2.66166563e-05,-3.56924088e-05,-4.90438565e+00,-7.18021232e-05,
  3.33262322e-03,-1.70718445e-03]


--- Step 1791 ---
qpos:
[ 0.01866976, 0.03003304,-0.00943714,-0.02524924,-0.0033201 , 1.2637795 ,
 -0.02950002, 0.94089269, 0.0115779 , 0.02733854,-0.00828537, 0.02647307,
  1.37930365, 0.00760398, 1.25988333, 0.04460019,-0.08690066,-0.05111791,
  0.09361156, 0.70012811,-0.05177169,-0.70061675,-0.12757934]

qacc:
[ 3.59738225e+00,-2.16858484e+00, 9.27365990e+00,-1.62821971e+01,
  2.18439048e-03,-1.04770847e+00, 1.22716653e+01,-3.97822867e+01,
  4.90259603e+00,-5.81851587e-02,-9.09052643e-01, 4.56043482e+00,
 -8.47356469e-02, 1.45521797e-01,-7.77856416e+00, 2.64428004e+01,
  4.02509976e+00,-1.23315446e+00, 2.22280333e+00,-1.31468295e+01,
  1.32128213e+02,-1.60154067e+01]

qfrc_actuator:
[ 7.22659032e-05, 8.98809611e-04, 1.67514822e-04,-1.09733077e-04,
 -2.56432735e-05, 1.03851744e-01, 1.06456338e-02, 4.61823488e-03,
 -1.27791258e-04, 7.98265301e-04, 1.91988714e-04, 4.71662640e-06,
  9.78332062e-04,-1.59173766e-03, 0.00000000e+00,-1.20688708e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003769553857546258
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.9452372e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.9452372e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13844176, -0.03609471,  0.06181034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.90607151e-07, 3.01510788e-04, 6.83718195e-05,-1.10029306e-04,
  2.95483439e-05,-6.31235515e-06, 6.61568207e-06, 1.10935335e-05,
 -1.85199048e-05, 6.29959471e-06,-6.54976108e-06, 1.26108940e-04,
  1.74024448e-05,-8.90007064e-05,-4.90443947e+00,-3.52320388e-04,
  3.30266415e-03,-1.69773150e-03]


--- Step 1792 ---
qpos:
[ 0.0186704 , 0.03003264,-0.00943675,-0.02525107,-0.00332086, 1.26517151,
 -0.0295052 , 0.94094657, 0.0115768 , 0.02733707,-0.00828486, 0.02647283,
  1.37939373, 0.00760381, 1.26001582, 0.04460274,-0.08689197,-0.0510764 ,
  0.09361173, 0.70019665,-0.05222117,-0.70060633,-0.12707624]

qacc:
[ 5.14135924e+00,-3.58282285e-01, 3.52546607e+00,-1.19584432e+01,
 -1.00445825e-01, 4.74005259e+00,-7.71091189e+00,-5.12431310e+00,
  3.10400419e-01,-7.09795643e-01,-2.37713634e+00, 1.71448921e+01,
 -3.71024432e-01, 4.87802100e-01, 8.03557296e-01,-2.43663854e+00,
 -4.43402264e+00, 1.18787584e+00,-2.56507881e+00, 1.38487651e+01,
 -1.44263175e+02, 1.41047734e+01]

qfrc_actuator:
[ 1.02545097e-04, 8.82186445e-04, 1.46952057e-04,-1.37607478e-04,
 -5.39860870e-05, 1.04149863e-01, 1.06631374e-02, 4.58311600e-03,
 -1.26978062e-04, 7.45964984e-04, 2.16174866e-04, 4.81061788e-05,
  9.62981768e-04,-1.58205141e-03, 0.00000000e+00,-1.22152930e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003806190233960033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82305494e-15,  1.45844395e-14,  1.00000000e+00, -2.65882345e-29,
        1.00000000e+00, -1.45844395e-14, -1.00000000e+00,  0.00000000e+00,
        1.82305494e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00627261, -0.07811043,  0.06180872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.79257993e-05, 4.62002024e-04, 7.84222007e-05,-2.48230911e-05,
  1.67275745e-06,-5.39471191e-05, 2.40922029e-05, 4.35670378e-05,
 -2.31288571e-05, 7.14485854e-06, 8.83249194e-06,-8.95879140e-06,
  2.37845952e-05,-3.67916097e-05,-4.90440907e+00,-8.99169777e-05,
  3.33792823e-03,-1.67670342e-03]


--- Step 1793 ---
qpos:
[ 0.01867037, 0.03003217,-0.00943658,-0.02525286,-0.00332188, 1.26656906,
 -0.0295117 , 0.94100162, 0.01157504, 0.02733519,-0.00828429, 0.02647242,
  1.37948351, 0.00760362, 1.26014838, 0.04460477,-0.08689901,-0.0510306 ,
  0.09359836, 0.70008997,-0.05270282,-0.70077654,-0.12652543]

qacc:
[-5.80262703e+00, 5.94661914e-01,-2.40439630e+00, 3.50673525e+00,
 -1.18340531e-01, 1.28366905e+01,-3.54857856e+01, 4.07789741e+01,
 -5.71791023e+00,-9.87761131e-01, 3.38110842e+00,-5.81730775e+00,
 -2.66308435e-01, 1.99267104e-01, 1.68843687e+00,-5.71157126e+00,
 -3.93230736e+00, 1.07108488e+00,-3.38612101e+00, 1.23524992e+01,
 -1.27908124e+02, 1.21240818e+01]

qfrc_actuator:
[ 6.68366874e-05, 8.72332256e-04, 1.34590267e-04,-1.35543090e-04,
 -7.05509016e-05, 1.04550746e-01, 1.06404482e-02, 4.64749058e-03,
 -1.61576150e-04, 7.15537000e-04, 2.12358145e-04, 3.82032055e-05,
  9.34565627e-04,-1.59405357e-03, 0.00000000e+00,-1.24897395e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.94903969,   3.3763212 ,   7.94903969,
        18.30445064, -22.76205453,   3.3763212 , -22.76205453,
        62.22619233,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003795090875905731
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.14193379e-15,  1.46270941e-14,  1.00000000e+00, -1.33719926e-28,
        1.00000000e+00, -1.46270941e-14, -1.00000000e+00,  0.00000000e+00,
        9.14193379e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00630094, -0.07811   ,  0.06180923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.28167616e-05, 6.58133258e-04, 7.32943826e-05, 8.17679227e-05,
 -3.45748331e-05,-5.37074217e-05,-1.04749765e-05,-1.05309493e-05,
 -3.84807153e-05,-1.53092641e-05,-7.08564578e-07,-2.76709076e-05,
  1.90135840e-05,-9.14386931e-05,-4.90444479e+00,-3.68063895e-04,
  3.30789247e-03,-1.66728436e-03]


--- Step 1794 ---
qpos:
[ 0.01866922, 0.03003177,-0.00943661,-0.02525497,-0.003323  , 1.26797255,
 -0.02951879, 0.94105628, 0.01157287, 0.02733383,-0.00828444, 0.02647115,
  1.37957284, 0.0076038 , 1.26028112, 0.04460478,-0.08688797,-0.05099018,
  0.09359976, 0.70018482,-0.05314341,-0.70073691,-0.12603481]

qacc:
[-9.59173341e+00, 2.14165782e-02, 1.46531684e+00,-6.83767656e+00,
 -3.92219740e-02, 8.69241074e+00,-1.81334737e+01, 7.46078378e+00,
 -3.46132450e+00, 8.72999640e-01, 1.58375946e+00,-1.59795623e+01,
 -7.67472739e-01, 1.01076827e+00, 6.46584374e+00,-2.20381779e+01,
  4.52024529e+00,-1.34615192e+00, 3.69291508e+00,-1.46788994e+01,
  1.48250268e+02,-1.71820501e+01]

qfrc_actuator:
[ 1.03241980e-05, 8.84398042e-04, 1.27227092e-04,-1.51367383e-04,
 -6.21621512e-05, 1.04903530e-01, 1.06302311e-02, 4.62789664e-03,
 -1.81225115e-04, 7.87049025e-04, 1.92063388e-04,-2.99164528e-06,
  9.19626535e-04,-1.56564772e-03, 0.00000000e+00,-1.35470497e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003786992755675671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46583727e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.46583727e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13842317, -0.03611711,  0.06180954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.07102133e-05, 7.20782982e-04, 1.26705692e-04, 6.02099359e-06,
 -2.06850316e-05, 3.89082476e-05,-3.30274709e-05,-4.40588900e-05,
 -3.82247945e-05, 1.50228819e-05,-6.84307319e-06,-1.08144066e-04,
  6.20426156e-05,-1.58094871e-04,-4.90430854e+00,-6.31956603e-04,
  3.27336602e-03,-1.65699935e-03]


--- Step 1795 ---
qpos:
[ 0.0186681 , 0.03003136,-0.00943646,-0.02525693,-0.00332382, 1.26937934,
 -0.02952485, 0.94110908, 0.01157185, 0.02733332,-0.00828458, 0.02646964,
  1.37966192, 0.00760447, 1.26041385, 0.04460318,-0.08686084,-0.05095456,
  0.09360994, 0.70045906,-0.05354813,-0.70051072,-0.1255963 ]

qacc:
[ 1.81249652e-01,-1.94559467e-01, 6.47532918e-03, 2.42730617e+00,
  1.23971234e-01,-1.58965885e+00, 1.42575249e+01,-3.59993279e+01,
  9.87831304e+00, 6.00524594e-01, 4.68506461e-01,-5.14846876e+00,
 -6.33925798e-01, 9.65996142e-01, 4.91767506e+00,-1.70689066e+01,
  4.02287260e+00,-1.19899768e+00, 2.19486025e+00,-1.26905882e+01,
  1.31809265e+02,-1.45424955e+01]

qfrc_actuator:
[ 1.30514432e-05, 8.91750850e-04, 1.40696672e-04,-1.42069136e-04,
 -2.11232019e-05, 1.04923045e-01, 1.06272813e-02, 4.52350210e-03,
 -1.20894692e-04, 8.83449869e-04, 2.15876429e-04,-8.92115035e-06,
  9.23448331e-04,-1.53115972e-03, 0.00000000e+00,-1.43468719e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037867513140614067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.93186146e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.93186146e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1384252 , -0.03612196,  0.06180956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.48275457e-05, 4.30342414e-04, 1.50089064e-04,-7.70784749e-05,
  5.97365380e-05, 1.09488110e-04, 2.62767853e-05,-6.25571161e-06,
 -1.25558599e-05, 3.01913240e-05,-1.89309209e-05,-8.77226955e-05,
  1.57437708e-05,-7.91390313e-05,-4.90446180e+00,-3.18396328e-04,
  3.30789205e-03,-1.63435822e-03]


--- Step 1796 ---
qpos:
[ 0.0186677 , 0.03003098,-0.00943618,-0.02525841,-0.00332442, 1.27078404,
 -0.02952842, 0.94116136, 0.01157192, 0.02733343,-0.00828384, 0.02646839,
  1.37975119, 0.00760494, 1.26054612, 0.04460328,-0.0868515 ,-0.05091409,
  0.09360998, 0.70053504,-0.05399116,-0.70048912,-0.12510239]

qacc:
[ 6.26943407e+00, 6.29590807e-01,-4.20340805e+00, 1.21360772e+01,
  9.83116546e-02,-1.03555099e+01, 3.15487794e+01,-3.21456833e+01,
  9.19868218e+00,-1.12075152e+00, 4.04165799e+00,-1.39335918e+00,
  4.43581029e-01,-5.87477204e-01,-5.87892213e+00, 1.94664014e+01,
 -4.44838978e+00, 1.21347975e+00,-2.53538074e+00, 1.35231268e+01,
 -1.44983867e+02, 1.48871057e+01]

qfrc_actuator:
[ 5.06318234e-05, 8.96334194e-04, 1.48611833e-04,-1.18048717e-04,
 -1.40955665e-05, 1.04476570e-01, 1.06273234e-02, 4.47636160e-03,
 -6.72346719e-05, 9.23222274e-04, 2.65715620e-04, 6.01848308e-06,
  9.38525778e-04,-1.54652816e-03, 0.00000000e+00,-1.33905018e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037831810489556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.38438551e-14, -1.46731416e-14,  1.00000000e+00,  3.49864262e-28,
        1.00000000e+00,  1.46731416e-14, -1.00000000e+00,  0.00000000e+00,
        2.38438551e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00633541, -0.07809434,  0.06180977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.73610297e-05,-1.94228653e-04, 9.64878969e-05,-2.97830477e-05,
  5.54450926e-05, 1.06199465e-04, 7.54830071e-05, 2.04212024e-05,
  1.50528203e-05,-9.13643361e-06,-2.11636875e-05, 8.77159680e-05,
  2.60137336e-05,-2.96875071e-05,-4.90441591e+00,-6.16488432e-05,
  3.34174877e-03,-1.61369360e-03]


--- Step 1797 ---
qpos:
[ 0.0186681 , 0.03003088,-0.00943619,-0.02525961,-0.003325  , 1.272181  ,
 -0.02952911, 0.94121458, 0.01157159, 0.02733405,-0.00828269, 0.02646737,
  1.37984051, 0.00760529, 1.26067861, 0.04460147,-0.08685794,-0.05086924,
  0.09359658, 0.7004351 ,-0.05446744,-0.70064888,-0.12455967]

qacc:
[ 6.83509402e+00, 1.77912670e+00,-7.06421528e+00, 1.24387845e+01,
  1.06288568e-02,-1.63172872e+01, 3.90368332e+01,-1.80909737e+01,
 -3.32713121e+00, 3.11890183e-02,-6.63976047e-02, 3.00899262e+00,
 -4.24457642e-02,-1.12225920e-02, 6.12354963e+00,-2.09284049e+01,
 -3.94510391e+00, 1.09295800e+00,-3.35977559e+00, 1.20473774e+01,
 -1.28537695e+02, 1.28494302e+01]

qfrc_actuator:
[ 9.06534163e-05, 9.16977350e-04, 1.35420859e-04,-1.03324043e-04,
 -2.75288739e-05, 1.03701320e-01, 1.06272857e-02, 4.49848838e-03,
 -8.89677857e-05, 9.28928079e-04, 2.77049430e-04, 1.53289111e-05,
  9.33696432e-04,-1.55581603e-03, 0.00000000e+00,-1.44250431e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.76050431,   3.78963716,   7.76050431,
        21.59235879, -26.53157861,   3.78963716, -26.53157861,
        62.96832773,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037751931704746514
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65422118e-14, -1.47041883e-14,  1.00000000e+00,  2.43239798e-28,
        1.00000000e+00,  1.47041883e-14, -1.00000000e+00,  0.00000000e+00,
        1.65422118e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00635629, -0.07809237,  0.06181013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.52038288e-06,-8.77489758e-04,-3.04635901e-05, 2.02531971e-05,
 -2.00751250e-05, 8.15705117e-05, 4.32655129e-05, 1.68693396e-05,
  3.10307711e-07,-8.29772955e-06,-8.95776385e-07,-1.01516770e-04,
  1.72990550e-05,-8.30488315e-05,-4.90446066e+00,-3.36075437e-04,
  3.31307585e-03,-1.60440118e-03]


--- Step 1798 ---
qpos:
[ 0.01866898, 0.03003077,-0.00943599,-0.02526027,-0.00332533, 1.27356559,
 -0.02952717, 0.9412671 , 0.01157135, 0.0273348 ,-0.00828201, 0.02646692,
  1.37992968, 0.00760561, 1.26081092, 0.04459978,-0.08684631,-0.05082962,
  0.09359783, 0.70053665,-0.05490478,-0.70059924,-0.12407488]

qacc:
[ 4.10173684e+00, 4.93028234e-01,-4.01951751e+00, 1.29077815e+01,
  1.05893719e-01,-2.45789457e+01, 6.20269614e+01,-5.42647233e+01,
  7.32532337e-01, 2.65816991e+00,-1.17018483e+01, 2.24045750e+01,
 -8.37384184e-02, 4.08682554e-02,-6.16252810e-01, 1.77913805e+00,
  4.51896943e+00,-1.30538768e+00, 3.66225132e+00,-1.42153954e+01,
  1.47928187e+02,-1.56852259e+01]

qfrc_actuator:
[ 1.14027036e-04, 9.11481555e-04, 1.45438212e-04,-7.64367793e-05,
  1.34133431e-07, 1.02735282e-01, 1.06258104e-02, 4.43665205e-03,
 -8.38905354e-05, 8.78526513e-04, 2.29887232e-04, 3.89378553e-05,
  9.16929110e-04,-1.56145408e-03, 0.00000000e+00,-1.43169436e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003798460973367397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.38423495e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.38423495e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13841414, -0.03614231,  0.06180902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.90928392e-05,-1.46945599e-03,-1.78513131e-04,-8.67937298e-05,
  4.51819220e-06, 4.83134177e-06,-2.44179108e-05, 2.89289907e-05,
 -1.91032070e-05,-7.75232938e-06,-1.49121308e-05, 4.30077051e-06,
  5.73704041e-05,-1.48607650e-04,-4.90433047e+00,-5.97919445e-04,
  3.27971725e-03,-1.59424609e-03]


--- Step 1799 ---
qpos:
[ 0.01867013, 0.03003063,-0.00943531,-0.0252613 ,-0.00332539, 1.27493367,
 -0.02952263, 0.94131786, 0.01157118, 0.02733538,-0.00828173, 0.0264668 ,
  1.38001875, 0.00760586, 1.26094296, 0.04459954,-0.08681859,-0.05079465,
  0.09360775, 0.70081755,-0.05530816,-0.70036339,-0.12364019]

qacc:
[ 2.36476352e+00,-2.19196663e+00, 9.30992422e+00,-1.65542780e+01,
  1.22127030e-01,-3.16837099e+01, 8.08417295e+01,-8.02744613e+01,
  5.27371992e-01, 1.53002270e+00,-7.13727746e+00, 1.34373377e+01,
  9.67065717e-02,-1.87734861e-01,-4.81581572e+00, 1.62233061e+01,
  4.02183037e+00,-1.16319217e+00, 2.16776447e+00,-1.22780462e+01,
  1.31531726e+02,-1.32029750e+01]

qfrc_actuator:
[ 1.27413534e-04, 9.08226568e-04, 1.68993765e-04,-9.58658791e-05,
  1.67194488e-05, 1.01609253e-01, 1.06403168e-02, 4.32570885e-03,
 -8.08015435e-05, 8.47915406e-04, 2.01599537e-04, 5.29317679e-05,
  9.14318172e-04,-1.56495334e-03, 0.00000000e+00,-1.35359054e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003796579192018118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.92427201e-14,  7.31068001e-15,  1.00000000e+00, -2.13784169e-28,
        1.00000000e+00, -7.31068001e-15, -1.00000000e+00,  0.00000000e+00,
        2.92427201e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13841834, -0.03614667,  0.06180911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.35012144e-05,-1.98897684e-03,-2.98306932e-04,-1.60509413e-04,
  3.22577058e-06,-3.17467228e-05,-2.93124100e-05, 1.39166517e-05,
 -1.44938399e-05,-1.00630634e-05,-8.62184640e-06, 7.59239336e-05,
  1.47068351e-05,-7.24926631e-05,-4.90446914e+00,-2.89018656e-04,
  3.31279346e-03,-1.57180633e-03]


--- Step 1800 ---
qpos:
[ 0.01867143, 0.03003073,-0.0094347 ,-0.02526325,-0.00332534, 1.27628251,
 -0.02951667, 0.94136828, 0.01157104, 0.0273361 ,-0.00828164, 0.02646645,
  1.38010773, 0.00760606, 1.26107536, 0.04459653,-0.08680871,-0.05075472,
  0.09360764, 0.70089947,-0.0557509 ,-0.70033286,-0.12314893]

qacc:
[ 1.29395387e+00,-1.35557829e+00, 9.17662845e+00,-2.50734217e+01,
  4.40545253e-02,-2.96697657e+01, 6.69966113e+01,-4.99352044e+01,
  3.17408014e-01, 2.60249474e-01, 3.31650311e-01,-4.13440719e+00,
 -2.76036052e-01, 2.61245666e-01, 8.95591161e+00,-3.04638541e+01,
 -4.46085828e+00, 1.23939968e+00,-2.50708107e+00, 1.32087799e+01,
 -1.45623728e+02, 1.56270705e+01]

qfrc_actuator:
[ 1.34820298e-04, 9.24111154e-04, 1.64810368e-04,-1.42388203e-04,
  8.77120051e-06, 1.00431816e-01, 1.06278985e-02, 4.29315657e-03,
 -7.89157289e-05, 8.82678385e-04, 2.02500779e-04, 4.34316647e-05,
  9.09550325e-04,-1.56710923e-03, 0.00000000e+00,-1.50278256e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037713675015556905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.51966407e-15, -2.94382084e-14,  1.00000000e+00,  1.62489021e-28,
        1.00000000e+00,  2.94382084e-14, -1.00000000e+00,  0.00000000e+00,
        5.51966407e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00637129, -0.07807298,  0.0618103 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.15238911e-05,-2.35326061e-03,-4.42628389e-04,-1.02956658e-04,
  1.97192896e-06, 1.15280936e-05,-8.79551483e-06,-1.16057937e-05,
 -1.45475225e-05,-8.46210869e-06, 2.36500489e-06,-1.46552898e-04,
  2.79375171e-05,-2.43961396e-05,-4.90441141e+00,-3.40882928e-05,
  3.34568007e-03,-1.55121738e-03]


--- Step 1801 ---
qpos:
[ 0.01867247, 0.03003101,-0.00943471,-0.025265  ,-0.00332528, 1.27760991,
 -0.0295102 , 0.94141786, 0.01157162, 0.02733718,-0.0082817 , 0.0264663 ,
  1.3801966 , 0.00760622, 1.26120802, 0.04458975,-0.08681465,-0.05071033,
  0.09359419, 0.70080488,-0.0562279 ,-0.70048432,-0.12260777]

qacc:
[-2.30185276e+00, 2.39280059e+00,-9.04332313e+00, 1.33615505e+01,
  9.56928202e-03,-3.09620472e+01, 6.87364458e+01,-5.58631804e+01,
  6.07397001e+00, 1.31724837e+00,-4.89460001e+00, 8.43269935e+00,
 -3.66820778e-01, 3.78767699e-01, 1.17882984e+01,-4.06163663e+01,
 -3.95590743e+00, 1.11501895e+00,-3.33522942e+00, 1.17468474e+01,
 -1.29088070e+02, 1.35411574e+01]

qfrc_actuator:
[ 1.20899264e-04, 9.15691377e-04, 1.26590759e-04,-1.33466583e-04,
  3.92576830e-06, 9.91796033e-02, 1.05817024e-02, 4.23590490e-03,
 -4.22470424e-05, 9.20910215e-04, 2.03121079e-04, 5.57640543e-05,
  9.03491697e-04,-1.56844789e-03, 0.00000000e+00,-1.69594813e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.48785571,   4.30334681,   7.48785571,
        26.60905203, -31.27261251,   4.30334681, -31.27261251,
        63.05094379,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037656432895151817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.84268487e-15, -2.94829579e-14,  1.00000000e+00, -5.43278003e-29,
        1.00000000e+00,  2.94829579e-14, -1.00000000e+00,  0.00000000e+00,
       -1.84268487e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00638668, -0.07807007,  0.06181057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.77948547e-06,-2.65582677e-03,-5.62352390e-04,-1.41511561e-04,
  3.67336215e-05, 4.23379533e-05, 1.50770121e-06, 1.22950701e-05,
 -1.59958463e-05,-6.95359630e-06,-1.90607840e-05,-2.01897012e-04,
  1.62008201e-05,-7.76354318e-05,-4.90446212e+00,-3.08406438e-04,
  3.31788707e-03,-1.54193425e-03]


--- Step 1802 ---
qpos:
[ 0.01867299, 0.03003125,-0.00943518,-0.02526559,-0.00332538, 1.27891408,
 -0.02950334, 0.94146624, 0.01157332, 0.02733814,-0.00828159, 0.02646669,
  1.3802852 , 0.00760665, 1.26134044, 0.0445817 ,-0.08680251,-0.05067131,
  0.09359498, 0.70091188,-0.05666177,-0.70042634,-0.12212671]

qacc:
[-4.46943190e+00, 3.63696687e+00,-1.79412058e+01, 3.88928228e+01,
 -6.67257727e-02,-3.35831184e+01, 7.52284553e+01,-6.46792762e+01,
  9.60981934e+00, 4.11681794e-01,-3.97959148e+00, 1.30237813e+01,
 -4.65674099e-01, 6.31186732e-01, 3.57263398e+00,-1.28785350e+01,
  4.52178803e+00,-1.34224485e+00, 3.56044923e+00,-1.31039052e+01,
  1.48328114e+02,-1.79200986e+01]

qfrc_actuator:
[ 9.45382619e-05, 9.10429511e-04, 1.04042025e-04,-7.42746684e-05,
 -1.67690081e-05, 9.78924315e-02, 1.05510901e-02, 4.16446807e-03,
  1.46014096e-05, 8.89945345e-04, 2.03613462e-04, 8.08532891e-05,
  8.91337279e-04,-1.55154470e-03, 0.00000000e+00,-1.75362257e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038047443235009817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.4589982e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.4589982e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13883553, -0.03562036,  0.06180873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.97739327e-05,-2.88251708e-03,-6.20667166e-04,-1.69210318e-04,
  5.79419250e-05,-6.47427394e-06, 9.83659319e-06, 2.71916872e-05,
 -2.29898334e-05, 1.16342603e-05,-3.42433845e-05,-7.20381806e-05,
  5.40846334e-05,-1.43052079e-04,-4.90433546e+00,-5.71319051e-04,
  3.28528129e-03,-1.53178209e-03]


--- Step 1803 ---
qpos:
[ 0.01867388, 0.03003132,-0.00943526,-0.02526618,-0.00332583, 1.28019414,
 -0.02949609, 0.94151282, 0.01157603, 0.0273383 ,-0.00828108, 0.02646709,
  1.38037347, 0.00760754, 1.26147217, 0.04457699,-0.08677427,-0.05063708,
  0.09360408, 0.70119831,-0.05705796,-0.70018213,-0.12169761]

qacc:
[  3.1822551 , -1.35727514,  4.54507206, -5.28816515, -0.14440703,
 -35.83121328, 82.3869116 ,-77.26448559,  8.68095422, -2.1127999 ,
   5.86243959, -5.4163364 , -0.26027211,  0.4960746 ,-11.09860094,
  37.38778139,  4.0236759 , -1.19641103,  2.07593797,-11.28107385,
 131.87635049,-15.17148907]

qfrc_actuator:
[ 1.14331202e-04, 9.07194443e-04, 1.26474620e-04,-7.47342718e-05,
 -4.68014248e-05, 9.66301484e-02, 1.05475070e-02, 4.06747198e-03,
  6.51078401e-05, 8.00044981e-04, 2.03754448e-04, 7.76816171e-05,
  8.80869441e-04,-1.52398081e-03, 0.00000000e+00,-1.57120913e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038023820403075767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45990462e-14,  1.45990462e-14,  1.00000000e+00, -2.13132151e-28,
        1.00000000e+00, -1.45990462e-14, -1.00000000e+00,  0.00000000e+00,
        1.45990462e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13884042, -0.03562477,  0.06180884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.17169259e-05,-2.99502133e-03,-6.45378713e-04,-2.03955826e-04,
  5.22030519e-05,-9.03350050e-05, 9.42044051e-07,-2.58490201e-06,
 -2.03026715e-05, 2.60168402e-05,-2.55601168e-05, 1.73629471e-04,
  1.51570781e-05,-6.70390042e-05,-4.90447425e+00,-2.61878129e-04,
  3.31670280e-03,-1.50939506e-03]


--- Step 1804 ---
qpos:
[ 0.01867465, 0.03003117,-0.00943498,-0.02526781,-0.00332662, 1.28144971,
 -0.02948901, 0.94155798, 0.0115783 , 0.02733762,-0.00828048, 0.02646784,
  1.38046161, 0.00760872, 1.26160359, 0.04457545,-0.08676398,-0.0505978 ,
  0.09360333, 0.70128469,-0.05749547,-0.70014434,-0.1212104 ]

qacc:
[-9.68642121e-01,-3.40056025e+00, 1.60805603e+01,-3.43456777e+01,
 -1.45949661e-01,-3.41173539e+01, 7.54135812e+01,-6.65393912e+01,
 -3.81286723e+00,-6.73590011e-01,-6.17984771e-01, 6.85363252e+00,
 -2.68395706e-02, 1.69386555e-01,-1.00456105e+01, 3.44767932e+01,
 -4.48587061e+00, 1.26006573e+00,-2.46157122e+00, 1.27077391e+01,
 -1.46577058e+02, 1.67790060e+01]

qfrc_actuator:
[ 1.07877749e-04, 8.87585675e-04, 1.39734765e-04,-1.28019412e-04,
 -6.44370957e-05, 9.53752241e-02, 1.05244617e-02, 3.99172442e-03,
  4.04594049e-05, 7.46519415e-04, 2.03401331e-04, 9.33517646e-05,
  8.82080062e-04,-1.50807846e-03, 0.00000000e+00,-1.40861958e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003769250915391917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28864484e-14, -2.94547391e-14,  1.00000000e+00,  3.79566975e-28,
        1.00000000e+00,  2.94547391e-14, -1.00000000e+00,  0.00000000e+00,
        1.28864484e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00638385, -0.0780462 ,  0.06181039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.21550208e-05,-3.05551948e-03,-6.90625827e-04,-1.87644921e-04,
 -2.31496559e-05,-1.03943563e-04,-1.89945868e-05, 1.17771705e-05,
 -2.98805580e-06, 1.87692241e-05, 6.49165507e-06, 1.68768091e-04,
  3.18178253e-05,-2.03307587e-05,-4.90441515e+00,-9.90628717e-06,
  3.34798345e-03,-1.48903183e-03]


--- Step 1805 ---
qpos:
[ 0.018675  , 0.03003107,-0.00943491,-0.02527006,-0.00332755, 1.28268005,
 -0.02948202, 0.9416037 , 0.01157956, 0.02733669,-0.00828014, 0.02646836,
  1.38054967, 0.00760989, 1.2617352 , 0.04457418,-0.08676959,-0.050554  ,
  0.09358939, 0.70119367,-0.05796898,-0.70028945,-0.12067195]

qacc:
[-3.67968155e+00,-6.10485020e-01, 4.85982334e+00,-1.52171710e+01,
 -5.69842687e-02,-3.18970761e+01, 6.28919614e+01,-3.20969902e+01,
 -8.55977135e+00,-6.08389519e-02, 7.12861542e-01,-3.96255738e+00,
 -5.17182625e-02, 2.89071087e-02,-5.59482926e-01, 2.37726280e+00,
 -3.97674672e+00, 1.13291912e+00,-3.29663616e+00, 1.13000880e+01,
 -1.29891143e+02, 1.45585376e+01]

qfrc_actuator:
[ 8.60124948e-05, 8.93753459e-04, 1.29610397e-04,-1.58719407e-04,
 -5.67411258e-05, 9.40814761e-02, 1.05079056e-02, 4.01782840e-03,
 -1.04721408e-05, 7.68445383e-04, 2.02898530e-04, 8.45042418e-05,
  8.68988716e-04,-1.51693240e-03, 0.00000000e+00,-1.40111245e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.48500494,   4.30830337,   7.48500494,
        26.72748555, -31.43050179,   4.30830337, -31.43050179,
        63.24195679,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003765942338685352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02679240e-14, -1.47403083e-14,  1.00000000e+00,  2.98755448e-28,
        1.00000000e+00,  1.47403083e-14, -1.00000000e+00,  0.00000000e+00,
        2.02679240e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00639347, -0.0780416 ,  0.06181054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.70883103e-05,-3.13589945e-03,-7.00581700e-04,-8.85890729e-05,
 -5.16469909e-05,-3.96035387e-05,-2.39032619e-05,-1.37299969e-05,
 -9.76694639e-06,-4.28331135e-06, 1.93021494e-05, 1.71894353e-05,
  1.72164280e-05,-7.21621011e-05,-4.90447040e+00,-2.82291045e-04,
  3.32141853e-03,-1.47983208e-03]


--- Step 1806 ---
qpos:
[ 0.01867577, 0.03003064,-0.00943487,-0.02527193,-0.00332852, 1.28388485,
 -0.02947424, 0.94164871, 0.01158021, 0.02733566,-0.0082796 , 0.02646804,
  1.38063759, 0.0076108 , 1.26186688, 0.04457304,-0.08675709,-0.0505154 ,
  0.09358966, 0.7013045 ,-0.05840122,-0.70022513,-0.12019177]

qacc:
[ 3.64935377e+00, 4.10795538e-01,-3.66582390e+00, 1.04135096e+01,
 -1.41283033e-02,-3.68914243e+01, 8.13424115e+01,-6.28294164e+01,
 -5.29330294e+00,-2.41580442e+00, 1.20041277e+01,-2.69362375e+01,
  5.00090841e-02,-2.58956040e-01,-2.83351831e-01, 1.11671274e+00,
  4.52874578e+00,-1.30093329e+00, 3.55152764e+00,-1.27198667e+01,
  1.48282040e+02,-1.66314380e+01]

qfrc_actuator:
[ 1.08517350e-04, 8.61968200e-04, 1.23639274e-04,-1.40365616e-04,
 -5.16680604e-05, 9.28104733e-02, 1.05484902e-02, 3.97935372e-03,
 -4.09350780e-05, 7.82113949e-04, 2.20357551e-04, 4.36122026e-05,
  8.47316739e-04,-1.54045771e-03, 0.00000000e+00,-1.39627004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003809481291790852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45718398e-14,  1.45718398e-14,  1.00000000e+00, -2.12338516e-28,
        1.00000000e+00, -1.45718398e-14, -1.00000000e+00,  0.00000000e+00,
        1.45718398e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13883543, -0.03564494,  0.06180849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.06025364e-06,-3.15628606e-03,-6.57317920e-04,-1.53606623e-04,
 -3.19904696e-05,-1.39897250e-05, 5.86803324e-06,-4.36809816e-05,
 -2.74318969e-05,-2.71796202e-05, 6.94093019e-06, 7.40232438e-06,
  5.32217985e-05,-1.36707989e-04,-4.90434533e+00,-5.45231545e-04,
  3.28980849e-03,-1.46975872e-03]


--- Step 1807 ---
qpos:
[ 0.01867646, 0.03002993,-0.00943522,-0.02527286,-0.00332948, 1.28506457,
 -0.02946561, 0.94169256, 0.01158048, 0.02733428,-0.0082788 , 0.02646794,
  1.38072524, 0.00761171, 1.26199844, 0.04457298,-0.08672847,-0.05048143,
  0.0935982 , 0.70159499,-0.05879747,-0.69997458,-0.11976188]

qacc:
[-7.01586908e-01, 2.65144857e+00,-1.39819492e+01, 3.11550107e+01,
  4.99610361e-03,-3.72309454e+01, 8.40841296e+01,-7.07018171e+01,
 -3.15004245e+00,-6.85091097e-01, 8.21693132e-01, 2.98296646e+00,
 -1.14760951e-01, 5.31871490e-02,-3.42306839e+00, 1.17406667e+01,
  4.02963500e+00,-1.16033828e+00, 2.06774019e+00,-1.09320125e+01,
  1.31836028e+02,-1.39979350e+01]

qfrc_actuator:
[ 1.03704766e-04, 8.43260398e-04, 1.02304187e-04,-9.33231432e-05,
 -4.82129133e-05, 9.15990257e-02, 1.06047590e-02, 3.92094039e-03,
 -5.90973104e-05, 7.55289766e-04, 2.30502464e-04, 5.52214070e-05,
  8.36482489e-04,-1.53703316e-03, 0.00000000e+00,-1.33972505e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038064852763649293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.91666181e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.91666181e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13884117, -0.03564944,  0.06180863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.55827245e-07,-3.10123511e-03,-6.42550099e-04,-1.74426508e-04,
 -1.91053488e-05,-3.52843489e-05, 6.47495732e-06, 1.03659067e-05,
 -3.10936650e-05,-1.09743121e-05, 6.59041104e-07, 5.70881053e-05,
  1.62592746e-05,-6.29903946e-05,-4.90447460e+00,-2.37647842e-04,
  3.32021120e-03,-1.44741723e-03]


--- Step 1808 ---
qpos:
[ 0.01867639, 0.03002943,-0.00943604,-0.02527362,-0.00333042, 1.28622024,
 -0.0294574 , 0.94173538, 0.01158087, 0.02733264,-0.00827822, 0.0264687 ,
  1.38081243, 0.00761315, 1.26213015, 0.04457224,-0.08671787,-0.05044235,
  0.09359704, 0.70168463,-0.05923666,-0.69993126,-0.11927251]

qacc:
[-6.47520507e+00, 1.97062165e+00,-7.28557277e+00, 1.07362792e+01,
  1.22908588e-02,-3.22055195e+01, 6.90836054e+01,-5.68295351e+01,
  1.05973912e+00, 2.00584005e+00,-1.12331479e+01, 2.64862561e+01,
 -7.65191320e-01, 1.09179379e+00, 2.30650122e+00,-7.58302450e+00,
 -4.50292879e+00, 1.28194082e+00,-2.42513164e+00, 1.22633841e+01,
 -1.47313778e+02, 1.77727340e+01]

qfrc_actuator:
[ 6.50849794e-05, 8.85750034e-04, 8.98737198e-05,-8.30472049e-05,
 -4.57576678e-05, 9.04508329e-02, 1.05990527e-02, 3.86905098e-03,
 -5.21284350e-05, 7.39955814e-04, 2.18368694e-04, 9.75931006e-05,
  8.21514836e-04,-1.49983126e-03, 0.00000000e+00,-1.37742919e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003775277597638238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.83798243e-15, -1.47038595e-14,  1.00000000e+00, -2.70254354e-29,
        1.00000000e+00,  1.47038595e-14, -1.00000000e+00,  0.00000000e+00,
       -1.83798243e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0063768 , -0.07801409,  0.06181009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.52763377e-06,-3.00499924e-03,-6.92630287e-04,-1.66329285e-04,
  6.39268593e-06,-3.32483143e-05,-1.82579233e-05, 4.12877710e-05,
 -3.32112487e-05, 2.66652649e-05, 3.69495305e-06,-3.51046541e-05,
  3.46771498e-05,-1.72833480e-05,-4.90440742e+00, 1.46493379e-05,
  3.35081788e-03,-1.42699601e-03]


--- Step 1809 ---
qpos:
[ 0.01867552, 0.03002916,-0.00943678,-0.02527464,-0.00333148, 1.28735246,
 -0.02945022, 0.94177691, 0.01158135, 0.02733115,-0.00827791, 0.02646887,
  1.38089925, 0.00761502, 1.26226185, 0.04457107,-0.08672322,-0.05039865,
  0.09358281, 0.70159621,-0.05971328,-0.70007151,-0.11873068]

qacc:
[-6.92786106e+00,-4.62868313e-01, 3.17828918e+00,-7.93580498e+00,
 -4.83679345e-02,-3.02043902e+01, 6.40124062e+01,-5.57339199e+01,
  6.70690894e-01,-2.49645304e-01, 3.62290045e+00,-1.33606150e+01,
 -6.13738872e-01, 8.76505990e-01, 1.39232766e+00,-4.73146540e+00,
 -3.99070974e+00, 1.15168256e+00,-3.26614737e+00, 1.08934697e+01,
 -1.30504525e+02, 1.54506370e+01]

qfrc_actuator:
[ 2.46375121e-05, 9.11310204e-04, 1.00781415e-04,-9.44301816e-05,
 -6.16751357e-05, 8.93140737e-02, 1.05570900e-02, 3.80365903e-03,
 -4.81802798e-05, 7.67066441e-04, 2.10983013e-04, 6.89457241e-05,
  8.04093945e-04,-1.47840526e-03, 0.00000000e+00,-1.39935824e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.34382834,   4.54477307,   7.34382834,
        29.4511275 , -33.63425421,   4.54477307, -33.63425421,
        62.98543355,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037734042672299337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.19447455e-15, -1.47111593e-14,  1.00000000e+00,  1.35261380e-28,
        1.00000000e+00,  1.47111593e-14, -1.00000000e+00,  0.00000000e+00,
        9.19447455e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00638291, -0.07800871,  0.06181018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.45688762e-05,-2.94962852e-03,-7.15467870e-04,-1.78252908e-04,
  4.11839571e-06, 6.57003822e-06,-1.50630547e-05,-2.98999322e-05,
 -2.81223648e-05, 2.15155358e-05,-6.12613180e-06,-2.42807243e-05,
  1.80684441e-05,-6.90983972e-05,-4.90446444e+00,-2.59479449e-04,
  3.32496743e-03,-1.41775396e-03]


--- Step 1810 ---
qpos:
[ 0.01867452, 0.03002912,-0.00943742,-0.02527544,-0.00333268, 1.28846128,
 -0.02944346, 0.94181732, 0.01158187, 0.02733025,-0.00827821, 0.02646832,
  1.38098616, 0.00761657, 1.26239331, 0.04457097,-0.08671043,-0.05035999,
  0.09358276, 0.70170986,-0.06015047,-0.7000023 ,-0.11824538]

qacc:
[-1.14910587e+00, 4.79097994e-01,-2.17301790e+00, 5.56455304e+00,
 -5.93765469e-02,-3.14839247e+01, 6.79063888e+01,-5.70979048e+01,
  3.40909998e-01, 9.67524539e-01, 7.23068309e-01,-1.27112965e+01,
  3.83010138e-01,-6.23733895e-01,-3.63199270e+00, 1.20979272e+01,
  4.53635883e+00,-1.25855547e+00, 3.54212372e+00,-1.23524740e+01,
  1.48240988e+02,-1.53870354e+01]

qfrc_actuator:
[ 1.89544799e-05, 9.26622213e-04, 1.07568524e-04,-8.29468728e-05,
 -7.07312832e-05, 8.81754471e-02, 1.05474135e-02, 3.74858461e-03,
 -4.60498131e-05, 8.19346198e-04, 1.88837322e-04, 3.42842264e-05,
  8.11839462e-04,-1.50206518e-03, 0.00000000e+00,-1.34077109e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038119244857655055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91250005e-14, -1.45625002e-14,  1.00000000e+00,  4.24132826e-28,
        1.00000000e+00,  1.45625002e-14, -1.00000000e+00,  0.00000000e+00,
        2.91250005e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13883846, -0.03567002,  0.06180836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.77130315e-05,-2.92544680e-03,-6.75245636e-04,-1.67249533e-04,
  2.25087620e-06, 5.16137733e-05,-2.36647142e-05,-3.54808784e-05,
 -1.73369625e-06,-2.38303002e-05,-8.73665837e-06, 5.57339184e-05,
  5.28278418e-05,-1.33805600e-04,-4.90433899e+00,-5.25469330e-04,
  3.29393672e-03,-1.40762495e-03]


--- Step 1811 ---
qpos:
[ 0.01867414, 0.03002958,-0.00943812,-0.02527578,-0.00333386, 1.28954726,
 -0.02943717, 0.94185606, 0.01158241, 0.02732998,-0.00827892, 0.02646803,
  1.38107324, 0.00761777, 1.26252493, 0.04456954,-0.08668149,-0.05032582,
  0.09359094, 0.70200339,-0.06055332,-0.69974683,-0.11780876]

qacc:
[ 5.38181170e+00, 1.78579721e+00,-7.35768850e+00, 1.51042061e+01,
  1.15816126e-02,-3.16093601e+01, 7.03775981e+01,-6.62200958e+01,
  1.59363663e-01, 2.54724087e+00,-8.93818441e+00, 1.35977650e+01,
  2.35236803e-01,-4.36712486e-01, 4.23880882e+00,-1.45380014e+01,
  4.03621527e+00,-1.12332019e+00, 2.05933250e+00,-1.05937506e+01,
  1.31801894e+02,-1.28558369e+01]

qfrc_actuator:
[ 5.15321780e-05, 9.71195774e-04, 1.11839483e-04,-5.81125993e-05,
 -5.78446853e-05, 8.70805334e-02, 1.05391577e-02, 3.66453340e-03,
 -4.50053265e-05, 8.68479069e-04, 1.76029572e-04, 4.96468790e-05,
  8.24004398e-04,-1.51668203e-03, 0.00000000e+00,-1.41273636e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003808458721173906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45757524e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.45757524e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13884487, -0.03567472,  0.06180852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.38804923e-06,-2.85990421e-03,-6.64136887e-04,-1.94095977e-04,
  1.12756293e-06, 7.16267344e-05,-6.27293197e-06, 1.60690850e-05,
  5.51122513e-06,-2.19573887e-05, 2.99604405e-07,-7.04260588e-05,
  1.71774317e-05,-6.08977567e-05,-4.90446157e+00,-2.15650718e-04,
  3.32363749e-03,-1.38503526e-03]


--- Step 1812 ---
qpos:
[ 0.01867416, 0.0300303 ,-0.0094384 ,-0.02527547,-0.00333481, 1.29061073,
 -0.02943103, 0.94189451, 0.01158262, 0.02732998,-0.00827909, 0.0264679 ,
  1.38116021, 0.00761907, 1.26265642, 0.04456826,-0.08667061,-0.05028644,
  0.09358953, 0.70209551,-0.0610005 ,-0.69969913,-0.11731138]

qacc:
[ 3.38573121e+00, 4.89096400e-01,-3.98353358e+00, 1.42873695e+01,
  9.92110747e-02,-2.96377755e+01, 6.15805618e+01,-4.25969149e+01,
 -2.85719130e+00,-7.95219341e-01, 2.63272172e+00,-7.67710604e-01,
 -1.25617002e-01, 1.74333523e-01,-6.61675050e-01, 2.04681040e+00,
 -4.51304189e+00, 1.30408328e+00,-2.39780565e+00, 1.18389181e+01,
 -1.47848091e+02, 1.86781809e+01]

qfrc_actuator:
[ 7.08522767e-05, 9.79694867e-04, 1.32470702e-04,-2.56019899e-05,
 -3.19011584e-05, 8.60028958e-02, 1.05497193e-02, 3.65287377e-03,
 -6.23604852e-05, 8.79924868e-04, 2.04384679e-04, 5.88264794e-05,
  8.17508309e-04,-1.50797920e-03, 0.00000000e+00,-1.40128674e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037858605070063556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.49853373e-15, -1.46627566e-14,  1.00000000e+00,  8.06236619e-29,
        1.00000000e+00,  1.46627566e-14, -1.00000000e+00,  0.00000000e+00,
        5.49853373e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00635848, -0.07797988,  0.06180958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.72192849e-05,-2.80477021e-03,-6.31972048e-04,-1.20063244e-04,
 -1.72991930e-05, 5.09133744e-05, 4.29465577e-05, 1.23476593e-05,
 -9.30806409e-06, 3.73175092e-06,-1.05972162e-05, 6.88740015e-06,
  3.68184654e-05,-1.48929507e-05,-4.90438872e+00, 4.05522021e-05,
  3.35380728e-03,-1.36427500e-03]


--- Step 1813 ---
qpos:
[ 0.01867475, 0.0300311 ,-0.0094383 ,-0.02527475,-0.00333565, 1.29165167,
 -0.02942491, 0.94193324, 0.01158261, 0.02732992,-0.00827874, 0.02646793,
  1.38124689, 0.00762055, 1.26278787, 0.04456677,-0.08667572,-0.05024237,
  0.09357514, 0.70200913,-0.0614864 ,-0.69983542,-0.11676042]

qacc:
[ 4.95822137e+00,-1.28582047e-01,-1.15772431e+00, 7.65501482e+00,
  5.20958098e-02,-2.90703358e+01, 5.85528071e+01,-3.34331494e+01,
 -1.76986964e+00,-1.26099225e+00, 3.73251347e+00,-1.89722980e+00,
 -3.55259328e-01, 4.42476087e-01, 6.08471440e-01,-2.13278973e+00,
 -3.99871385e+00, 1.17060952e+00,-3.24363145e+00, 1.04979487e+01,
 -1.30943305e+02, 1.62740773e+01]

qfrc_actuator:
[ 9.99539394e-05, 9.66600778e-04, 1.44711155e-04,-6.60508528e-06,
 -3.38431030e-05, 8.48911795e-02, 1.05536941e-02, 3.66617444e-03,
 -7.26537995e-05, 8.51130984e-04, 2.21147776e-04, 6.42823198e-05,
  7.94508213e-04,-1.50333523e-03, 0.00000000e+00,-1.41175201e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.08228556,   4.94246984,   7.08228556,
        34.5332181 , -37.10875828,   4.94246984, -37.10875828,
        61.81115918,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037846750429898837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83341868e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.83341868e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00636282, -0.07797437,  0.06180963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.38833998e-05,-2.79957696e-03,-6.21881185e-04,-9.08160682e-05,
 -1.07847216e-05, 9.07460781e-06, 3.30002266e-05, 9.36540978e-06,
 -2.71703702e-05, 3.68822865e-06,-6.47739942e-06,-1.19802117e-05,
  1.88451817e-05,-6.79075322e-05,-4.90444502e+00,-2.38766831e-04,
  3.32829066e-03,-1.35487359e-03]


--- Step 1814 ---
qpos:
[ 0.01867569, 0.03003208,-0.00943858,-0.02527411,-0.00333672, 1.29267037,
 -0.02941891, 0.94197149, 0.01158214, 0.02733006,-0.00827877, 0.02646771,
  1.38133316, 0.00762241, 1.26291918, 0.04456583,-0.08666266,-0.05020317,
  0.09357489, 0.70212505,-0.0619347 ,-0.6997622 ,-0.11626425]

qacc:
[ 2.94053708e+00, 1.14198011e+00,-3.36513746e+00, 2.39543273e+00,
 -9.71095124e-02,-2.96686087e+01, 6.25244274e+01,-4.58066691e+01,
 -4.01255890e+00, 8.51589060e-01,-1.57395004e+00,-2.29440693e+00,
 -5.24926038e-01, 7.21488881e-01,-1.79610007e+00, 6.10922961e+00,
  4.54452122e+00,-1.21538297e+00, 3.53266814e+00,-1.19869280e+01,
  1.48207664e+02,-1.41378166e+01]

qfrc_actuator:
[ 1.16831397e-04, 9.58382320e-04, 1.16280846e-04,-1.34953635e-05,
 -7.02495916e-05, 8.38035391e-02, 1.05536375e-02, 3.64074563e-03,
 -9.64549294e-05, 8.51672047e-04, 1.95236216e-04, 4.96994985e-05,
  7.72277135e-04,-1.48349539e-03, 0.00000000e+00,-1.38180604e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038126744661258205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45596357e-14, -2.91192714e-14,  1.00000000e+00,  4.23965983e-28,
        1.00000000e+00,  2.91192714e-14, -1.00000000e+00,  0.00000000e+00,
        1.45596357e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13884398, -0.03569597,  0.06180829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.83911558e-05,-2.76953694e-03,-6.22836349e-04,-1.28442999e-04,
 -2.41154109e-05, 1.28280101e-05,-1.96514373e-05,-1.28701063e-05,
 -3.53826764e-05, 1.46641314e-05,-7.28718904e-06, 2.77833160e-05,
  5.28003579e-05,-1.33709581e-04,-4.90431741e+00,-5.10718058e-04,
  3.29753132e-03,-1.34456300e-03]


--- Step 1815 ---
qpos:
[ 0.01867613, 0.03003286,-0.00943877,-0.0252732 ,-0.00333795, 1.29366788,
 -0.02941282, 0.94200768, 0.01158173, 0.02733022,-0.00827876, 0.02646731,
  1.38141913, 0.00762448, 1.26305042, 0.04456524,-0.08663342,-0.0501683 ,
  0.09358284, 0.70242105,-0.06235035,-0.69950265,-0.11581514]

qacc:
[-4.23062509e+00, 5.31447430e-02,-1.71356601e+00, 6.45320293e+00,
 -6.85423274e-02,-3.16035567e+01, 7.37422448e+01,-7.45621166e+01,
  5.37570107e-01,-4.34362132e-01, 2.34178891e+00,-5.49519337e+00,
 -3.40263418e-01, 4.49091424e-01,-1.12532598e+00, 3.86253776e+00,
  4.04332162e+00,-1.08552951e+00, 2.05100831e+00,-1.02540049e+01,
  1.31775396e+02,-1.17044668e+01]

qfrc_actuator:
[ 9.08705808e-05, 9.35192308e-04, 1.17318537e-04,-8.07293059e-08,
 -7.37739767e-05, 8.28278239e-02, 1.05867850e-02, 3.53946353e-03,
 -9.25128313e-05, 8.51817400e-04, 1.97687324e-04, 4.11877441e-05,
  7.61181488e-04,-1.47255680e-03, 0.00000000e+00,-1.36378769e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038088659610211184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13885092, -0.03570094,  0.06180847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.02809516e-05,-2.64209588e-03,-5.84923166e-04,-2.04322364e-04,
  3.24191184e-06, 2.69391099e-06, 2.23483341e-06,-8.89129504e-06,
 -2.56873400e-05, 6.99158551e-06,-3.20948140e-06, 1.79806573e-05,
  1.79946204e-05,-6.03469648e-05,-4.90443525e+00,-1.94834287e-04,
  3.32677784e-03,-1.32144490e-03]


--- Step 1816 ---
qpos:
[ 0.01867661, 0.03003335,-0.00943862,-0.0252718 ,-0.00333915, 1.29464492,
 -0.02940653, 0.94204268, 0.0115824 , 0.02733044,-0.00827851, 0.02646749,
  1.38150518, 0.00762612, 1.26318227, 0.0445595 ,-0.08662225,-0.05012814,
  0.09358127, 0.7025153 ,-0.0628116 ,-0.69945116,-0.11530407]

qacc:
[ 2.74689722e-01,-3.39931458e-01,-1.45323091e+00, 9.68568076e+00,
  1.77655736e-02,-2.94472806e+01, 6.60790669e+01,-5.83213781e+01,
  9.26013374e+00, 5.56908277e-01,-4.31068882e+00, 1.37996369e+01,
 -9.30359112e-02,-1.39915197e-01, 1.64806580e+01,-5.63329942e+01,
 -4.51727059e+00, 1.32619608e+00,-2.37889917e+00, 1.14135343e+01,
 -1.48205156e+02, 1.95397039e+01]

qfrc_actuator:
[ 9.31652339e-05, 9.21082664e-04, 1.35713544e-04, 2.51911089e-05,
 -5.75430841e-05, 8.18738632e-02, 1.06219349e-02, 3.48320474e-03,
 -3.67634256e-05, 8.69579129e-04, 2.16888579e-04, 7.18522262e-05,
  7.62096159e-04,-1.50245986e-03, 0.00000000e+00,-1.63699025e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037983211860631097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.48049538e-15, -4.38439630e-14,  1.00000000e+00,  2.40286637e-28,
        1.00000000e+00,  4.38439630e-14, -1.00000000e+00,  0.00000000e+00,
        5.48049538e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00633513, -0.0779459 ,  0.06180898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.23109595e-06,-2.54450497e-03,-5.55863342e-04,-1.56147606e-04,
  5.58460206e-05, 1.93435994e-05, 1.97237383e-05, 3.06845182e-05,
 -1.05666825e-05,-3.38416947e-05,-2.47118695e-06,-2.73283546e-04,
  3.84814189e-05,-1.29228984e-05,-4.90435836e+00, 6.86922117e-05,
  3.35669855e-03,-1.30007400e-03]


--- Step 1817 ---
qpos:
[ 0.01867676, 0.03003371,-0.00943855,-0.02527044,-0.00334039, 1.29560231,
 -0.02940089, 0.94207708, 0.0115834 , 0.02733018,-0.00827777, 0.02646808,
  1.38159134, 0.00762713, 1.26331352, 0.04455522,-0.08662708,-0.05008321,
  0.09356679, 0.7024308 ,-0.06331277,-0.69958386,-0.11473835]

qacc:
[-2.75695475e+00,-3.41041513e-03,-9.58411570e-03,-5.84924797e-01,
 -1.56903775e-02,-2.50813779e+01, 5.19267263e+01,-3.97091793e+01,
  2.74709264e+00,-1.17534280e+00, 1.48215372e+00, 5.34096025e+00,
  6.47466128e-01,-1.11044245e+00,-5.39930071e+00, 1.74366548e+01,
 -4.00170438e+00, 1.18950967e+00,-3.22837758e+00, 1.00969301e+01,
 -1.31230913e+02, 1.70653418e+01]

qfrc_actuator:
[ 7.65814296e-05, 9.12604511e-04, 1.28730147e-04, 2.17421264e-05,
 -6.51007125e-05, 8.09407049e-02, 1.06048868e-02, 3.45391786e-03,
 -2.19865256e-05, 8.09098436e-04, 2.28163036e-04, 8.98386908e-05,
  7.64869213e-04,-1.53854651e-03, 0.00000000e+00,-1.54698807e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.68341008,   5.46980864,   6.68341008,
        42.34215044, -41.18418211,   5.46980864, -41.18418211,
        58.95819313,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037972865100798295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.82732956e-15, -4.38559095e-14,  1.00000000e+00, -8.01392001e-29,
        1.00000000e+00,  4.38559095e-14, -1.00000000e+00,  0.00000000e+00,
       -1.82732956e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00633895, -0.07794072,  0.06180903])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.18426712e-06,-2.46236444e-03,-5.84201761e-04,-1.24302446e-04,
  1.64183323e-05,-4.42642548e-05, 1.87537675e-05, 2.00914128e-05,
 -1.15866447e-05,-4.80217161e-05,-3.54846511e-05, 7.35634417e-05,
  1.96002066e-05,-6.82361775e-05,-4.90441174e+00,-2.19195556e-04,
  3.33122221e-03,-1.29039937e-03]


--- Step 1818 ---
qpos:
[ 0.01867637, 0.03003373,-0.00943819,-0.02526913,-0.00334153, 1.29654032,
 -0.02939649, 0.94210917, 0.01158421, 0.02732931,-0.00827669, 0.02646788,
  1.3816775 , 0.00762789, 1.263444  , 0.04455634,-0.08661371,-0.05004297,
  0.0935664 , 0.70254882,-0.06377822,-0.69950696,-0.11422564]

qacc:
[-4.65768199e+00,-1.37808427e+00, 4.47974803e+00,-5.57612671e+00,
  3.97859289e-02,-2.60749567e+01, 5.90897733e+01,-6.58886959e+01,
 -1.46924537e+00,-3.38110145e+00, 1.42484469e+01,-2.81171012e+01,
  6.13549755e-01,-8.68412071e-01,-1.75255593e+01, 5.95038385e+01,
  4.55322009e+00,-1.17129900e+00, 3.52333907e+00,-1.16135401e+01,
  1.48181972e+02,-1.28520339e+01]

qfrc_actuator:
[ 4.90099100e-05, 8.89691124e-04, 1.42319183e-04, 1.91573414e-05,
 -5.13630998e-05, 7.99741317e-02, 1.05395309e-02, 3.33418619e-03,
 -3.14617511e-05, 7.55452639e-04, 2.34330429e-04, 4.68844066e-05,
  7.74076376e-04,-1.54247261e-03, 0.00000000e+00,-1.26137472e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003812189177946415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45614891e-14,  1.45614891e-14,  1.00000000e+00, -2.12036965e-28,
        1.00000000e+00, -1.45614891e-14, -1.00000000e+00,  0.00000000e+00,
        1.45614891e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13885146, -0.03572302,  0.06180828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.05941533e-05,-2.45472512e-03,-6.18687873e-04,-2.12398822e-04,
 -9.01128760e-06,-7.36555532e-05, 2.24004666e-08,-4.38141714e-05,
 -8.46469813e-06,-2.04908775e-05,-8.45944560e-06, 2.85080123e-04,
  5.30362583e-05,-1.35999100e-04,-4.90428040e+00,-5.00022631e-04,
  3.30049986e-03,-1.27978430e-03]


--- Step 1819 ---
qpos:
[ 0.01867496, 0.03003347,-0.00943767,-0.02526786,-0.00334241, 1.2974589 ,
 -0.02939332, 0.94214029, 0.0115856 , 0.02732841,-0.00827605, 0.02646714,
  1.38176336, 0.00762909, 1.26357452, 0.04455984,-0.08658412,-0.05000692,
  0.09357419, 0.70284714,-0.06421275,-0.69924364,-0.1137583 ]

qacc:
[-8.71708790e+00,-8.80819874e-01, 2.79381375e+00,-3.55097823e+00,
  1.16886792e-01,-2.38309881e+01, 4.89119790e+01,-4.13681670e+01,
  4.84408049e+00, 8.75026200e-02, 1.85963366e+00,-1.03361965e+01,
 -3.41243848e-01, 5.80338177e-01,-7.10006793e+00, 2.49801149e+01,
  4.05093219e+00,-1.04682935e+00, 2.04285562e+00,-9.90447613e+00,
  1.31755814e+02,-1.05167549e+01]

qfrc_actuator:
[-2.55500629e-06, 8.76140508e-04, 1.50148719e-04, 1.71124867e-05,
 -2.49624044e-05, 7.90128630e-02, 1.04815432e-02, 3.28640298e-03,
 -1.86443309e-06, 7.77239099e-04, 2.19644668e-04, 2.16710815e-05,
  7.65847440e-04,-1.50948349e-03, 0.00000000e+00,-1.14695192e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003808131908092191
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45770033e-14,  1.45770033e-14,  1.00000000e+00, -2.12489024e-28,
        1.00000000e+00, -1.45770033e-14, -1.00000000e+00,  0.00000000e+00,
        1.45770033e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13885883, -0.0357283 ,  0.06180847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.25119928e-05,-2.45441545e-03,-6.16302755e-04,-1.43303135e-04,
  2.93078263e-05,-2.12563723e-05,-3.14144298e-05,-2.92211632e-05,
 -1.67631314e-05, 2.47228104e-05, 2.69777062e-05, 1.29015965e-04,
  1.87689902e-05,-6.10549492e-05,-4.90439471e+00,-1.74341495e-04,
  3.32949490e-03,-1.25586034e-03]


--- Step 1820 ---
qpos:
[ 0.0186726 , 0.03003323,-0.00943746,-0.02526663,-0.00334315, 1.29835844,
 -0.02939091, 0.94217126, 0.01158733, 0.02732781,-0.00827641, 0.02646679,
  1.38184894, 0.00763048, 1.26370534, 0.04456304,-0.08657261,-0.04996547,
  0.09357251, 0.70294356,-0.0646941 ,-0.69918845,-0.11322784]

qacc:
[-8.18177945e+00, 8.33972589e-01,-2.74295274e+00, 2.50594832e+00,
  6.31166851e-02,-2.31936137e+01, 4.58240473e+01,-2.96360887e+01,
  2.89883013e+00, 3.99660561e+00,-1.53095054e+01, 2.34149171e+01,
 -3.90384985e-01, 4.87477177e-01, 1.40374249e+00,-4.15609495e+00,
 -4.51665743e+00, 1.34834115e+00,-2.36732793e+00, 1.09749622e+01,
 -1.48414609e+02, 2.03876095e+01]

qfrc_actuator:
[-5.00729403e-05, 8.86036782e-04, 1.36789766e-04, 1.54011752e-05,
 -2.66860338e-05, 7.81158376e-02, 1.04639754e-02, 3.28136421e-03,
  1.49973792e-05, 8.08445329e-04, 1.75338221e-04, 4.26629885e-05,
  7.41857891e-04,-1.50818495e-03, 0.00000000e+00,-1.16988311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038107793300848763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.10429771e-15, -1.45668763e-14,  1.00000000e+00,  1.32621179e-28,
        1.00000000e+00,  1.45668763e-14, -1.00000000e+00,  0.00000000e+00,
        9.10429771e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0063111 , -0.07791377,  0.06180838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.72461914e-05,-2.38724997e-03,-5.73476190e-04,-9.89050665e-05,
  1.77129751e-05, 1.16197278e-05,-5.35726534e-05, 1.84266162e-05,
 -2.59751192e-05, 4.28410227e-06, 2.27367917e-05,-1.31966002e-05,
  3.98644162e-05,-1.11964403e-05,-4.90431477e+00, 9.98861124e-05,
  3.35931995e-03,-1.23360742e-03]


--- Step 1821 ---
qpos:
[ 0.01867141, 0.03003324,-0.00943783,-0.02526544,-0.00334395, 1.29923928,
 -0.02938875, 0.94220293, 0.01158788, 0.02732784,-0.00827781, 0.02646666,
  1.38193447, 0.00763141, 1.26383654, 0.04456362,-0.0865771 ,-0.04991919,
  0.09355794, 0.70286113,-0.06521651,-0.69931745,-0.11264167]

qacc:
[ 1.00280887e+01, 1.86650565e+00,-6.01014336e+00, 6.04629653e+00,
 -2.76691993e-02,-2.27079867e+01, 4.29601761e+01,-1.73302916e+01,
 -1.01985320e+01, 4.21267799e+00,-1.46833024e+01, 1.95680486e+01,
  3.76843579e-02,-3.40696883e-01, 8.45072202e+00,-2.87748857e+01,
 -4.00059336e+00, 1.20847389e+00,-3.21938409e+00, 9.68038763e+00,
 -1.31393776e+02, 1.78498621e+01]

qfrc_actuator:
[ 1.16952986e-05, 9.09814645e-04, 1.11127121e-04, 1.39065936e-05,
 -4.52662823e-05, 7.72292208e-02, 1.04706833e-02, 3.31930727e-03,
 -4.67949618e-05, 8.62728547e-04, 1.31746515e-04, 5.51644418e-05,
  7.29724618e-04,-1.54357747e-03, 0.00000000e+00,-1.30900836e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003809535502492842
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91432649e-14, -3.64290812e-15,  1.00000000e+00,  1.06166236e-28,
        1.00000000e+00,  3.64290812e-15, -1.00000000e+00,  0.00000000e+00,
        2.91432649e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00631522, -0.07790924,  0.06180843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.56064765e-06,-2.32977449e-03,-5.29839210e-04,-5.16461447e-05,
 -6.12704014e-05, 5.05427798e-05,-4.71394022e-05, 1.15068773e-05,
 -2.40593009e-05,-4.03330713e-05, 4.46643550e-06,-1.37973486e-04,
  2.03709372e-05,-6.98321225e-05,-4.90436330e+00,-1.99985291e-04,
  3.33365372e-03,-1.22354534e-03]


--- Step 1822 ---
qpos:
[ 0.01867132, 0.03003349,-0.00943799,-0.02526468,-0.00334488, 1.30010183,
 -0.0293868 , 0.94223549, 0.01158802, 0.02732811,-0.00827908, 0.0264663 ,
  1.3820199 , 0.00763214, 1.26396771, 0.04456288,-0.08656334,-0.04987741,
  0.09355744, 0.70298145,-0.06570519,-0.69923673,-0.11210664]

qacc:
[ 9.38817036e+00,-1.20971504e+00, 6.52513593e+00,-1.43828796e+01,
 -5.35515069e-02,-2.19091824e+01, 4.06716271e+01,-1.35354604e+01,
 -3.41574924e+00,-5.41557276e-01, 3.35868065e+00,-7.70209221e+00,
 -5.99104467e-02,-8.32720304e-02, 3.96523455e+00,-1.39297948e+01,
  4.56246965e+00,-1.12597362e+00, 3.51411898e+00,-1.12252008e+01,
  1.48162220e+02,-1.15065806e+01]

qfrc_actuator:
[ 6.62817717e-05, 9.41672523e-04, 1.31735371e-04,-5.19191606e-06,
 -5.60524064e-05, 7.63561463e-02, 1.04739889e-02, 3.36448738e-03,
 -6.56204749e-05, 8.77153879e-04, 1.42284898e-04, 4.48371747e-05,
  7.30019354e-04,-1.54715506e-03, 0.00000000e+00,-1.37339649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003810800751778025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13886051, -0.03575131,  0.06180831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.59059908e-05,-2.27428592e-03,-5.15600123e-04,-4.03306801e-05,
 -2.06024717e-05, 3.34408473e-05, 1.55900735e-05,-9.56241174e-06,
 -2.18340816e-05,-2.08269968e-05,-1.71033610e-05,-7.23796432e-05,
  5.34430220e-05,-1.40377575e-04,-4.90422685e+00,-4.92679205e-04,
  3.30278984e-03,-1.21250216e-03]


--- Step 1823 ---
qpos:
[ 0.01867119, 0.03003349,-0.00943685,-0.02526417,-0.00334579, 1.30094635,
 -0.0293846 , 0.94226624, 0.01158828, 0.02732833,-0.00827983, 0.02646652,
  1.38210523, 0.00763297, 1.26409897, 0.04455967,-0.08653334,-0.04983966,
  0.09356507, 0.70328227,-0.06616474,-0.69896947,-0.11161523]

qacc:
[-2.42596270e-01,-4.43549919e+00, 1.63783751e+01,-2.25236009e+01,
  1.05690816e-02,-2.74367267e+01, 6.46475385e+01,-6.57289579e+01,
  1.01876146e+00,-2.94359335e-01,-1.51941506e+00, 1.08294785e+01,
 -3.32241904e-01, 4.21306387e-01, 7.63951739e+00,-2.64363617e+01,
  4.05904686e+00,-1.00691211e+00, 2.03480500e+00,-9.53885626e+00,
  1.31741213e+02,-9.27239839e+00]

qfrc_actuator:
[ 6.29102105e-05, 9.25041332e-04, 1.97285337e-04,-1.66997842e-05,
 -4.43212078e-05, 7.54804968e-02, 1.04930749e-02, 3.27152779e-03,
 -5.89796202e-05, 8.67804271e-04, 1.66780769e-04, 7.44265102e-05,
  7.37778421e-04,-1.53172334e-03, 0.00000000e+00,-1.49970100e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.48694214,  -1.5995593 ,  -8.48694214,
        11.48726088, -15.12629134,  -1.5995593 , -15.12629134,
        88.89344407,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038065602087334824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91660440e-14, -1.45830220e-14,  1.00000000e+00,  4.25329061e-28,
        1.00000000e+00,  1.45830220e-14, -1.00000000e+00,  0.00000000e+00,
        2.91660440e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13886822, -0.03575694,  0.0618085 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.30200873e-06,-2.24285857e-03,-4.86972701e-04,-1.76146121e-04,
  6.04832640e-06, 1.21602949e-05, 3.30062955e-05, 3.13796404e-05,
 -8.82326157e-06, 4.50322521e-06,-1.83578587e-05,-1.33089593e-04,
  1.95462552e-05,-6.28047006e-05,-4.90433818e+00,-1.53453817e-04,
  3.33170072e-03,-1.18749021e-03]


--- Step 1824 ---
qpos:
[ 0.01867033, 0.03003327,-0.0094357 ,-0.02526336,-0.00334677, 1.30177316,
 -0.02938207, 0.94229528, 0.01158792, 0.02732865,-0.00828035, 0.02646778,
  1.38219055, 0.00763348, 1.26422967, 0.04455863,-0.08652139,-0.04979643,
  0.09356326, 0.7033812 ,-0.06667231,-0.69891021,-0.11105953]

qacc:
[-6.24242471e+00, 2.70891642e-01,-2.60602913e+00, 7.74346035e+00,
 -2.95442510e-02,-2.70875924e+01, 6.38067222e+01,-6.40458732e+01,
 -5.21716671e+00, 1.60879558e+00,-9.92712678e+00, 2.74780165e+01,
  4.03191609e-01,-6.69555896e-01,-7.45280005e+00, 2.47429134e+01,
 -4.51215348e+00, 1.37076977e+00,-2.36187171e+00, 1.05152516e+01,
 -1.48506081e+02, 2.12444691e+01]

qfrc_actuator:
[ 2.54535517e-05, 8.79705611e-04, 1.82131105e-04,-5.90886904e-06,
 -5.46833850e-05, 7.46281170e-02, 1.05212511e-02, 3.18678333e-03,
 -9.06743567e-05, 8.79894301e-04, 1.81476737e-04, 1.27247491e-04,
  7.28715547e-04,-1.55836018e-03, 0.00000000e+00,-1.37744108e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003822011893710925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.17860983e-14, -3.63101638e-15,  1.00000000e+00,  7.91056799e-29,
        1.00000000e+00,  3.63101638e-15, -1.00000000e+00,  0.00000000e+00,
        2.17860983e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00628918, -0.07788457,  0.06180783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.10267513e-06,-2.20053562e-03,-4.72436599e-04,-1.69320957e-04,
 -3.15160202e-05, 2.70562773e-05, 2.23648475e-05, 5.50953552e-05,
 -1.33679535e-05,-2.69808929e-05,-2.59078634e-05, 1.11888695e-04,
  4.11365712e-05,-9.55243993e-06,-4.90425562e+00, 1.34900669e-04,
  3.36155361e-03,-1.16407753e-03]


--- Step 1825 ---
qpos:
[ 0.01866972, 0.03003278,-0.00943498,-0.02526206,-0.0033477 , 1.30258292,
 -0.02938018, 0.94232448, 0.01158719, 0.02732938,-0.00828048, 0.02646893,
  1.38227575, 0.00763351, 1.26435986, 0.04456169,-0.08652543,-0.04974829,
  0.09354859, 0.70330129,-0.0672221 ,-0.69903499,-0.11044707]

qacc:
[ 2.11110836e+00, 1.86489586e+00,-9.27276668e+00, 1.88445082e+01,
  2.51045747e-02,-2.03672486e+01, 3.91092884e+01,-2.14174223e+01,
 -3.21785952e+00,-7.48924564e-01, 3.98790663e+00,-6.97622104e+00,
  5.45732534e-01,-9.66429600e-01,-1.32113085e+01, 4.49751805e+01,
 -3.99619914e+00, 1.22773886e+00,-3.21556733e+00, 9.24154072e+00,
 -1.31457677e+02, 1.86470018e+01]

qfrc_actuator:
[ 3.92644642e-05, 8.52733166e-04, 1.54819456e-04, 1.78229371e-05,
 -4.27104667e-05, 7.38143464e-02, 1.05014360e-02, 3.19635415e-03,
 -1.09182767e-04, 9.22467962e-04, 2.08107243e-04, 1.22304433e-04,
  7.09554816e-04,-1.59210731e-03, 0.00000000e+00,-1.16295137e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038203394518072017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45304238e-14,  7.26521189e-15,  1.00000000e+00, -1.05566608e-28,
        1.00000000e+00, -7.26521189e-15, -1.00000000e+00,  0.00000000e+00,
        1.45304238e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00629409, -0.07788089,  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:
[ 1.27074684e-05,-4.26798615e-05,-3.31064345e-05, 2.26488552e-05,
  6.53904895e-06,-2.13529635e-03,-5.10260287e-04,-7.31742130e-05,
 -1.94245699e-05, 6.46642330e-05, 3.68808156e-05,-1.93862648e-06,
 -3.25057605e-05,-4.46857866e-05,-3.00215193e-07, 2.17202553e-04,
  2.11893140e-05,-7.24878534e-05,-4.90429755e+00,-1.80478793e-04,
  3.33551904e-03,-1.15351078e-03]


--- Step 1826 ---
qpos:
[ 0.01866997, 0.03003233,-0.0094347 ,-0.02526086,-0.00334839, 1.30337599,
 -0.02937875, 0.9423532 , 0.01158659, 0.02733041,-0.00828025, 0.02647036,
  1.38236048, 0.00763349, 1.26449051, 0.04456326,-0.08651117,-0.04970446,
  0.09354793, 0.70342437,-0.06774024,-0.69894991,-0.10988376]

qacc:
[ 7.35628459e+00, 1.08208128e+00,-3.36682582e+00, 2.25220313e+00,
  1.04048809e-01,-2.14967726e+01, 4.46210052e+01,-3.37177015e+01,
  1.10096715e+00,-3.28777627e-02,-5.64377470e-01, 4.85577525e+00,
 -4.73054620e-01, 3.81330334e-01, 5.22246343e+00,-1.71915561e+01,
  4.57228517e+00,-1.07895645e+00, 3.50483838e+00,-1.08160156e+01,
  1.48145740e+02,-1.00823403e+01]

qfrc_actuator:
[ 8.31520174e-05, 8.72405205e-04, 1.38393482e-04, 1.34843587e-05,
 -1.74361848e-05, 7.30124011e-02, 1.04891787e-02, 3.17257230e-03,
 -1.02016404e-04, 9.29713880e-04, 2.23910261e-04, 1.36704889e-04,
  6.79020758e-04,-1.59433450e-03, 0.00000000e+00,-1.25097225e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038087336331992863
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91494006e-14, -1.45747003e-14,  1.00000000e+00,  4.24843778e-28,
        1.00000000e+00,  1.45747003e-14, -1.00000000e+00,  0.00000000e+00,
        2.91494006e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13887084, -0.03578097,  0.06180836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.90268033e-05,-2.09171397e-03,-4.91384012e-04,-1.03470016e-04,
  6.62096052e-06, 5.09051078e-05, 3.36263414e-05, 1.84067292e-05,
 -5.68995698e-05,-2.31998372e-05, 2.21907763e-05,-7.63861563e-05,
  5.39447287e-05,-1.46609766e-04,-4.90415468e+00,-4.88161362e-04,
  3.30438272e-03,-1.14191241e-03]


--- Step 1827 ---
qpos:
[ 0.01867005, 0.03003197,-0.00943468,-0.02526043,-0.00334925, 1.30415275,
 -0.02937744, 0.94238104, 0.01158608, 0.02733113,-0.00827978, 0.02647205,
  1.38244472, 0.00763345, 1.2646211 , 0.04456514,-0.08648065,-0.04966449,
  0.09355538, 0.70372815,-0.06823114,-0.69867812,-0.10936221]

qacc:
[-1.42599214e+00,-7.76895536e-01, 6.23277815e+00,-1.93234717e+01,
 -7.15785398e-02,-2.26189606e+01, 4.97765538e+01,-4.32300786e+01,
  7.89630023e-01,-5.65014763e-01, 3.61845682e-01, 3.80390525e+00,
 -3.64267505e-01, 2.67024401e-01,-1.00165516e+00, 3.44241762e+00,
  4.06766698e+00,-9.65372685e-01, 2.02666518e+00,-9.15174903e+00,
  1.31728918e+02,-7.95415947e+00]

qfrc_actuator:
[ 7.33641138e-05, 8.84368398e-04, 1.28701147e-04,-2.50404949e-05,
 -5.53993667e-05, 7.22417858e-02, 1.04992852e-02, 3.12934618e-03,
 -9.75525581e-05, 8.62462929e-04, 2.15326066e-04, 1.44593359e-04,
  6.52348833e-04,-1.59562656e-03, 0.00000000e+00,-1.23250878e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.51700773,  -1.43085854,  -8.51700773,
        10.81916034, -12.99282625,  -1.43085854, -12.99282625,
        85.97454812,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038043512900305387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91829786e-14, -1.45914893e-14,  1.00000000e+00,  4.25823121e-28,
        1.00000000e+00,  1.45914893e-14, -1.00000000e+00,  0.00000000e+00,
        2.91829786e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13887884, -0.03578697,  0.06180856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.10015093e-05,-2.03333719e-03,-4.59203903e-04,-1.21776671e-04,
  4.67717867e-06,-3.10924406e-05, 6.69079216e-06, 1.15852668e-05,
 -6.07846197e-05,-2.14423174e-05,-3.39153330e-06, 1.59100159e-05,
  2.03687771e-05,-6.53964686e-05,-4.90426307e+00,-1.31545262e-04,
  3.33334255e-03,-1.11551987e-03]


--- Step 1828 ---
qpos:
[ 0.01867106, 0.03003146,-0.00943443,-0.02526012,-0.00335024, 1.30491386,
 -0.02937695, 0.94240848, 0.01158562, 0.02733112,-0.00827908, 0.02647284,
  1.38252844, 0.00763383, 1.26475131, 0.0445699 ,-0.08646814,-0.04961895,
  0.09355338, 0.70383015,-0.06877128,-0.69861405,-0.10877517]

qacc:
[ 7.87449479e+00,-1.09944985e+00, 4.07114901e+00,-6.31400507e+00,
 -5.77177804e-02,-1.89877829e+01, 3.79295654e+01,-2.75671209e+01,
  5.13265516e-01,-3.43255075e+00, 1.46543000e+01,-3.00458890e+01,
 -4.33065917e-01, 6.09780092e-01,-9.21064467e+00, 3.15104930e+01,
 -4.50456429e+00, 1.39382305e+00,-2.36135011e+00, 1.00283898e+01,
 -1.48506304e+02, 2.21286046e+01]

qfrc_actuator:
[ 1.20814664e-04, 8.73874484e-04, 1.40774352e-04,-3.01076457e-05,
 -5.99781731e-05, 7.14962443e-02, 1.04693848e-02, 3.11056023e-03,
 -9.47243212e-05, 7.86507248e-04, 2.09844394e-04, 9.52439676e-05,
  6.43992102e-04,-1.56087036e-03, 0.00000000e+00,-1.08034906e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003831305661674382
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.44888339e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.44888339e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00627093, -0.07785899,  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:
[ 4.72062212e-05,-1.53071350e-05, 8.81491370e-06,-6.37690737e-06,
 -1.69962015e-05,-1.97007521e-03,-4.84635117e-04,-9.50857264e-05,
  2.95672446e-06,-9.14994571e-05,-1.06976767e-05,-5.02315628e-05,
 -4.41432215e-05, 1.42737080e-05,-3.13945023e-06, 1.51864942e-04,
  4.24487687e-05,-7.80802388e-06,-4.90417779e+00, 1.74480101e-04,
  3.36331493e-03,-1.09065797e-03]


--- Step 1829 ---
qpos:
[ 0.01867262, 0.03003108,-0.00943476,-0.02525917,-0.00335105, 1.30565923,
 -0.02937725, 0.94243725, 0.0115859 , 0.02733053,-0.00827847, 0.02647304,
  1.38261192, 0.00763448, 1.26488155, 0.04457575,-0.0864716 ,-0.04956842,
  0.09353853, 0.70375344,-0.06935483,-0.69873374,-0.1081303 ]

qacc:
[ 4.79282322e+00, 3.13003210e+00,-1.36128930e+01, 2.55756974e+01,
  8.31866760e-02,-1.62872586e+01, 2.54763882e+01, 3.06719634e+00,
  6.21011243e+00,-1.78212402e+00, 7.68558693e+00,-1.73159096e+01,
 -2.83240973e-01, 4.34429937e-01,-3.25833012e+00, 1.15077214e+01,
 -3.98920361e+00, 1.24760801e+00,-3.21590408e+00, 8.77498107e+00,
 -1.31445447e+02, 1.94728094e+01]

qfrc_actuator:
[ 1.48334618e-04, 8.85637854e-04, 1.12279574e-04, 2.30521175e-06,
 -2.67380815e-05, 7.07183603e-02, 1.04339913e-02, 3.17730510e-03,
 -5.73755545e-05, 7.59119018e-04, 2.06141728e-04, 6.58585381e-05,
  6.46643598e-04,-1.54041387e-03, 0.00000000e+00,-1.02818619e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003829089919221748
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89944360e-14, -1.81215225e-14,  1.00000000e+00,  5.25423323e-28,
        1.00000000e+00,  1.81215225e-14, -1.00000000e+00,  0.00000000e+00,
        2.89944360e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00627688, -0.07785628,  0.06180746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.31765373e-05,-1.97144470e-03,-4.79832466e-04,-7.80338357e-06,
  3.74068528e-05,-8.29279628e-05,-2.56693637e-05,-3.46578106e-05,
 -1.59632417e-05, 1.41641400e-05, 1.27727543e-05, 5.96198490e-05,
  2.20909238e-05,-7.59940451e-05,-4.90421149e+00,-1.60098780e-04,
  3.33678097e-03,-1.07946422e-03]


--- Step 1830 ---
qpos:
[ 0.01867346, 0.03003075,-0.00943512,-0.02525821,-0.00335172, 1.30638914,
 -0.0293784 , 0.94246624, 0.01158662, 0.02732944,-0.00827797, 0.02647287,
  1.38269561, 0.00763476, 1.26501193, 0.04458119,-0.08645672,-0.04952201,
  0.09353765, 0.70387992,-0.06990894,-0.69864338,-0.10753245]

qacc:
[-6.14282405e+00, 1.75365679e-01,-5.60010021e-01, 7.20981656e-01,
  5.77428338e-02,-1.76112575e+01, 3.24402754e+01,-1.57110686e+01,
  3.80807719e+00,-1.07484519e+00, 4.42097624e+00,-1.01745776e+01,
  3.66244514e-01,-5.98914187e-01, 1.43524628e+00,-4.79355609e+00,
  4.58267345e+00,-1.02972441e+00, 3.49520629e+00,-1.03805570e+01,
  1.48129188e+02,-8.56166720e+00]

qfrc_actuator:
[ 1.10627390e-04, 8.92761443e-04, 1.13417065e-04, 3.23385381e-06,
 -2.43403933e-05, 6.99629201e-02, 1.03955926e-02, 3.18730467e-03,
 -3.55116920e-05, 7.43282565e-04, 2.03725107e-04, 4.85027303e-05,
  6.61219019e-04,-1.56407350e-03, 0.00000000e+00,-1.05314531e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003806121699348415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91694042e-14, -2.91694042e-14,  1.00000000e+00,  8.50854144e-28,
        1.00000000e+00,  2.91694042e-14, -1.00000000e+00,  0.00000000e+00,
        2.91694042e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13888225, -0.03581208,  0.06180844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.59347229e-05,-1.94603176e-03,-4.79959503e-04,-6.24451601e-05,
  2.29318744e-05,-6.89700028e-05,-2.39093329e-05,-2.24742658e-05,
  1.00656887e-05,-2.33579143e-05, 8.97343891e-06,-2.08168114e-05,
  5.44868875e-05,-1.54469327e-04,-4.90406090e+00,-4.86067349e-04,
  3.30528700e-03,-1.06717794e-03]


--- Step 1831 ---
qpos:
[ 0.01867385, 0.0300304 ,-0.00943517,-0.02525726,-0.0033523 , 1.30710392,
 -0.02937989, 0.94249372, 0.01158725, 0.02732813,-0.00827767, 0.02647247,
  1.3827794 , 0.00763477, 1.26514254, 0.04458462,-0.08642553,-0.04947928,
  0.09354484, 0.70418731,-0.07043783,-0.69836612,-0.10697436]

qacc:
[-3.92258397e+00,-9.20338625e-01, 3.30873265e+00,-4.02147607e+00,
  4.01942372e-02,-2.15633115e+01, 4.95120715e+01,-5.11494084e+01,
 -7.53076204e-01,-2.56799961e-01, 1.49999035e+00,-5.15326737e+00,
  7.55438283e-02,-2.24152949e-01, 6.39718818e+00,-2.19029847e+01,
  4.07678756e+00,-9.21745971e-01, 2.01814673e+00,-8.73807242e+00,
  1.31715726e+02,-6.54584685e+00]

qfrc_actuator:
[ 8.80941237e-05, 8.97141717e-04, 1.32015079e-04, 3.40099720e-06,
 -2.27128163e-05, 6.92447320e-02, 1.03912799e-02, 3.11055580e-03,
 -4.07009990e-05, 7.52262608e-04, 2.02148773e-04, 3.83752781e-05,
  6.61614287e-04,-1.57815384e-03, 0.00000000e+00,-1.15881033e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.54320829,  -1.26505691,  -8.54320829,
        10.26666502, -11.00978473,  -1.26505691, -11.00978473,
        82.98786763,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038016189739550205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.92039532e-14, -1.46019766e-14,  1.00000000e+00,  4.26435440e-28,
        1.00000000e+00,  1.46019766e-14, -1.00000000e+00,  0.00000000e+00,
        2.92039532e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1388905 , -0.03581847,  0.06180864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.09127828e-05,-1.89625297e-03,-4.42492460e-04,-1.49721409e-04,
 -4.54273108e-06,-3.54461325e-05,-1.95385078e-05,-1.43468817e-05,
 -1.64336348e-07,-1.85281137e-05,-1.21233139e-06,-1.06404681e-04,
  2.12851586e-05,-6.86029568e-05,-4.90416584e+00,-1.08045049e-04,
  3.33439046e-03,-1.03909686e-03]


--- Step 1832 ---
qpos:
[ 0.01867431, 0.03003032,-0.00943537,-0.02525667,-0.00335267, 1.30780374,
 -0.02938102, 0.94252037, 0.01158816, 0.02732681,-0.00827722, 0.02647155,
  1.38286299, 0.00763492, 1.26527314, 0.04458677,-0.08641232,-0.04943089,
  0.09354258, 0.70429311,-0.07101723,-0.69829617,-0.10634953]

qacc:
[ 5.99450167e-01, 6.93118088e-02, 1.78550722e+00,-7.90130346e+00,
  9.04722696e-02,-2.19907407e+01, 4.97161742e+01,-4.32414232e+01,
  2.37213524e+00,-1.45671948e+00, 7.33496569e+00,-1.64281356e+01,
 -3.42969319e-01, 4.31112816e-01, 3.91828203e+00,-1.36545880e+01,
 -4.49451893e+00, 1.41787491e+00,-2.36473517e+00, 9.50896748e+00,
 -1.48437439e+02, 2.30560368e+01]

qfrc_actuator:
[ 9.24467532e-05, 9.17674642e-04, 1.25252198e-04,-1.46232518e-05,
 -3.80636760e-06, 6.85369816e-02, 1.04249932e-02, 3.07218505e-03,
 -2.62615822e-05, 7.76057898e-04, 2.18944250e-04, 1.48506274e-05,
  6.48178609e-04,-1.56869562e-03, 0.00000000e+00,-1.22237989e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038383182328559293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44623629e-14, -2.16935444e-14,  1.00000000e+00,  3.13739911e-28,
        1.00000000e+00,  2.16935444e-14, -1.00000000e+00,  0.00000000e+00,
        1.44623629e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00625703, -0.07783745,  0.06180701])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.52442122e-05,-1.85344498e-03,-3.93002583e-04,-1.10794529e-04,
  1.42914828e-05,-6.32164603e-07, 6.58400693e-06,-2.59954787e-05,
 -1.84330260e-05, 4.23141299e-06,-1.55189014e-05,-7.03944228e-05,
  4.39472750e-05,-5.71975418e-06,-4.90407732e+00, 2.19372988e-04,
  3.36453599e-03,-1.01247998e-03]


--- Step 1833 ---
qpos:
[ 0.01867516, 0.03003042,-0.00943535,-0.02525631,-0.00335283, 1.30848902,
 -0.02938195, 0.942546  , 0.01158889, 0.02732568,-0.00827642, 0.02647031,
  1.38294642, 0.00763518, 1.26540327, 0.04459112,-0.08641503,-0.04937742,
  0.09352744, 0.70422037,-0.07164127,-0.69840959,-0.10566574]

qacc:
[ 3.37693238e+00,-8.98194696e-01, 4.49204267e+00,-8.99056219e+00,
  9.34738712e-02,-2.14064000e+01, 4.88901529e+01,-4.51568354e+01,
 -1.51939236e+00,-1.39555828e+00, 6.67180880e+00,-1.28547788e+01,
  1.51228452e-03, 1.81424203e-02,-7.39044698e+00, 2.48340935e+01,
 -3.98012899e+00, 1.26840647e+00,-3.21952084e+00, 8.27562662e+00,
 -1.31375676e+02, 2.03415637e+01]

qfrc_actuator:
[ 1.12584905e-04, 9.29857172e-04, 1.39123008e-04,-2.54605009e-05,
  7.56013087e-06, 6.78413776e-02, 1.04454640e-02, 3.02124006e-03,
 -3.58804247e-05, 8.08621265e-04, 2.46514973e-04, 1.41160966e-06,
  6.42444178e-04,-1.56316729e-03, 0.00000000e+00,-1.10083093e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003835517163642853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.23646237e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.23646237e-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([ 0.00626407, -0.07783578,  0.06180713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.61300962e-05,-1.80662197e-03,-3.91066419e-04,-1.19749124e-04,
 -9.20353767e-06, 3.25083017e-05, 2.73642524e-05,-1.37406300e-05,
 -1.46865168e-05, 2.74930406e-06,-1.76230431e-05, 1.15024438e-04,
  2.31254098e-05,-8.00926714e-05,-4.90410111e+00,-1.38313361e-04,
  3.33741994e-03,-1.00052994e-03]


--- Step 1834 ---
qpos:
[ 0.01867625, 0.03003067,-0.00943462,-0.02525577,-0.00335309, 1.30916001,
 -0.0293825 , 0.94257115, 0.01158881, 0.02732513,-0.00827551, 0.02646924,
  1.38302972, 0.00763551, 1.26553356, 0.04459452,-0.08639937,-0.04932786,
  0.09352623, 0.70435104,-0.07223823,-0.69831271,-0.10502669]

qacc:
[ 2.03365876e+00,-1.40659264e+00, 4.55743396e+00,-2.69703683e+00,
 -4.52661591e-02,-2.05819559e+01, 4.54819169e+01,-3.60202833e+01,
 -6.92426636e+00, 7.80007984e-01,-2.32203839e+00, 4.43789410e+00,
 -2.34513290e-01, 2.77555394e-01, 3.16817162e+00,-1.06844230e+01,
  4.59362925e+00,-9.77705206e-01, 3.48482848e+00,-9.91344040e+00,
  1.48108632e+02,-6.92698500e+00]

qfrc_actuator:
[ 1.24091199e-04, 9.54781776e-04, 1.82806463e-04,-1.42138413e-05,
 -2.11936292e-05, 6.71586285e-02, 1.04757448e-02, 2.99878759e-03,
 -7.73414921e-05, 8.64006374e-04, 2.62524780e-04, 1.17845980e-05,
  6.36008675e-04,-1.56002019e-03, 0.00000000e+00,-1.15523881e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003803022978337081
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91931716e-14, -2.91931716e-14,  1.00000000e+00,  8.52241269e-28,
        1.00000000e+00,  2.91931716e-14, -1.00000000e+00,  0.00000000e+00,
        2.91931716e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13889464, -0.03584472,  0.06180853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.34653399e-05,-1.76762637e-03,-3.72114688e-04,-9.00208279e-05,
 -4.17228512e-05, 7.86611358e-05, 2.56276653e-05, 1.24495360e-05,
 -1.33127126e-05, 5.60631420e-07, 3.16981767e-06,-5.06223119e-05,
  5.50422771e-05,-1.63685750e-04,-4.90394141e+00,-4.86080992e-04,
  3.30553152e-03,-9.87415341e-04]


--- Step 1835 ---
qpos:
[ 0.01867677, 0.03003129,-0.00943367,-0.02525579,-0.0033537 , 1.30981718,
 -0.02938314, 0.94259481, 0.01158857, 0.02732523,-0.00827476, 0.02646865,
  1.38311295, 0.00763586, 1.26566405, 0.04459556,-0.08636737,-0.04928186,
  0.09353306, 0.70466278,-0.072811  ,-0.69802875,-0.10442601]

qacc:
[ -4.80264547, -1.26464961,  7.55870201,-17.76446904, -0.14815475,
 -20.47410241, 47.96314154,-50.32141267, -1.31334039,  2.33733222,
  -9.11685832, 17.30509434, -0.25831264,  0.2930968 ,  7.42934544,
 -25.48692421,  4.08509967, -0.88969262,  2.0080079 , -8.15799206,
 131.77065774, -5.69597358]

qfrc_actuator:
[ 9.49141983e-05, 9.69539391e-04, 1.90545739e-04,-4.32939484e-05,
 -5.60273117e-05, 6.64891525e-02, 1.04761572e-02, 2.92228320e-03,
 -8.39468030e-05, 8.97113282e-04, 2.53942652e-04, 3.60960710e-05,
  6.34481638e-04,-1.55830625e-03, 0.00000000e+00,-1.27742719e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.56457126, -1.11125872, -8.56457126,  9.83449937,
       -9.2341402 , -1.11125872, -9.2341402 , 79.80471554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037983730455194062
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.43076907e-07, -4.86153902e-07,  1.00000000e+00,  1.18172787e-13,
        1.00000000e+00,  4.86153902e-07, -1.00000000e+00,  2.52435490e-29,
        2.43076907e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13891547, -0.03575945,  0.06180874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.28195567e-05,-1.72804909e-03,-3.91298482e-04,-1.41674917e-04,
 -7.80255240e-06, 8.29190421e-05, 1.12535997e-05, 2.88147684e-05,
 -8.39786251e-06,-1.11664186e-06,-7.60302856e-06,-1.25396394e-04,
  2.23622758e-05,-7.21196527e-05,-4.90404194e+00,-8.24072569e-05,
  3.33482671e-03,-9.57317962e-04]


--- Step 1836 ---
qpos:
[ 0.01867695, 0.03003195,-0.00943276,-0.02525575,-0.00335455, 1.31046107,
 -0.02938462, 0.94261702, 0.01158826, 0.02732609,-0.00827499, 0.0264684 ,
  1.38319604, 0.00763627, 1.26579408, 0.04459848,-0.0863533 ,-0.04923008,
  0.09353041, 0.70477317,-0.07343571,-0.69795159,-0.10375723]

qacc:
[-3.03521027e+00, 3.04435920e-01,-1.23529800e+00, 2.26117844e+00,
 -9.61975693e-02,-1.76453795e+01, 3.94711527e+01,-4.25730224e+01,
 -7.06111524e-01, 4.45735427e+00,-1.58787596e+01, 2.27934975e+01,
  2.93542411e-02,-4.25814529e-02,-6.34701583e+00, 2.11925294e+01,
 -4.48316214e+00, 1.44260873e+00,-2.37047801e+00, 8.93121895e+00,
 -1.48331381e+02, 2.40811588e+01]

qfrc_actuator:
[ 7.75331902e-05, 9.42420650e-04, 1.76922951e-04,-4.26511216e-05,
 -5.87180267e-05, 6.58506474e-02, 1.04412110e-02, 2.85006539e-03,
 -8.77255864e-05, 9.16539726e-04, 1.95334737e-04, 5.06271598e-05,
  6.25247042e-04,-1.55742935e-03, 0.00000000e+00,-1.17222416e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003843001442595542
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44447386e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.44447386e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00624744, -0.07782007,  0.06180674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.79347290e-05,-1.68037670e-03,-4.22594156e-04,-1.37979511e-04,
 -3.97908773e-06, 6.93400743e-05,-3.91052470e-05, 1.90343633e-05,
 -1.44417548e-05,-1.10157853e-06,-2.05873921e-05, 9.65148257e-05,
  4.60624554e-05,-2.99211730e-06,-4.90395183e+00, 2.69943715e-04,
  3.36489850e-03,-9.28658189e-04]


--- Step 1837 ---
qpos:
[ 0.01867691, 0.03003251,-0.00943194,-0.02525533,-0.00335554, 1.31109178,
 -0.02938617, 0.9426399 , 0.01158825, 0.02732729,-0.00827574, 0.02646766,
  1.38327875, 0.00763702, 1.26592426, 0.04460024,-0.0863551 ,-0.04917315,
  0.09351486, 0.70470521,-0.07410644,-0.69805729,-0.10302827]

qacc:
[-1.80187034e+00, 8.80440329e-01,-4.92596597e+00, 1.16421114e+01,
 -6.00629874e-02,-1.59824871e+01, 2.99032808e+01,-1.00390347e+01,
  2.55627185e+00, 8.56000795e-01,-3.31634703e-01,-7.61770080e+00,
 -6.32216471e-01, 8.43070285e-01, 3.76450500e+00,-1.26900288e+01,
 -3.96991668e+00, 1.28990625e+00,-3.22511103e+00, 7.72262331e+00,
 -1.31274874e+02, 2.12977908e+01]

qfrc_actuator:
[ 6.72474216e-05, 9.25857983e-04, 1.68411983e-04,-2.45644287e-05,
 -5.98576444e-05, 6.52357088e-02, 1.04568396e-02, 2.88747294e-03,
 -7.20692868e-05, 9.09644620e-04, 1.60855564e-04, 2.37355780e-05,
  6.00745062e-04,-1.53934263e-03, 0.00000000e+00,-1.23565850e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00383965465424619
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.22866458e-15,  3.61433229e-15,  1.00000000e+00, -2.61267958e-29,
        1.00000000e+00, -3.61433229e-15, -1.00000000e+00,  0.00000000e+00,
        7.22866458e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00625545, -0.07781941,  0.06180688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.76318184e-05,-1.63633185e-03,-3.66124511e-04,-2.77746551e-05,
  1.55671419e-05, 2.45880474e-05,-2.43208704e-05,-2.49034476e-05,
 -3.22647129e-05, 1.44730047e-05,-1.47327639e-07,-6.10331791e-05,
  2.45978201e-05,-8.42452843e-05,-4.90396399e+00,-1.14466284e-04,
  3.33724344e-03,-9.15830948e-04]


--- Step 1838 ---
qpos:
[ 0.01867606, 0.03003309,-0.00943126,-0.02525506,-0.00335676, 1.31170965,
 -0.02938771, 0.94266303, 0.01158912, 0.02732835,-0.00827646, 0.02646731,
  1.38336115, 0.0076378 , 1.2660545 , 0.04460057,-0.08633856,-0.04912084,
  0.0935132 , 0.70484077,-0.07473404,-0.69795269,-0.10235405]

qacc:
[-6.97829015e+00, 1.51338537e-01, 1.63887230e-01,-2.51718060e+00,
 -9.77090487e-02,-1.64589104e+01, 3.28000363e+01,-1.74325972e+01,
  7.49305539e+00, 5.37593782e-01,-3.90669471e+00, 1.09130264e+01,
 -3.66425379e-01, 3.49156139e-01, 4.49291388e+00,-1.54954579e+01,
  4.58911612e+00,-1.15488329e+00, 3.47350864e+00,-7.19707900e+00,
  1.49386050e+02,-1.60655156e+01]

qfrc_actuator:
[ 2.57113527e-05, 9.33516538e-04, 1.63029853e-04,-3.18582039e-05,
 -7.78125744e-05, 6.46223627e-02, 1.04668776e-02, 2.90037390e-03,
 -2.73479672e-05, 8.87072045e-04, 1.58525859e-04, 4.36980714e-05,
  5.77761491e-04,-1.54675824e-03, 0.00000000e+00,-1.30924212e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038065855936192036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91658495e-14, -1.45829247e-14,  1.00000000e+00,  4.25323388e-28,
        1.00000000e+00,  1.45829247e-14, -1.00000000e+00,  0.00000000e+00,
        2.91658495e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1390779 , -0.03454107,  0.06180832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.83885972e-05,-1.59587916e-03,-3.53407150e-04,-4.67637118e-05,
  4.51907636e-05,-1.49414563e-05,-1.11224423e-06, 1.96899988e-05,
 -3.61867256e-05,-1.05779135e-05,-1.05749973e-05,-7.78406195e-05,
  5.58165686e-05,-1.73541414e-04,-4.90379364e+00,-4.87367376e-04,
  3.30503669e-03,-9.01756428e-04]


--- Step 1839 ---
qpos:
[ 0.01867541, 0.03003372,-0.00943067,-0.02525488,-0.00335791, 1.31231478,
 -0.02938917, 0.94268579, 0.01158983, 0.02732951,-0.00827732, 0.02646754,
  1.38344339, 0.00763824, 1.26618451, 0.04460133,-0.08630569,-0.04907266,
  0.09351952, 0.70515749,-0.07532434,-0.69766105,-0.1017262 ]

qacc:
[ 1.69371903e+00, 1.07375731e-01, 8.11525669e-02,-1.58217488e+00,
  3.17124541e-02,-1.75523835e+01, 3.78188015e+01,-2.90544127e+01,
 -1.36966067e+00, 1.71316249e+00,-8.27712409e+00, 1.82090021e+01,
  1.28395957e-01,-3.98666611e-01,-1.70642612e+00, 5.40475129e+00,
  4.08030803e+00,-1.03273876e+00, 1.99448064e+00,-5.84043454e+00,
  1.32777110e+02,-1.30939839e+01]

qfrc_actuator:
[ 3.71224619e-05, 9.37856786e-04, 1.59613734e-04,-3.62555864e-05,
 -5.24526391e-05, 6.39971657e-02, 1.04735111e-02, 2.88095845e-03,
 -3.68944176e-05, 9.08698286e-04, 1.57398067e-04, 7.33250651e-05,
  5.66346954e-04,-1.56927946e-03, 0.00000000e+00,-1.28164687e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.59765855, -0.81672778, -8.59765855,  9.24272358,
       -6.38312532, -0.81672778, -6.38312532, 75.83125171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003804079569242093
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.45925316e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.45925316e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13908373, -0.034549  ,  0.06180842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.60017719e-06,-1.58332336e-03,-3.47985887e-04,-7.79486255e-05,
 -8.22623612e-06, 1.38743885e-05,-3.67398359e-06, 2.93297075e-05,
 -3.26895560e-05,-3.38628885e-05,-1.66370410e-05, 2.11997859e-05,
  2.84737232e-05,-7.27907138e-05,-4.90393635e+00,-5.16459090e-05,
  3.33055640e-03,-8.69750660e-04]


--- Step 1840 ---
qpos:
[ 0.01867524, 0.03003448,-0.00943042,-0.02525544,-0.00335874, 1.31290683,
 -0.02939012, 0.94270782, 0.01158973, 0.02733039,-0.00827744, 0.02646776,
  1.38352565, 0.00763831, 1.26631452, 0.04460139,-0.08629079,-0.04901869,
  0.09351641, 0.70527267,-0.0759707 ,-0.69757599,-0.10102793]

qacc:
[ 4.15713908e+00,-4.03682951e-01, 4.79918763e+00,-1.71277923e+01,
  1.35972249e-01,-1.98135742e+01, 4.54251962e+01,-3.96850037e+01,
 -6.87403466e+00,-2.44060619e+00, 8.17438667e+00,-9.19547186e+00,
  2.01057297e-01,-4.61630558e-01, 2.13589586e+00,-7.52352081e+00,
 -4.49176698e+00, 1.44860535e+00,-2.35583979e+00, 7.71218907e+00,
 -1.48640921e+02, 2.63499930e+01]

qfrc_actuator:
[ 6.18637452e-05, 9.40187279e-04, 1.39630256e-04,-7.44142819e-05,
 -1.90679453e-05, 6.33343831e-02, 1.04957860e-02, 2.84267165e-03,
 -7.83152720e-05, 8.85634288e-04, 1.92655917e-04, 7.29195226e-05,
  5.77849495e-04,-1.58277484e-03, 0.00000000e+00,-1.31891738e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003847619675356226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44274008e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.44274008e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00623781, -0.07780181,  0.06180647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.83815276e-05,-1.61373077e-03,-3.30166076e-04,-9.70239253e-05,
 -4.16551774e-05,-1.48406984e-05, 3.86830770e-05, 6.32009049e-07,
 -1.32737178e-05,-3.09493634e-05,-7.33634728e-06,-3.86924666e-05,
  5.70826853e-05,-1.02905725e-06,-4.90387607e+00, 3.15562271e-04,
  3.35681361e-03,-8.39929836e-04]


--- Step 1841 ---
qpos:
[ 0.01867538, 0.03003509,-0.00943   ,-0.02525714,-0.00335921, 1.31348623,
 -0.02939094, 0.94272922, 0.01158948, 0.02733028,-0.00827673, 0.02646771,
  1.38360806, 0.00763807, 1.26644438, 0.04460165,-0.08629179,-0.04895952,
  0.09350046, 0.70520936,-0.07666658,-0.69767358,-0.10026749]

qacc:
[   2.56508135,  -3.03690409,  15.34303735, -35.24204749,   0.15088439,
  -18.03496345,  40.05473452, -34.08630772,  -1.24452526,  -4.17886363,
   14.1421981 , -19.38461339,   0.34414026,  -0.54713432,  -0.88910398,
    2.70357814,  -3.97625623,   1.29667561,  -3.21323612,   6.66788855,
 -131.5244565 ,  23.24431005]

qfrc_actuator:
[ 7.64831176e-05, 9.23448109e-04, 1.45497506e-04,-1.32146306e-04,
  1.10500868e-06, 6.27254856e-02, 1.05092178e-02, 2.81132602e-03,
 -8.48901756e-05, 7.82856594e-04, 2.13415448e-04, 5.48356420e-05,
  5.97766108e-04,-1.59067375e-03, 0.00000000e+00,-1.30536759e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003844828388971773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.21893744e-15, -3.60946872e-15,  1.00000000e+00,  2.60565289e-29,
        1.00000000e+00,  3.60946872e-15, -1.00000000e+00,  0.00000000e+00,
        7.21893744e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00624475, -0.07779966,  0.06180659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.26893032e-05,-1.57364206e-03,-3.43468559e-04,-9.09332476e-05,
 -7.79906575e-06,-1.03104733e-04, 2.24726744e-05,-1.73695654e-05,
  5.53700768e-06,-1.99147682e-05,-1.02209283e-05, 9.86145712e-06,
  3.34518387e-05,-8.31820057e-05,-4.90387754e+00,-8.35079541e-05,
  3.33073953e-03,-8.26590215e-04]


--- Step 1842 ---
qpos:
[ 0.01867603, 0.03003543,-0.00942922,-0.02525883,-0.00335939, 1.31405361,
 -0.02939192, 0.9427504 , 0.01158915, 0.0273288 ,-0.00827575, 0.02646754,
  1.38369046, 0.00763795, 1.26657461, 0.04459836,-0.08627438,-0.04890474,
  0.09349837, 0.70534988,-0.07732183,-0.6975606 ,-0.09955949]

qacc:
[ 4.47049765e+00,-1.34678522e+00, 4.19261346e+00,-4.28092950e+00,
  1.31309872e-01,-1.57323502e+01, 3.27374526e+01,-2.34487089e+01,
 -6.25541143e-01,-2.79447460e+00, 7.87995738e+00,-9.47422003e+00,
 -3.77639476e-01, 5.05514854e-01, 1.13178633e+01,-3.86892048e+01,
  4.60258220e+00,-1.09345686e+00, 3.46790301e+00,-6.70525063e+00,
  1.49390838e+02,-1.43767103e+01]

qfrc_actuator:
[ 1.02775475e-04, 9.13249711e-04, 1.66498903e-04,-1.29913378e-04,
  1.31886722e-05, 6.21714933e-02, 1.05175322e-02, 2.80208748e-03,
 -8.86445903e-05, 6.68568265e-04, 2.07334819e-04, 4.41641956e-05,
  6.01415339e-04,-1.57737983e-03, 0.00000000e+00,-1.49274639e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038110818666802423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91314399e-14, -1.45657200e-14,  1.00000000e+00,  4.24320396e-28,
        1.00000000e+00,  1.45657200e-14, -1.00000000e+00,  0.00000000e+00,
        2.91314399e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13908108, -0.03458054,  0.06180805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.71386696e-05,-1.49887050e-03,-3.42058593e-04,-6.78881605e-05,
 -4.01860891e-06,-1.68055232e-04,-2.52183285e-05,-1.46513323e-05,
  1.40221945e-06, 8.89865074e-06,-5.51981374e-06,-1.88598913e-04,
  6.27777231e-05,-1.74040576e-04,-4.90369641e+00,-4.72697261e-04,
  3.29996799e-03,-8.11944688e-04]


--- Step 1843 ---
qpos:
[ 0.0186763 , 0.03003555,-0.00942824,-0.02525979,-0.00335932, 1.3146094 ,
 -0.02939331, 0.94277095, 0.01158878, 0.02732686,-0.00827554, 0.02646824,
  1.38377259, 0.00763829, 1.26670494, 0.04459186,-0.08624061,-0.04885386,
  0.09350424, 0.7056718 ,-0.07794207,-0.69726034,-0.09889566]

qacc:
[-3.24264517e+00, 6.78194750e-01,-5.90784703e+00, 1.84140113e+01,
  1.02504764e-01,-1.51858848e+01, 3.24689787e+01,-2.82003190e+01,
 -3.83815421e-01, 3.28514932e+00,-1.62779546e+01, 3.28365771e+01,
 -7.63814894e-01, 1.10311248e+00, 9.96948481e+00,-3.44792909e+01,
  4.09172349e+00,-9.78712202e-01, 1.98863279e+00,-5.37220796e+00,
  1.32773598e+02,-1.15189163e+01]

qfrc_actuator:
[ 8.24733642e-05, 9.07161860e-04, 1.78571777e-04,-9.24022337e-05,
  2.03235251e-05, 6.16193555e-02, 1.05052553e-02, 2.77045491e-03,
 -9.07202467e-05, 6.90167278e-04, 1.85387153e-04, 9.11632522e-05,
  5.84662028e-04,-1.55166798e-03, 0.00000000e+00,-1.65499161e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61227771, -0.64455373, -8.61227771,  8.99338087,
       -4.7703263 , -0.64455373, -4.7703263 , 72.37561953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003808063972359263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.45772633e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.45772633e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1390877 , -0.03458892,  0.06180818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.89294853e-05,-1.45457834e-03,-3.47165143e-04,-8.74767910e-05,
 -2.25403255e-06,-7.81757406e-05,-6.02689460e-05, 3.86410997e-05,
 -1.48513204e-05, 2.90636735e-05,-2.69856250e-05,-1.74249911e-04,
  3.66465754e-05,-7.16946444e-05,-4.90383187e+00,-1.83393627e-05,
  3.32480403e-03,-7.78441712e-04]


--- Step 1844 ---
qpos:
[ 0.01867598, 0.03003546,-0.00942738,-0.02526026,-0.00335908, 1.31515363,
 -0.02939494, 0.9427913 , 0.01158873, 0.02732532,-0.00827607, 0.02646903,
  1.3838544 , 0.00763882, 1.2668347 , 0.04458677,-0.08622481,-0.04879713,
  0.09350072, 0.70579211,-0.07862156,-0.69716633,-0.09815937]

qacc:
[-5.06122937e+00, 1.04049184e+00,-6.10714240e+00, 1.46896046e+01,
  7.50605030e-02,-1.48748279e+01, 3.05952302e+01,-2.14813513e+01,
  2.71645573e+00, 2.81192955e+00,-9.65189697e+00, 1.22001838e+01,
 -2.21358824e-01, 2.78353546e-01,-5.11194917e+00, 1.67173964e+01,
 -4.49281180e+00, 1.46388232e+00,-2.34717875e+00, 6.70086313e+00,
 -1.48816508e+02, 2.82195997e+01]

qfrc_actuator:
[ 5.26578918e-05, 8.85836981e-04, 1.67552041e-04,-6.99536195e-05,
  2.44340101e-05, 6.10549561e-02, 1.04986919e-02, 2.76138715e-03,
 -7.40389122e-05, 7.75200496e-04, 1.72589892e-04, 1.00812090e-04,
  5.55690253e-04,-1.55441378e-03, 0.00000000e+00,-1.57027693e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003853798072781793
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44042708e-14,  7.20213542e-15,  1.00000000e+00, -1.03741509e-28,
        1.00000000e+00, -7.20213542e-15, -1.00000000e+00,  0.00000000e+00,
        1.44042708e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00622507, -0.07777923,  0.06180612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.10785253e-05,-1.44382868e-03,-3.33924917e-04,-6.42019455e-05,
  1.65830617e-05, 3.05878410e-05,-3.50134615e-05, 4.96769888e-06,
 -3.08024857e-05, 2.85418727e-06,-3.44635709e-05, 7.09633785e-05,
  6.67246368e-05, 2.88801228e-06,-4.90376495e+00, 3.68064636e-04,
  3.35044958e-03,-7.47036821e-04]


--- Step 1845 ---
qpos:
[ 0.01867635, 0.030035  ,-0.00942656,-0.02526045,-0.00335886, 1.31568625,
 -0.02939692, 0.94281142, 0.01158889, 0.02732398,-0.00827646, 0.0264692 ,
  1.38393595, 0.00763938, 1.266964  , 0.04458469,-0.08622491,-0.04873516,
  0.09348437, 0.70573384,-0.07935336,-0.69725461,-0.09735909]

qacc:
[ 5.83054443e+00, 2.20714368e-01,-2.73825654e+00, 8.10812246e+00,
 -9.56707593e-03,-1.46796228e+01, 2.99666230e+01,-2.14703448e+01,
  1.71024256e+00,-1.39907549e+00, 7.97630771e+00,-1.90282203e+01,
  2.23851708e-02,-8.61728641e-02,-9.77168143e+00, 3.31643086e+01,
 -3.97626604e+00, 1.31086929e+00,-3.20662161e+00, 5.76863416e+00,
 -1.31658023e+02, 2.48829668e+01]

qfrc_actuator:
[ 8.85074067e-05, 8.55450407e-04, 1.60663910e-04,-5.65805537e-05,
  8.94621580e-06, 6.04700517e-02, 1.04777891e-02, 2.74791733e-03,
 -6.42036632e-05, 7.91084530e-04, 1.83322901e-04, 7.07226118e-05,
  5.40704469e-04,-1.55638071e-03, 0.00000000e+00,-1.41175085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003851154342539853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44141591e-14,  7.20707953e-15,  1.00000000e+00, -1.03883991e-28,
        1.00000000e+00, -7.20707953e-15, -1.00000000e+00,  0.00000000e+00,
        1.44141591e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00623167, -0.0777766 ,  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:
[ 3.49533665e-05,-4.71456328e-05,-1.32178405e-05, 1.22333426e-05,
 -3.13804364e-06,-1.45499533e-03,-3.43950813e-04,-6.73689082e-05,
  1.03275811e-05, 2.60350695e-05, 1.29323682e-05,-2.98913284e-05,
 -3.03303584e-05,-8.11956278e-06,-9.02464004e-06, 1.57841220e-04,
  4.11794057e-05,-8.24142350e-05,-4.90375394e+00,-5.19929862e-05,
  3.32541464e-03,-7.32994486e-04]


--- Step 1846 ---
qpos:
[ 0.01867782, 0.03003405,-0.00942574,-0.02526081,-0.00335873, 1.31620735,
 -0.02939892, 0.94283087, 0.01158881, 0.02732289,-0.00827652, 0.02646968,
  1.38401744, 0.00763962, 1.26709312, 0.04458516,-0.08620655,-0.0486773 ,
  0.09348186, 0.70587961,-0.08004713,-0.69713209,-0.09660889]

qacc:
[ 9.58488748e+00,-1.03119683e+00, 3.42144112e+00,-5.98690142e+00,
 -3.79091569e-02,-1.62586984e+01, 3.61693494e+01,-3.19741367e+01,
 -1.93875363e+00, 2.28162335e-02,-9.11084611e-01, 5.53569088e+00,
  3.59908134e-01,-6.30526331e-01,-8.03986123e+00, 2.76364483e+01,
  4.61618501e+00,-1.02787258e+00, 3.45777690e+00,-6.20038765e+00,
  1.49353836e+02,-1.26354247e+01]

qfrc_actuator:
[ 1.44970283e-04, 8.19872983e-04, 1.56231032e-04,-6.64080472e-05,
 -4.18495213e-07, 5.99130311e-02, 1.04840126e-02, 2.71417890e-03,
 -7.62359775e-05, 8.18781268e-04, 2.07587863e-04, 8.84753859e-05,
  5.39443536e-04,-1.57555495e-03, 0.00000000e+00,-1.28209589e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038135126976514486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.45564354e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.45564354e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13908749, -0.03462191,  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:
[ 5.74656829e-05,-6.41283381e-05,-1.53802437e-05,-1.20670016e-05,
 -1.12672384e-05,-1.43524808e-03,-3.20223601e-04,-8.83564320e-05,
 -1.17246157e-05, 4.37027912e-05, 3.02210580e-05, 1.87372853e-05,
 -1.82510673e-05,-2.87657687e-05, 1.15268542e-05, 1.36878986e-04,
  6.87646168e-05,-1.76323248e-04,-4.90356063e+00,-4.62477634e-04,
  3.29570733e-03,-7.17573103e-04]


--- Step 1847 ---
qpos:
[ 0.01867962, 0.03003281,-0.00942506,-0.0252613 ,-0.00335886, 1.31671683,
 -0.02940001, 0.94285076, 0.01158824, 0.02732251,-0.00827619, 0.02646997,
  1.38409884, 0.00763961, 1.26722246, 0.04458551,-0.08617177,-0.04862312,
  0.09348726, 0.70620697,-0.08070827,-0.69682205,-0.0959006 ]

qacc:
[ 2.75468006e+00,-2.55686281e-01, 8.96951104e-01,-2.70151152e+00,
 -1.03381576e-01,-1.69086385e+01, 3.58119156e+01,-1.84858123e+01,
 -4.17179779e+00,-5.30536153e-01, 4.11955504e+00,-8.74606504e+00,
  7.05224734e-02,-2.61097686e-01, 6.83441513e-01,-1.93741680e+00,
  4.10328941e+00,-9.20977839e-01, 1.97895333e+00,-4.88623939e+00,
  1.32734965e+02,-9.88593696e+00]

qfrc_actuator:
[ 1.59834447e-04, 8.16955160e-04, 1.53240442e-04,-7.20585381e-05,
 -2.37852251e-05, 5.93595380e-02, 1.05418070e-02, 2.73982136e-03,
 -1.01040758e-04, 8.88947430e-04, 2.39719502e-04, 8.09960755e-05,
  5.35756626e-04,-1.58696780e-03, 0.00000000e+00,-1.29478740e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.62386536, -0.46446005, -8.62386536,  8.81047895,
       -3.23288739, -0.46446005, -3.23288739, 68.66302402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003809993962059187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45698791e-14,  1.45698791e-14,  1.00000000e+00, -2.12281376e-28,
        1.00000000e+00, -1.45698791e-14, -1.00000000e+00,  0.00000000e+00,
        1.45698791e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13909493, -0.03463083,  0.06180801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.00535710e-05,-1.41669048e-03,-2.62687403e-04,-2.81891795e-05,
 -2.51383811e-05, 1.01685407e-04, 4.55424741e-05,-4.19417910e-06,
 -1.91867897e-05,-2.43633484e-05, 1.78033608e-05,-4.21210964e-06,
  4.41305719e-05,-7.01999973e-05,-4.90368920e+00, 1.66213535e-05,
  3.31982172e-03,-6.82108712e-04]


--- Step 1848 ---
qpos:
[ 0.01868124, 0.03003173,-0.00942442,-0.02526123,-0.00335938, 1.31721526,
 -0.02940034, 0.94287113, 0.01158773, 0.02732292,-0.00827549, 0.02646945,
  1.38418002, 0.00763991, 1.267352  , 0.04458472,-0.08615526,-0.04856352,
  0.09348377, 0.70632752,-0.08141955,-0.69672209,-0.09513471]

qacc:
[  -1.55023453,   1.5024303 ,  -7.38175717,  16.99307004,  -0.17072876,
  -15.76211313,  32.93289325, -16.18775157,   0.43641052,  -1.63041101,
   10.68190258, -25.59032252,  -0.48026738,   0.68437722,   3.76867515,
  -12.6515588 ,  -4.56551114,   1.35784993,  -2.22103423,   4.09353962,
 -150.9653378 ,  19.4164944 ]

qfrc_actuator:
[ 1.50088093e-04, 8.69132938e-04, 1.69013659e-04,-3.96696403e-05,
 -5.53620310e-05, 5.88483699e-02, 1.05941301e-02, 2.76472660e-03,
 -9.76517694e-05, 9.30771954e-04, 2.58638934e-04, 4.10112670e-05,
  5.35944152e-04,-1.55815615e-03, 0.00000000e+00,-1.35572795e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038609314946418134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12342863e-06,  1.12342865e-06,  1.00000000e+00,  1.26209191e-12,
        1.00000000e+00, -1.12342865e-06, -1.00000000e+00,  0.00000000e+00,
       -1.12342863e-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([ 0.00630466, -0.07591569,  0.06180572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.93228835e-05,-1.35093094e-03,-2.56193022e-04,-2.53001182e-05,
  2.68565262e-06, 1.07914185e-04, 4.53888179e-05,-3.41325676e-05,
 -1.50829850e-05, 1.70952516e-05, 3.88541506e-06,-5.97679076e-05,
  7.59980007e-05, 9.21672610e-06,-4.90361585e+00, 4.27750723e-04,
  3.34475042e-03,-6.48665532e-04]


--- Step 1849 ---
qpos:
[ 0.01868135, 0.03003115,-0.0094238 ,-0.02526082,-0.0033603 , 1.31770328,
 -0.02940083, 0.94289095, 0.01158726, 0.0273236 ,-0.00827461, 0.02646889,
  1.38426104, 0.00764051, 1.26748141, 0.04458422,-0.08615492,-0.04849907,
  0.09346793, 0.70626474,-0.08217445,-0.69680802,-0.09431896]

qacc:
[ -12.94874381,   1.39682627,  -5.4333907 ,  10.94388991,  -0.16481966,
  -14.15484195,  30.79423081, -26.50248269,   0.38436077,  -0.26257149,
    1.64762586,  -2.96741594,  -0.27860651,   0.46068209,  -1.02406695,
    3.37599617,  -4.0438989 ,   1.20995054,  -3.08994372,   3.33998401,
 -133.61978306,  16.51084739]

qfrc_actuator:
[ 7.26903972e-05, 9.18518686e-04, 1.78249763e-04,-2.06003394e-05,
 -7.38553377e-05, 5.83489297e-02, 1.05896949e-02, 2.73573637e-03,
 -9.54437781e-05, 9.01967761e-04, 2.51733518e-04, 3.54537551e-05,
  5.33146634e-04,-1.54117671e-03, 0.00000000e+00,-1.33803942e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038615110562947516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43754998e-14,  1.43754998e-14,  1.00000000e+00, -2.06654993e-28,
        1.00000000e+00, -1.43754998e-14, -1.00000000e+00,  0.00000000e+00,
        1.43754998e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00630956, -0.07579503,  0.06180568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.75827751e-05,-1.30137649e-03,-2.99246139e-04,-7.69756211e-05,
  2.32578943e-06, 3.94324720e-05, 1.97828524e-05,-2.82926944e-08,
 -6.68434744e-06, 1.86059153e-05,-8.49857005e-06, 1.40370621e-05,
  4.30900934e-05,-7.80460909e-05,-4.90364530e+00,-2.61430007e-05,
  3.32850612e-03,-6.34469949e-04]


--- Step 1850 ---
qpos:
[ 0.01868053, 0.0300305 ,-0.00942277,-0.02526082,-0.00336153, 1.31818128,
 -0.02940212, 0.9429096 , 0.01158682, 0.02732439,-0.00827398, 0.02646867,
  1.38434182, 0.00764139, 1.26761111, 0.04458091,-0.08616915,-0.04843052,
  0.09343696, 0.70603572,-0.08296201,-0.69706143,-0.09346784]

qacc:
[  -7.95273357,  -2.0524915 ,   8.96240436, -16.81751484,  -0.13343284,
  -13.03877721,  29.07728721, -32.61698691,   0.25027018,   1.5404315 ,
   -6.70123821,  12.82839161,  -0.61626194,   0.81834075,   9.02931144,
  -30.78920985,  -3.64123258,   1.02392282,  -3.78206384,   1.86199947,
 -120.05414538,   9.152173  ]

qfrc_actuator:
[ 2.71126075e-05, 8.77076408e-04, 1.83543680e-04,-4.50341715e-05,
 -8.43510264e-05, 5.78603055e-02, 1.05518273e-02, 2.67523554e-03,
 -9.39584419e-05, 8.84254169e-04, 2.29373412e-04, 5.01247022e-05,
  5.12582083e-04,-1.53140306e-03, 0.00000000e+00,-1.48717149e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038169520954434094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45433188e-14, -1.57428416e-07,  1.00000000e+00,  2.28953164e-21,
        1.00000000e+00,  1.57428416e-07, -1.00000000e+00,  3.76158192e-37,
        1.45433188e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00666059, -0.07467623,  0.06180763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.85608805e-05,-1.27304290e-03,-3.29387456e-04,-1.09472946e-04,
  1.56935374e-06, 8.38819811e-06,-1.17966805e-05, 1.70423142e-05,
 -1.98602865e-05, 1.38012318e-05,-4.82168827e-06,-1.50002468e-04,
  6.42307921e-05,-1.72269190e-04,-4.90348918e+00,-4.53708607e-04,
  3.30819050e-03,-6.18890398e-04]


--- Step 1851 ---
qpos:
[ 0.01868021, 0.03002972,-0.00942189,-0.02526108,-0.00336284, 1.31864942,
 -0.02940375, 0.94292769, 0.01158744, 0.02732508,-0.00827377, 0.02646831,
  1.38442253, 0.00764193, 1.26774103, 0.04457382,-0.08616297,-0.04836637,
  0.09342561, 0.70603385,-0.08371399,-0.69708069,-0.09266435]

qacc:
[ 4.23056238e+00,-2.96951024e-01, 1.85873478e+00,-5.83458988e+00,
 -3.58725559e-02,-1.29685374e+01, 2.78254206e+01,-2.43363224e+01,
  8.99755195e+00, 7.67334034e-01,-2.40332694e+00, 9.45523490e-01,
 -1.38976587e-01,-6.16184139e-02, 1.17274303e+01,-4.05533553e+01,
  5.10322093e+00,-1.09767239e+00, 4.90513275e+00,-5.56571125e+00,
  1.65468215e+02,-8.88705314e+00]

qfrc_actuator:
[ 5.39081542e-05, 8.52520945e-04, 1.68322443e-04,-5.94396434e-05,
 -7.22135970e-05, 5.73996978e-02, 1.05478509e-02, 2.64993873e-03,
 -3.96522806e-05, 8.55493785e-04, 1.98104236e-04, 4.10634490e-05,
  4.97349145e-04,-1.56156522e-03, 0.00000000e+00,-1.68015022e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003904126453503791
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13897368, -0.03470756,  0.06180352])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.06164547e-05,-1.23614627e-03,-2.94323731e-04,-7.50710618e-05,
  5.43579106e-05,-2.58122976e-05,-3.04163826e-05,-8.78110088e-06,
 -2.27119968e-05,-3.04406333e-05,-2.25861477e-05,-2.02775993e-04,
  1.19978603e-04,-2.66633549e-04,-4.90323134e+00,-8.49547587e-04,
  3.28852303e-03,-6.02178040e-04]


--- Step 1852 ---
qpos:
[ 0.01867986, 0.03002922,-0.00942138,-0.02526154,-0.00336386, 1.31910785,
 -0.02940528, 0.942946  , 0.01158836, 0.02732549,-0.00827411, 0.02646754,
  1.38450335, 0.00764204, 1.26787068, 0.04456545,-0.08613874,-0.04830611,
  0.09342704, 0.70623293,-0.08443576,-0.69689308,-0.09190038]

qacc:
[-2.02046072e-01, 9.84573057e-01,-2.09942200e+00,-1.08284927e+00,
  1.30515055e-01,-1.26277683e+01, 2.53196241e+01,-1.32418363e+01,
  2.56530274e+00, 3.02407920e-01, 1.22290435e-01,-6.22517889e+00,
  2.87928284e-01,-5.68672419e-01, 3.45852871e+00,-1.27283133e+01,
  4.50899583e+00,-9.73041147e-01, 3.19609147e+00,-4.27875929e+00,
  1.46116282e+02,-6.51115362e+00]

qfrc_actuator:
[ 5.20666998e-05, 8.91430627e-04, 1.58918624e-04,-6.78312011e-05,
 -2.88469593e-05, 5.69419840e-02, 1.05640694e-02, 2.66335958e-03,
 -2.57013664e-05, 8.20264919e-04, 1.61758266e-04, 1.80929754e-05,
  5.11936240e-04,-1.57968150e-03, 0.00000000e+00,-1.73758146e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.59402502, -0.85411407, -8.59402502,  9.30454141,
       -6.72314935, -0.85411407, -6.72314935, 76.28413507,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039344094605889765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.05457220e-15,  1.41091444e-14,  1.00000000e+00, -9.95339779e-29,
        1.00000000e+00, -1.41091444e-14, -1.00000000e+00,  0.00000000e+00,
        7.05457220e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13893413, -0.03472831,  0.06180209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.70679204e-05,-1.20486068e-03,-2.61893790e-04,-3.34334130e-05,
  1.55380019e-05,-5.63283590e-05,-4.57394218e-05,-2.53033290e-05,
 -5.15993014e-06,-3.18661516e-05,-3.56438262e-05,-7.22254091e-05,
  4.50574402e-05,-1.32150266e-04,-4.90353199e+00,-2.92738043e-04,
  3.30531599e-03,-5.63610882e-04]


--- Step 1853 ---
qpos:
[ 0.01867915, 0.03002895,-0.00942074,-0.02526213,-0.00336462, 1.31955674,
 -0.02940697, 0.94296366, 0.01158875, 0.02732584,-0.008275  , 0.02646613,
  1.38458412, 0.00764236, 1.26800026, 0.0445554 ,-0.08609848,-0.04824932,
  0.09343546, 0.70661077,-0.08513161,-0.69652134,-0.09116936]

qacc:
[-3.12184189e+00,-2.94579445e-01, 2.03663400e+00,-4.59325116e+00,
  1.06748609e-01,-1.32319024e+01, 2.94236936e+01,-2.72408413e+01,
 -4.53000336e+00, 1.63137315e-01, 2.05886203e+00,-1.23083310e+01,
 -2.93985206e-01, 4.50070170e-01, 5.00092645e+00,-1.75990338e+01,
  4.01180010e+00,-8.67065850e-01, 1.74636275e+00,-3.24131250e+00,
  1.29896278e+02,-4.68364668e+00]

qfrc_actuator:
[ 3.33607321e-05, 9.14806205e-04, 1.71045932e-04,-7.25574535e-05,
 -2.03580835e-05, 5.64720662e-02, 1.05566059e-02, 2.62844511e-03,
 -5.33849469e-05, 8.34642048e-04, 1.40418350e-04,-1.28841481e-05,
  5.23098468e-04,-1.55483131e-03, 0.00000000e+00,-1.82118305e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.55296207,  -1.19733736,  -8.55296207,
        10.06274293, -10.18908152,  -1.19733736, -10.18908152,
        81.42021749,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0039163152225050735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.41743318e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.41743318e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13896094, -0.03472954,  0.06180292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.02730280e-05,-1.19207483e-03,-2.74525556e-04,-7.89250775e-05,
 -2.72444175e-05,-2.76552324e-05,-3.94833303e-05,-3.54649839e-05,
  7.24999557e-08, 1.47231700e-05,-2.54547585e-05,-9.24242574e-05,
  4.37168781e-05,-2.89662472e-05,-4.90357139e+00, 1.88436485e-04,
  3.32384870e-03,-5.27088766e-04]


--- Step 1854 ---
qpos:
[ 0.01867788, 0.03002881,-0.00942025,-0.0252617 ,-0.00336534, 1.31999614,
 -0.02940963, 0.94298081, 0.01158915, 0.02732601,-0.00827616, 0.02646435,
  1.3846647 , 0.00764299, 1.2681291 , 0.04454908,-0.08604382,-0.04819563,
  0.09344595, 0.70714862,-0.08580495,-0.69598437,-0.09046599]

qacc:
[-4.83914741e+00, 2.68181898e+00,-1.36023171e+01, 3.13220265e+01,
  1.94424258e-02,-1.07169245e+01, 2.09298645e+01,-1.80033372e+01,
  7.92763404e-02,-2.60223834e-01, 2.10371416e+00,-7.83328413e+00,
 -2.60780843e-02, 1.72492741e-01,-1.23538231e+01, 4.16498168e+01,
  3.59560407e+00,-7.76921093e-01, 5.19295369e-01,-2.39853849e+00,
  1.16301874e+02,-3.27511338e+00]

qfrc_actuator:
[ 4.88692226e-06, 9.11045314e-04, 1.60239421e-04,-2.18245083e-05,
 -3.28622064e-05, 5.59807710e-02, 1.04996385e-02, 2.60083371e-03,
 -5.20813364e-05, 8.25403356e-04, 1.28304567e-04,-3.05179022e-05,
  5.10913676e-04,-1.54016712e-03, 0.00000000e+00,-1.61777643e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.49877844,  -1.53542887,  -8.49877844,
        11.1775771 , -14.06591382,  -1.53542887, -14.06591382,
        86.49284215,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00385956859822896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87654694e-14, -1.43827347e-14,  1.00000000e+00,  4.13726115e-28,
        1.00000000e+00,  1.43827347e-14, -1.00000000e+00,  0.00000000e+00,
        2.87654694e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13904048, -0.03471549,  0.06180554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.28061793e-06,-1.21014433e-03,-3.24288247e-04,-7.26767511e-05,
  4.98975511e-07,-3.43868921e-05,-2.39057032e-05,-2.08696902e-05,
 -9.61299770e-06, 1.94266340e-05,-2.39277247e-05, 1.94576348e-04,
  9.39368201e-05, 5.11278490e-05,-4.90342834e+00, 6.10908479e-04,
  3.34455711e-03,-4.92135010e-04]


--- Step 1855 ---
qpos:
[ 0.01867593, 0.03002848,-0.00942001,-0.02526062,-0.00336609, 1.32042632,
 -0.02941317, 0.94299817, 0.01158956, 0.02732595,-0.00827752, 0.02646342,
  1.38474498, 0.00764391, 1.26825723, 0.04454954,-0.08601061,-0.04813719,
  0.09345239, 0.70744016,-0.08650248,-0.6956949 ,-0.08974603]

qacc:
[-5.80508867e+00, 1.81433326e+00,-9.53093052e+00, 2.12825464e+01,
 -1.35781889e-02,-9.34098422e+00, 1.54490283e+01,-5.19280196e+00,
  1.02720647e-01, 2.00203988e+00,-1.11328957e+01, 2.61807654e+01,
  1.52788183e-01,-9.18233609e-02,-2.15961429e+01, 7.39655619e+01,
 -5.35986027e+00, 1.19025435e+00,-1.01607094e+00,-2.15606501e+00,
 -1.75031739e+02,-7.48142149e+00]

qfrc_actuator:
[-2.91025723e-05, 8.73270847e-04, 1.35897593e-04, 7.83311682e-06,
 -4.01039748e-05, 5.55514429e-02, 1.04671035e-02, 2.61321287e-03,
 -5.14652114e-05, 8.19904248e-04, 1.21657006e-04, 1.30888202e-05,
  4.90060744e-04,-1.53181523e-03, 0.00000000e+00,-1.26465469e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003937139738616189
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.13702258e-07,  6.13702300e-07,  1.00000000e+00,  3.76630488e-13,
        1.00000000e+00, -6.13702300e-07, -1.00000000e+00,  5.04870979e-29,
       -6.13702258e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00733982, -0.07129965,  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:
[-3.48309359e-05,-2.62786573e-05,-1.92198576e-05, 3.13446440e-05,
 -4.17691842e-06,-1.16764373e-03,-3.08855713e-04,-3.45581095e-05,
  6.19591532e-07,-3.05481067e-05,-1.74013411e-05, 4.09060160e-05,
 -2.11148768e-05, 1.17943410e-05, 9.89188645e-06, 3.60747104e-04,
  1.80788947e-04, 1.13946569e-04,-4.90315813e+00, 9.87213602e-04,
  3.36765942e-03,-4.58393902e-04]


--- Step 1856 ---
qpos:
[ 0.01867428, 0.03002785,-0.00941964,-0.02526024,-0.00336689, 1.32084717,
 -0.02941622, 0.94301445, 0.01158964, 0.02732564,-0.00827869, 0.02646298,
  1.38482499, 0.00764519, 1.26838596, 0.04454919,-0.08599627,-0.04807454,
  0.09345053, 0.70751523,-0.08722031,-0.69562308,-0.08901323]

qacc:
[ 2.55504832e+00,-2.20483033e+00, 1.02099042e+01,-2.22507270e+01,
 -2.15294880e-02,-1.54499239e+01, 3.78003077e+01,-3.93666241e+01,
 -2.89613668e+00, 1.45235354e-01,-3.10197227e+00, 1.16444681e+01,
 -5.57190102e-01, 7.95971564e-01, 3.40038777e+00,-1.04603552e+01,
 -4.71700123e+00, 1.04986785e+00,-2.07060461e+00,-2.30422245e+00,
 -1.53746543e+02,-7.51914434e+00]

qfrc_actuator:
[-1.28054597e-05, 8.50843572e-04, 1.39100009e-04,-2.84523476e-05,
 -4.41283004e-05, 5.51095412e-02, 1.05027890e-02, 2.56031386e-03,
 -6.90205374e-05, 8.16769468e-04, 1.36091442e-04, 3.91235572e-05,
  4.80000218e-04,-1.50958297e-03, 0.00000000e+00,-1.32332446e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039930062773112784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.78041893e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.78041893e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00726115, -0.0711159 ,  0.06179957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.52868295e-06,-1.15246164e-03,-2.29429261e-04,-9.72363407e-05,
 -1.75506055e-05,-2.20371474e-05, 7.41552272e-06, 2.49249583e-05,
 -1.68012694e-05, 2.02214916e-05, 4.28447399e-05,-3.77073675e-05,
  5.53785042e-05, 3.10934517e-05,-4.90358326e+00, 4.28176484e-04,
  3.38267152e-03,-4.47138874e-04]


--- Step 1857 ---
qpos:
[ 0.01867318, 0.0300271 ,-0.00941932,-0.02526031,-0.00336775, 1.32125887,
 -0.02941887, 0.94302894, 0.0115895 , 0.02732508,-0.00827905, 0.02646213,
  1.38490471, 0.00764678, 1.2685151 , 0.04454653,-0.08599859,-0.04800813,
  0.09343678, 0.70739914,-0.08795621,-0.69574328,-0.08826919]

qacc:
[ 4.74047719e+00,-9.64662139e-01, 5.08462526e+00,-1.26684936e+01,
 -1.95367170e-02,-1.61422871e+01, 4.18674046e+01,-5.14373613e+01,
 -1.77440610e+00,-3.40487824e+00, 1.34118052e+01,-2.16889711e+01,
 -6.32511300e-01, 8.40785120e-01, 7.65093258e+00,-2.57316747e+01,
 -4.16692886e+00, 9.41367074e-01,-2.97595541e+00,-2.27604923e+00,
 -1.35717550e+02,-6.62407209e+00]

qfrc_actuator:
[ 1.52085082e-05, 8.55573894e-04, 1.40797557e-04,-4.99572516e-05,
 -4.61894448e-05, 5.46639147e-02, 1.05251181e-02, 2.46944491e-03,
 -7.93781945e-05, 8.15159949e-04, 1.80599527e-04, 1.91115542e-05,
  4.60446712e-04,-1.49697830e-03, 0.00000000e+00,-1.44666366e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003991356308628298
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39078416e-14,  1.39078416e-14,  1.00000000e+00, -1.93428057e-28,
        1.00000000e+00, -1.39078416e-14, -1.00000000e+00,  0.00000000e+00,
        1.39078416e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0072652 , -0.07111405,  0.06179964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.95035275e-06,-1.13406255e-03,-2.32603705e-04,-1.33887135e-04,
 -1.08829892e-05,-1.13130733e-05, 4.17507284e-05,-2.02097235e-05,
 -2.28481618e-05, 1.43997837e-05, 9.88569022e-06,-1.21209945e-04,
  1.11817600e-05,-5.99146642e-05,-4.90371802e+00,-4.66793319e-05,
  3.39062318e-03,-4.34220470e-04]


--- Step 1858 ---
qpos:
[ 0.01867242, 0.03002621,-0.00941928,-0.02526061,-0.00336849, 1.32166212,
 -0.02942215, 0.94304293, 0.01158923, 0.02732433,-0.00827916, 0.02646107,
  1.38498423, 0.00764811, 1.26864374, 0.04454678,-0.08601572,-0.04793833,
  0.09340804, 0.70711303,-0.08870831,-0.69603382,-0.08751528]

qacc:
[ 2.95103501e+00, 7.45964756e-02, 4.54453823e-01,-4.02837685e+00,
  4.74274402e-02,-1.02804324e+01, 2.11722166e+01,-1.89335840e+01,
 -1.04155085e+00,-1.40698950e+00, 5.53588482e+00,-9.38844207e+00,
  2.58816178e-01,-5.19392536e-01,-9.59849106e+00, 3.24077170e+01,
 -3.70092365e+00, 8.48283586e-01,-3.74744592e+00,-2.25723540e+00,
 -1.20538737e+02,-5.86771350e+00]

qfrc_actuator:
[ 3.21255389e-05, 8.41031229e-04, 1.23962741e-04,-6.25636468e-05,
 -2.93036715e-05, 5.42728493e-02, 1.05038347e-02, 2.44571119e-03,
 -8.54103917e-05, 7.96820085e-04, 1.89223319e-04, 7.69382745e-06,
  4.35208822e-04,-1.52574203e-03, 0.00000000e+00,-1.28743527e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003943528151704741
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.03825979e-15, -7.03825979e-15,  1.00000000e+00,  4.95371009e-29,
        1.00000000e+00,  7.03825979e-15, -1.00000000e+00,  0.00000000e+00,
        7.03825979e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00737372, -0.07113851,  0.06180173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.33379277e-05,-1.07097766e-03,-2.74043676e-04,-6.71561289e-05,
 -6.35807607e-06,-1.68856716e-05, 1.07431718e-05,-1.08468396e-05,
 -3.37357208e-05,-2.97337395e-05,-1.32950767e-05, 1.52770402e-04,
  2.38679181e-05,-1.53868407e-04,-4.90364751e+00,-4.51862210e-04,
  3.39168656e-03,-4.19939730e-04]


--- Step 1859 ---
qpos:
[ 0.01867256, 0.03002513,-0.00941945,-0.02526072,-0.00336893, 1.32205731,
 -0.02942566, 0.94305716, 0.01158925, 0.02732355,-0.00827977, 0.02646027,
  1.38506378, 0.00764881, 1.26877221, 0.04454924,-0.08601251,-0.04787324,
  0.09339899, 0.70705809,-0.08944027,-0.69608729,-0.08678577]

qacc:
[ 7.70500070e+00, 7.58886774e-01,-3.92804637e+00, 7.87929937e+00,
  1.26145843e-01,-9.49837049e+00, 1.77025256e+01,-7.37988400e+00,
  2.32550374e+00, 1.89579488e+00,-7.89679840e+00, 1.31076328e+01,
  6.06611746e-01,-1.08751858e+00,-6.97557200e+00, 2.38810595e+01,
  5.08535662e+00,-1.17770712e+00, 4.92519756e+00,-1.49056420e+00,
  1.66232310e+02, 4.99779609e+00]

qfrc_actuator:
[ 7.78764937e-05, 8.32748824e-04, 1.14005995e-04,-5.21091696e-05,
 -1.18893385e-06, 5.39174922e-02, 1.05105049e-02, 2.46168744e-03,
 -7.10980748e-05, 7.86225657e-04, 1.58773973e-04, 1.91416605e-05,
  4.38517499e-04,-1.56113036e-03, 0.00000000e+00,-1.17599614e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038784658496844523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.4312657e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.4312657e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13901506, -0.03473728,  0.06180455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.59331254e-05,-1.00639923e-03,-2.36493689e-04,-2.52322287e-05,
  1.41175397e-05,-1.82551003e-05,-3.29771129e-05, 1.08893056e-05,
 -2.05306843e-05,-5.21234136e-05, 9.31607097e-06, 1.17891602e-04,
  7.53396079e-05,-2.47335928e-04,-4.90343573e+00,-8.00713826e-04,
  3.38667336e-03,-4.04582047e-04]


--- Step 1860 ---
qpos:
[ 0.01867291, 0.03002405,-0.00941984,-0.02526073,-0.00336921, 1.32244469,
 -0.02942869, 0.94307177, 0.01158943, 0.02732351,-0.00828088, 0.02645985,
  1.3851432 , 0.00764928, 1.26890085, 0.04455168,-0.0859913 ,-0.04781225,
  0.09340281, 0.70720742,-0.09015489,-0.69593143,-0.08607673]

qacc:
[ 1.73352940e+00, 8.14058038e-01,-3.34835015e+00, 5.47677020e+00,
  7.15637577e-02,-1.09219717e+01, 2.24805170e+01,-1.02386127e+01,
  1.42986623e+00, 3.16157504e+00,-1.14662158e+01, 1.83837510e+01,
  3.03265597e-02,-2.09410923e-01, 3.17786971e-01,-7.46491265e-01,
  4.49894987e+00,-1.02770619e+00, 3.21644446e+00,-9.45909889e-01,
  1.46767855e+02, 4.94878258e+00]

qfrc_actuator:
[ 8.69782303e-05, 8.46076622e-04, 1.08231618e-04,-4.59127878e-05,
 -2.07176476e-06, 5.35687857e-02, 1.05515628e-02, 2.48318175e-03,
 -6.26798636e-05, 8.86718066e-04, 1.58808448e-04, 4.39333939e-05,
  4.37637400e-04,-1.56450941e-03, 0.00000000e+00,-1.18244723e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003911570073762881
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41915267e-14,  2.83830534e-14,  1.00000000e+00,  4.02798861e-28,
        1.00000000e+00, -2.83830534e-14, -1.00000000e+00,  0.00000000e+00,
       -1.41915267e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13896936, -0.03474976,  0.061803  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.02518072e-05,-9.55347918e-04,-1.83955344e-04,-1.57117607e-05,
  8.82296696e-06, 8.39810088e-05,-7.40384714e-06, 2.30846375e-05,
 -2.30863729e-05,-2.37220533e-05, 1.48448518e-05, 7.12236983e-07,
  2.13055191e-06,-1.12777465e-04,-4.90370850e+00,-3.00302062e-04,
  3.38564173e-03,-3.68947790e-04]


--- Step 1861 ---
qpos:
[ 0.01867336, 0.03002305,-0.00942031,-0.02526171,-0.00336954, 1.32282467,
 -0.02943195, 0.94308619, 0.01158937, 0.0273242 ,-0.00828148, 0.02645932,
  1.3852223 , 0.00764995, 1.26902956, 0.04455404,-0.08595406,-0.04775488,
  0.0934137 , 0.70753828,-0.09085438,-0.6955893 ,-0.08538498]

qacc:
[ 9.12484896e-01,-1.68812156e+00, 1.03237563e+01,-2.72546112e+01,
 -2.13384444e-02,-9.44724105e+00, 1.94737777e+01,-1.44459711e+01,
 -2.08923652e+00,-6.73517152e-01, 4.25068056e+00,-7.50986324e+00,
 -3.93284269e-01, 4.80232764e-01, 3.52385271e-01,-1.02104418e+00,
  4.00789829e+00,-9.01857423e-01, 1.76678964e+00,-4.93329589e-01,
  1.30458136e+02, 4.83482368e+00]

qfrc_actuator:
[ 9.21793330e-05, 8.54510383e-04, 1.05054628e-04,-9.55122131e-05,
 -2.03426386e-05, 5.32092931e-02, 1.05416124e-02, 2.47225677e-03,
 -7.55569519e-05, 9.46575205e-04, 1.95072356e-04, 4.09915598e-05,
  4.23605203e-04,-1.54883936e-03, 0.00000000e+00,-1.18728049e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003896077166853952
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84959198e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.84959198e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13899118, -0.03474516,  0.06180373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.37318866e-06,-9.27264592e-04,-2.18705604e-04,-4.48450022e-05,
 -1.25913607e-05, 1.06298423e-04, 5.35122833e-05, 8.53315905e-07,
 -3.11293403e-05, 3.22337987e-06, 3.19094976e-06,-3.74376886e-06,
  1.87831107e-06,-5.52705419e-06,-4.90372620e+00, 1.53505843e-04,
  3.38995313e-03,-3.34154501e-04]


--- Step 1862 ---
qpos:
[ 0.01867387, 0.0300225 ,-0.00942129,-0.02526331,-0.00337014, 1.32319764,
 -0.02943579, 0.94310071, 0.01158949, 0.02732523,-0.00828118, 0.02645843,
  1.38530132, 0.00765047, 1.26915841, 0.04455498,-0.08593571,-0.04769296,
  0.09341645, 0.70765121,-0.09157421,-0.69546638,-0.08467847]

qacc:
[ 4.80459076e-01, 7.97952606e-01, 5.71787794e-01,-1.05240945e+01,
 -1.11894541e-01,-7.44117637e+00, 1.29550872e+01,-5.69257263e+00,
  1.65293853e+00,-2.82886447e+00, 1.22635010e+01,-2.01764196e+01,
 -9.12729902e-02,-4.26457471e-03, 4.51209159e+00,-1.54454862e+01,
 -4.72481066e+00, 1.13465015e+00,-2.03578081e+00,-2.60743438e+00,
 -1.54881798e+02,-6.97175099e+00]

qfrc_actuator:
[ 9.50548746e-05, 8.95423419e-04, 8.56324391e-05,-1.24286325e-04,
 -4.88944560e-05, 5.28815528e-02, 1.05193237e-02, 2.47780096e-03,
 -6.53583766e-05, 9.46281187e-04, 2.34526965e-04, 2.17525152e-05,
  4.23007608e-04,-1.55757144e-03, 0.00000000e+00,-1.26208980e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039068280227454455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.10437610e-15,  1.42087522e-14,  1.00000000e+00, -1.00944319e-28,
        1.00000000e+00, -1.42087522e-14, -1.00000000e+00,  0.00000000e+00,
        7.10437610e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00745405, -0.07115583,  0.06180329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.23418718e-05,-8.87595059e-04,-2.30350143e-04,-2.92371003e-05,
  9.86608177e-06, 7.02180081e-05, 6.80334572e-05,-1.28140290e-05,
 -1.56109919e-05,-1.50355739e-05,-2.41427193e-06,-7.53936809e-05,
  5.28363150e-05, 8.13121877e-05,-4.90356613e+00, 5.67631792e-04,
  3.39906519e-03,-3.00048586e-04]


--- Step 1863 ---
qpos:
[ 0.01867304, 0.03002231,-0.00942259,-0.0252642 ,-0.00337103, 1.32356331,
 -0.02943922, 0.94311447, 0.01158974, 0.02732627,-0.00828048, 0.02645809,
  1.38538052, 0.00765033, 1.26928702, 0.0445567 ,-0.08593408,-0.047627  ,
  0.09340743, 0.70757167,-0.09231256,-0.69553693,-0.08395894]

qacc:
[-1.15815293e+01, 2.79828938e+00,-1.22175836e+01, 2.45417227e+01,
 -1.23817685e-01,-1.20071459e+01, 2.91564117e+01,-2.94684967e+01,
  1.05044669e+00, 2.35207214e-02,-2.39209554e+00, 1.12443821e+01,
  6.50251207e-01,-1.11276851e+00,-2.75493174e+00, 8.93695764e+00,
 -4.17671778e+00, 1.01259943e+00,-2.94120537e+00,-2.64384280e+00,
 -1.36757998e+02,-5.95489819e+00]

qfrc_actuator:
[ 2.55299046e-05, 9.19915176e-04, 7.46830045e-05,-8.72933999e-05,
 -6.56282680e-05, 5.25221767e-02, 1.05433494e-02, 2.43975696e-03,
 -5.94052208e-05, 9.09976831e-04, 2.39778075e-04, 4.62847387e-05,
  4.30460314e-04,-1.59844089e-03, 0.00000000e+00,-1.21774072e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.30129014,  7.48903732, -4.30129014, 61.99517226,
       30.64635779,  7.48903732, 30.64635779, 26.2379419 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003913476791842167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.09230617e-15, -2.83692247e-14,  1.00000000e+00,  2.01203228e-28,
        1.00000000e+00,  2.83692247e-14, -1.00000000e+00,  0.00000000e+00,
        7.09230617e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00743907, -0.07115261,  0.061803  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.58266065e-05,-8.99037784e-04,-1.77131225e-04,-7.16231371e-05,
  6.26781472e-06, 1.64310568e-05, 2.76780423e-05, 2.96445927e-05,
 -4.38316380e-06,-4.87610167e-05,-1.26302008e-05, 3.91167128e-05,
 -7.48998312e-06,-1.50879599e-05,-4.90374605e+00, 9.18815713e-05,
  3.40873735e-03,-2.87346488e-04]


--- Step 1864 ---
qpos:
[ 0.01867172, 0.03002203,-0.00942354,-0.02526463,-0.00337217, 1.32392121,
 -0.02944182, 0.94312735, 0.01158972, 0.02732709,-0.00827984, 0.0264588 ,
  1.38545967, 0.00764974, 1.26941525, 0.04456124,-0.08594729,-0.0475574 ,
  0.09338356, 0.70732096,-0.09306786,-0.69577911,-0.08322783]

qacc:
[-4.12352239e+00,-1.06184521e-01,-1.72501422e+00, 9.21924439e+00,
 -1.05681614e-01,-1.39300970e+01, 3.49269122e+01,-3.55892124e+01,
 -2.34281241e+00, 2.05495860e+00,-1.21848462e+01, 3.06273783e+01,
  4.81301914e-01,-8.47646129e-01,-9.19982519e+00, 3.12253335e+01,
 -3.71249681e+00, 9.08636885e-01,-3.71287184e+00,-2.66654568e+00,
 -1.21500867e+02,-5.12005018e+00]

qfrc_actuator:
[ 2.71120366e-06, 8.98969664e-04, 8.65694220e-05,-6.51625658e-05,
 -7.51367179e-05, 5.21114039e-02, 1.05766354e-02, 2.39412603e-03,
 -7.37589074e-05, 8.70023176e-04, 2.24657214e-04, 9.63164728e-05,
  4.21418919e-04,-1.62250431e-03, 0.00000000e+00,-1.06800698e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.46269925,  7.39399028, -4.46269925, 65.14273554,
       34.10485193,  7.39399028, 34.10485193, 29.22060725,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038733411857202193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.16579673e-15, -1.43315935e-14,  1.00000000e+00,  1.02697286e-28,
        1.00000000e+00,  1.43315935e-14, -1.00000000e+00,  0.00000000e+00,
        7.16579673e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00753061, -0.07117599,  0.06180478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.06565412e-05,-9.47572187e-04,-1.65287006e-04,-7.89858614e-05,
 -1.41627825e-05,-2.38196657e-05,-7.31153857e-06, 5.22671535e-05,
 -2.29750124e-05,-3.93312536e-05,-3.01230062e-06, 1.49909274e-04,
 -8.22454594e-06,-1.12429930e-04,-4.90371172e+00,-3.15076680e-04,
  3.41171070e-03,-2.73274294e-04]


--- Step 1865 ---
qpos:
[ 0.01867082, 0.03002165,-0.00942374,-0.02526481,-0.0033735 , 1.32427129,
 -0.02944426, 0.94314068, 0.01158952, 0.02732795,-0.00827943, 0.02645939,
  1.38553845, 0.0076496 , 1.26954434, 0.04456016,-0.08594054,-0.04749231,
  0.09337835, 0.70729817,-0.09381073,-0.69578791,-0.0825108 ]

qacc:
[ 3.67456578e+00,-1.76631951e+00, 5.07379597e+00,-2.02799489e+00,
 -7.98340812e-02,-9.94060716e+00, 1.91474986e+01,-6.61990102e+00,
 -1.47582558e+00, 4.45428140e-01,-9.80398211e-01,-7.86534521e-01,
 -1.06976891e+00, 1.40522186e+00, 1.84065476e+01,-6.22719928e+01,
  4.99196323e+00,-1.12529706e+00, 4.66540981e+00, 3.89981768e-01,
  1.63004380e+02, 1.10440295e+01]

qfrc_actuator:
[ 2.53420438e-05, 9.04320699e-04, 1.29385637e-04,-5.19896851e-05,
 -8.02350502e-05, 5.17086932e-02, 1.05794002e-02, 2.41537697e-03,
 -8.21963422e-05, 8.81365355e-04, 2.15369989e-04, 8.99157967e-05,
  4.13147510e-04,-1.58318403e-03, 0.00000000e+00,-1.37224401e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039491412409666665
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.4056512e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.4056512e-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([-0.13891624, -0.03476077,  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:
[ 2.19081663e-05, 1.17686863e-05, 4.66279672e-05, 1.44522374e-05,
 -2.32022887e-05,-9.64203749e-04,-2.04161137e-04,-1.33958767e-05,
 -8.85908093e-06,-1.29188874e-06,-1.33175911e-05,-6.66145761e-06,
 -2.88024945e-05, 2.22412075e-05, 1.34075242e-05,-2.96721731e-04,
  3.20593324e-05,-2.08117705e-04,-4.90352905e+00,-6.66671940e-04,
  3.40872837e-03,-2.58115204e-04]


--- Step 1866 ---
qpos:
[ 0.01866952, 0.03002137,-0.00942321,-0.02526452,-0.00337482, 1.32461383,
 -0.02944731, 0.94315452, 0.01158923, 0.02732866,-0.00827876, 0.02645955,
  1.38561707, 0.00764981, 1.26967375, 0.04455348,-0.08591611,-0.04743112,
  0.0933851 , 0.70747679,-0.09454284,-0.69559047,-0.08180554]

qacc:
[-3.50955644e+00,-9.17408527e-01, 1.44523152e+00, 5.60969632e+00,
  6.46767182e-03,-7.34879749e+00, 1.09210439e+01, 1.36556372e+00,
 -8.40285127e-01,-1.80379201e+00, 7.96608032e+00,-1.57597135e+01,
 -7.96088115e-01, 1.09744606e+00, 1.75254777e+01,-6.04107268e+01,
  4.42064752e+00,-9.77431931e-01, 2.99056882e+00, 6.48477222e-01,
  1.44000303e+02, 1.00730622e+01]

qfrc_actuator:
[ 3.51749470e-06, 9.25497352e-04, 1.72451379e-04,-2.64029020e-05,
 -6.48955081e-05, 5.13317176e-02, 1.05464322e-02, 2.44028812e-03,
 -8.70768798e-05, 8.70043046e-04, 2.27519586e-04, 6.81589042e-05,
  4.16020820e-04,-1.55979951e-03, 0.00000000e+00,-1.65749490e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003970975345543859
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.79584467e-14, -1.39792233e-14,  1.00000000e+00,  3.90837370e-28,
        1.00000000e+00,  1.39792233e-14, -1.00000000e+00,  0.00000000e+00,
        2.79584467e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13888575, -0.03476672,  0.06180021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.62749919e-06,-9.53236896e-04,-2.45634213e-04,-9.86449255e-06,
 -5.13638779e-06,-1.51222572e-05, 9.99584230e-06,-2.24065305e-05,
 -7.25242187e-06, 2.35928341e-05,-3.24519742e-05,-3.01321724e-04,
 -2.12463370e-05,-7.55949100e-05,-4.90372259e+00,-1.80486570e-04,
  3.40323653e-03,-2.22636944e-04]


--- Step 1867 ---
qpos:
[ 0.01866831, 0.03002117,-0.00942208,-0.02526426,-0.0033759 , 1.32494925,
 -0.02945095, 0.94316819, 0.01158922, 0.02732927,-0.00827829, 0.02646016,
  1.38569581, 0.00764977, 1.26980224, 0.04454941,-0.0858759 ,-0.04737335,
  0.09339814, 0.70783441,-0.09526546,-0.69520938,-0.08111016]

qacc:
[ 8.18345770e-01,-1.60783203e+00, 6.00629224e+00,-7.51125777e+00,
  9.96158293e-02,-8.08686222e+00, 1.54832374e+01,-1.11104412e+01,
  2.45762287e+00, 1.34732002e+00,-6.88947155e+00, 1.50849159e+01,
  5.20096585e-01,-7.19249023e-01,-9.35845871e+00, 3.06267112e+01,
  3.94211541e+00,-8.53729780e-01, 1.57021821e+00, 8.73628932e-01,
  1.28074864e+02, 9.21201904e+00]

qfrc_actuator:
[ 8.94434153e-06, 9.20505536e-04, 1.97638694e-04,-2.92088201e-05,
 -3.74211668e-05, 5.10085540e-02, 1.05282451e-02, 2.43162827e-03,
 -7.20742229e-05, 8.63059690e-04, 2.16638581e-04, 9.08073548e-05,
  4.20248594e-04,-1.58156926e-03, 0.00000000e+00,-1.50305937e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003945778336417974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.81369841e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.81369841e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13892061, -0.0347572 ,  0.06180139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.83982840e-05,-9.01304389e-04,-2.33312544e-04,-4.42508990e-05,
  1.48504219e-05,-1.43717392e-05,-1.35653308e-05, 2.19069383e-05,
  4.43950301e-06,-1.57499133e-05,-5.12844540e-05, 1.32855979e-04,
 -6.19936033e-06, 3.30673046e-05,-4.90367895e+00, 2.70564118e-04,
  3.40366955e-03,-1.87489973e-04]


--- Step 1868 ---
qpos:
[ 0.01866751, 0.0300209 ,-0.00942052,-0.02526435,-0.003377  , 1.32527799,
 -0.02945477, 0.94318159, 0.01159008, 0.02733011,-0.0082781 , 0.026461  ,
  1.38577428, 0.00765009, 1.26993034, 0.04454781,-0.08582153,-0.04731857,
  0.09341265, 0.70835213,-0.09597958,-0.69466345,-0.08042305]

qacc:
[ 3.61004578e+00,-2.03498199e+00, 8.60992680e+00,-1.53308129e+01,
 -6.25686967e-03,-8.74862247e+00, 1.84900863e+01,-1.48794389e+01,
  7.40533395e+00, 1.53731402e+00,-6.06757337e+00, 1.04053370e+01,
 -2.41137537e-01, 4.20938109e-01,-7.98224322e+00, 2.71496203e+01,
  3.54113704e+00,-7.50237612e-01, 3.68370558e-01, 1.07412069e+00,
  1.14730977e+02, 8.45910390e+00]

qfrc_actuator:
[ 3.03816903e-05, 8.99790839e-04, 2.11946484e-04,-4.87327476e-05,
 -5.61491728e-05, 5.07202616e-02, 1.05368912e-02, 2.42107888e-03,
 -2.77372082e-05, 8.94181282e-04, 2.10037471e-04, 1.03882396e-04,
  4.03966162e-04,-1.55896224e-03, 0.00000000e+00,-1.37484280e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038830702569797523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42956855e-14,  1.42956855e-14,  1.00000000e+00, -2.04366624e-28,
        1.00000000e+00, -1.42956855e-14, -1.00000000e+00,  0.00000000e+00,
        1.42956855e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13900732, -0.03473556,  0.0618043 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.02060170e-06,-8.36272391e-04,-1.95917166e-04,-4.50268474e-05,
  4.47691729e-05, 2.11973905e-05,-1.04973573e-05, 1.24117202e-05,
 -1.84013173e-05, 1.92980773e-05,-7.91777024e-06, 1.29233681e-04,
  5.68396694e-05, 1.23668517e-04,-4.90347094e+00, 6.89556929e-04,
  3.40934309e-03,-1.52646673e-04]


--- Step 1869 ---
qpos:
[ 0.01866664, 0.03002078,-0.00941912,-0.02526465,-0.00337819, 1.32560033,
 -0.0294584 , 0.94319576, 0.01159112, 0.02733129,-0.00827779, 0.0264616 ,
  1.38585234, 0.00765078, 1.27005849, 0.04454673,-0.0857882 ,-0.04725835,
  0.09342276, 0.7086266 ,-0.09671725,-0.69436257,-0.07971655]

qacc:
[-7.07230409e-01, 1.94153865e-01, 4.96224397e-01,-4.09454970e+00,
 -4.10212404e-02,-7.59056730e+00, 1.30251899e+01, 1.65990037e+00,
  1.53711095e+00,-3.80799754e-01, 3.02374373e+00,-7.61576535e+00,
 -5.18358170e-01, 7.07738247e-01,-1.45255208e+00, 5.30718961e+00,
 -5.25815137e+00, 1.36213235e+00,-1.09816308e+00,-3.42646614e+00,
 -1.73155671e+02,-6.49306986e+00]

qfrc_actuator:
[ 2.55570218e-05, 9.05255249e-04, 2.01890330e-04,-6.02007201e-05,
 -6.69370872e-05, 5.04375499e-02, 1.05614614e-02, 2.46280413e-03,
 -1.97534359e-05, 9.30140199e-04, 2.23920946e-04, 9.34990214e-05,
  3.75409636e-04,-1.54574364e-03, 0.00000000e+00,-1.35200379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039817791734191935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21986316e-14, -1.39412933e-14,  1.00000000e+00,  1.70064701e-28,
        1.00000000e+00,  1.39412933e-14, -1.00000000e+00,  0.00000000e+00,
        1.21986316e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00727518, -0.07112605,  0.06179989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.20099378e-05,-7.87372564e-04,-1.63028480e-04, 1.02708396e-05,
  9.30538930e-06, 4.61600429e-05, 1.73837686e-05,-9.60251229e-06,
 -3.31858878e-05, 1.45452257e-05, 8.65378937e-06, 2.85646418e-05,
  1.54072454e-04, 2.00389346e-04,-4.90314944e+00, 1.07978514e-03,
  3.41967641e-03,-1.18067799e-04]


--- Step 1870 ---
qpos:
[ 0.01866606, 0.03002106,-0.009418  ,-0.02526477,-0.00337935, 1.32591607,
 -0.02946135, 0.94321032, 0.01159156, 0.02733267,-0.00827781, 0.02646212,
  1.38593042, 0.00765087, 1.2701869 , 0.04454392,-0.08577336,-0.04719332,
  0.09342429, 0.70868763,-0.0974767 ,-0.69427679,-0.07899287]

qacc:
[ 2.50417918e+00, 1.68299399e+00,-6.03221207e+00, 9.40666107e+00,
  1.72506681e-02,-9.81278263e+00, 2.07521439e+01,-9.33694655e+00,
 -5.14282319e+00, 1.05259374e+00,-3.02787792e+00, 2.04671714e+00,
  2.39371286e-01,-6.39460471e-01, 5.54894088e+00,-1.89406149e+01,
 -4.62367256e+00, 1.20395367e+00,-2.14716776e+00,-3.50072119e+00,
 -1.52014101e+02,-5.25516516e+00]

qfrc_actuator:
[ 4.08134355e-05, 9.44002162e-04, 1.95393055e-04,-4.90766344e-05,
 -5.51199069e-05, 5.01073254e-02, 1.05952966e-02, 2.48170943e-03,
 -5.09931747e-05, 9.15531901e-04, 1.96548344e-04, 8.71726480e-05,
  3.66138885e-04,-1.59156238e-03, 0.00000000e+00,-1.44469569e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.97604389,  6.2348758 , -5.97604389, 34.12035705,
       24.42606206,  6.2348758 , 24.42606206, 32.04841283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004030445844924915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37729555e-14, -2.75459110e-14,  1.00000000e+00,  3.79388606e-28,
        1.00000000e+00,  2.75459110e-14, -1.00000000e+00,  0.00000000e+00,
        1.37729555e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00716373, -0.07110199,  0.06179774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.70738655e-06,-7.99683931e-04,-1.38820744e-04,-8.84064568e-06,
 -3.09472110e-05, 1.43428713e-05,-1.60467781e-05,-3.93847283e-06,
 -2.24567538e-05,-4.93539314e-05, 3.47338024e-06,-9.08066765e-05,
  2.29191790e-05, 9.26584094e-05,-4.90355590e+00, 5.19125764e-04,
  3.43754299e-03,-1.06396800e-04]


--- Step 1871 ---
qpos:
[ 0.01866601, 0.03002196,-0.00941737,-0.02526512,-0.00338028, 1.32622488,
 -0.02946419, 0.94322368, 0.01159162, 0.02733386,-0.00827769, 0.02646224,
  1.38600837, 0.00765067, 1.27031538, 0.04453937,-0.08577487,-0.047124  ,
  0.09341364, 0.70856012,-0.09825633,-0.69438072,-0.07825389]

qacc:
[ 4.53757556e+00, 1.72857380e+00,-4.01288912e+00, 4.20907340e-01,
  9.83730856e-02,-1.14561813e+01, 2.88594368e+01,-3.45981774e+01,
 -3.21519997e+00,-1.50790358e+00, 6.74464368e+00,-1.39232894e+01,
 -4.67041453e-02,-1.58854192e-01, 5.42119523e+00,-1.87841317e+01,
 -4.08714400e+00, 1.07012317e+00,-3.04283370e+00,-3.53450728e+00,
 -1.34216300e+02,-4.27098690e+00]

qfrc_actuator:
[ 6.77759210e-05, 9.84655659e-04, 1.73461430e-04,-6.02184381e-05,
 -2.98376832e-05, 4.97158429e-02, 1.05808704e-02, 2.41598451e-03,
 -6.95526210e-05, 8.88345549e-04, 1.98090433e-04, 6.54623558e-05,
  3.63090915e-04,-1.60098261e-03, 0.00000000e+00,-1.53366199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.95713451,  6.25294533, -5.95713451, 36.22999575,
       26.28824806,  6.25294533, 26.28824806, 33.68098203,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004022646218249104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37996603e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.37996603e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00718141, -0.07111005,  0.0617981 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.80280198e-05,-8.63540106e-04,-1.87287066e-04,-9.35812717e-05,
 -1.94556574e-05,-2.27093205e-05, 2.37678667e-06,-2.17303311e-05,
 -2.63033855e-05,-2.90590980e-05,-1.18453664e-05,-9.43415988e-05,
 -2.66558283e-05,-1.53044494e-05,-4.90367252e+00, 4.10339080e-05,
  3.44808217e-03,-9.29916918e-05]


--- Step 1872 ---
qpos:
[ 0.01866594, 0.03002315,-0.00941661,-0.02526559,-0.00338079, 1.3265267 ,
 -0.02946715, 0.94323686, 0.01159181, 0.02733495,-0.00827759, 0.02646243,
  1.38608599, 0.00765061, 1.27044355, 0.04453578,-0.0857909 ,-0.04705086,
  0.09338778, 0.70826488,-0.09905468,-0.69465286,-0.07750124]

qacc:
[  -0.17912471,  -0.23879859,   1.92793136,  -4.54987191,   0.17352571,
   -9.1588589 ,  19.14217613, -14.20325178,   1.03629141,   0.13181501,
   -1.00504844,   2.58049203,  -0.27015776,   0.29776847,  -3.36734939,
   11.1398205 ,  -3.63250144,   0.95662492,  -3.80574731,  -3.54453583,
 -119.23337931,  -3.48537302]

qfrc_actuator:
[ 6.59010847e-05, 9.90555513e-04, 1.78097853e-04,-6.66284266e-05,
  3.31646852e-06, 4.93615854e-02, 1.05732827e-02, 2.40743014e-03,
 -6.27342451e-05, 8.89426687e-04, 1.98875408e-04, 7.03882512e-05,
  3.47810375e-04,-1.58862840e-03, 0.00000000e+00,-1.47765331e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.0878759 ,  6.12572803, -6.0878759 , 37.350811  ,
       28.53701488,  6.12572803, 28.53701488, 36.99704243,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039695569093407615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.99210926e-15,  1.39842185e-14,  1.00000000e+00, -9.77791837e-29,
        1.00000000e+00, -1.39842185e-14, -1.00000000e+00,  0.00000000e+00,
        6.99210926e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00730136, -0.07114371,  0.06180045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.96484716e-05,-8.73621171e-04,-2.00936322e-04,-4.17261430e-05,
  6.24530658e-06,-1.21095785e-05,-4.37984269e-06, 3.60968178e-06,
 -3.59671095e-05,-2.07335539e-06,-1.87067919e-05, 4.86157569e-05,
 -1.95743260e-05,-1.20945851e-04,-4.90358867e+00,-3.71023836e-04,
  3.45209600e-03,-7.82033959e-05]


--- Step 1873 ---
qpos:
[ 0.01866654, 0.03002436,-0.00941515,-0.02526581,-0.0033812 , 1.32682153,
 -0.02946963, 0.94324982, 0.01159242, 0.0273355 ,-0.0082773 , 0.02646308,
  1.38616337, 0.00765043, 1.27057129, 0.04453519,-0.08581993,-0.04697427,
  0.09334409, 0.70781929,-0.09987045,-0.69507502,-0.07673631]

qacc:
[ 5.75065815e+00,-1.41507485e+00, 3.97854430e+00,-5.69110734e-01,
  4.81774868e-02,-1.08474856e+01, 2.48011568e+01,-1.98001987e+01,
  3.64447036e+00,-3.44112365e-01,-1.70294846e+00, 9.51408763e+00,
  1.55522541e-01,-3.22185981e-01,-9.74077662e+00, 3.31108740e+01,
 -3.24652862e+00, 8.60153899e-01,-4.45398509e+00,-3.54326312e+00,
 -1.06631621e+02,-2.85458460e+00]

qfrc_actuator:
[ 1.00321647e-04, 9.93454446e-04, 2.16010043e-04,-5.24546016e-05,
 -1.23337753e-05, 4.90325017e-02, 1.06054906e-02, 2.39712536e-03,
 -4.10370514e-05, 8.36434835e-04, 1.99325699e-04, 9.09666483e-05,
  3.35866749e-04,-1.59902735e-03, 0.00000000e+00,-1.31892040e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.42670133,  5.76925358, -6.42670133, 36.4807781 ,
       31.01748488,  5.76925358, 31.01748488, 43.18851303,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003880593447209521
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43048098e-14, -2.86096196e-14,  1.00000000e+00,  4.09255168e-28,
        1.00000000e+00,  2.86096196e-14, -1.00000000e+00,  0.00000000e+00,
        1.43048098e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00750176, -0.07119763,  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:
[ 3.43984014e-05, 2.76120612e-05, 4.77044703e-05, 1.62968407e-05,
  1.35929118e-05,-8.55078296e-04,-1.63134046e-04,-4.29873912e-05,
  2.18795308e-05,-6.05520578e-05,-2.48010578e-06, 1.99748362e-05,
 -3.08078681e-05,-1.92900500e-05,-5.23224735e-06, 1.58602580e-04,
  2.61312280e-05,-2.22655124e-04,-4.90336698e+00,-7.29851452e-04,
  3.45028432e-03,-6.23025638e-05]


--- Step 1874 ---
qpos:
[ 0.01866755, 0.03002574,-0.00941352,-0.02526583,-0.00338176, 1.32711015,
 -0.02947227, 0.9432615 , 0.01159363, 0.02733546,-0.00827719, 0.02646365,
  1.38624051, 0.00765034, 1.27069888, 0.04453715,-0.08582482,-0.04691049,
  0.09330123, 0.70764185,-0.10045748,-0.6952381 ,-0.07612678]

qacc:
[ 3.50201458e+00, 1.52755867e-01,-1.05530092e+00, 4.01909164e+00,
 -6.55632662e-02,-9.94724779e+00, 2.52312044e+01,-3.29048916e+01,
  5.12849992e+00,-4.59145050e-01, 7.60134858e-01,-1.22254613e+00,
 -5.97887416e-02, 5.89609495e-02,-7.94780924e+00, 2.74779419e+01,
  6.03295220e+00,-3.19914744e+00, 2.05920214e-01, 3.04037172e+01,
  2.01421547e+02,-1.11269439e+02]

qfrc_actuator:
[ 1.20333947e-04, 9.94688125e-04, 2.19992244e-04,-4.40231629e-05,
 -3.93813562e-05, 4.87568073e-02, 1.06077673e-02, 2.33263923e-03,
 -1.07649781e-05, 7.86990218e-04, 1.81612125e-04, 8.50364505e-05,
  3.31252638e-04,-1.58736652e-03, 0.00000000e+00,-1.18974359e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004123311318670983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.83493634e-15, -4.03882804e-14,  1.00000000e+00,  3.56827886e-28,
        1.00000000e+00,  4.03882804e-14, -1.00000000e+00,  0.00000000e+00,
        8.83493634e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17922469, -0.00761907,  0.06179317])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.90634098e-05,-7.84022210e-04,-1.85163426e-04,-9.55411602e-05,
  3.08932791e-05,-8.29773276e-05,-2.98473533e-05,-8.22627335e-06,
 -2.43648402e-05,-1.35868059e-06, 1.32647295e-05, 1.36901305e-04,
  9.75277312e-05,-3.19521852e-04,-4.90305109e+00,-1.04551752e-03,
  3.44325550e-03,-4.55013885e-05]


--- Step 1875 ---
qpos:
[ 0.0186681 , 0.03002725,-0.00941235,-0.02526604,-0.0033824 , 1.3273929 ,
 -0.02947513, 0.94327332, 0.01159485, 0.02733507,-0.00827766, 0.0264638 ,
  1.3863174 , 0.00765038, 1.27082662, 0.04453966,-0.08580871,-0.04685777,
  0.09325408, 0.70769794,-0.10084547,-0.69517663,-0.07565226]

qacc:
[-3.93635548e+00, 1.03613381e+00,-2.60839937e+00,-1.71517600e-01,
 -3.21280423e-02,-6.85209348e+00, 1.27452950e+01,-5.61594014e+00,
  6.45426889e-02, 3.00585229e-01, 6.93664700e-02,-6.24895958e+00,
 -2.38087635e-01, 2.80454201e-01,-1.37182194e+00, 5.17838683e+00,
  5.24945631e+00,-2.76828127e+00,-1.07382826e+00, 2.66733838e+01,
  1.74988303e+02,-9.67883380e+01]

qfrc_actuator:
[ 9.61887797e-05, 9.77026286e-04, 1.86128634e-04,-5.68246035e-05,
 -3.75389378e-05, 4.84974318e-02, 1.06102838e-02, 2.34330859e-03,
 -1.11984301e-05, 7.75456072e-04, 1.53290848e-04, 6.35378331e-05,
  3.20394982e-04,-1.58039781e-03, 0.00000000e+00,-1.16781338e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00427017208171087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.03121027e-15, -1.29997457e-14,  1.00000000e+00,  2.64052170e-29,
        1.00000000e+00,  1.29997457e-14, -1.00000000e+00,  0.00000000e+00,
        2.03121027e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17886615, -0.00776492,  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:
[-2.35304308e-05, 1.28762938e-06,-2.59060214e-05,-1.08636234e-05,
 -9.42769825e-06,-7.34243042e-04,-1.75067132e-04,-2.01257180e-05,
  4.44141758e-07,-6.44398408e-05,-4.94244479e-05,-2.62498490e-05,
 -2.29377803e-05, 6.37899197e-07, 1.82244129e-05, 3.05549209e-05,
  4.32549219e-05,-9.91097353e-05,-4.90406301e+00,-3.02055558e-04,
  3.35664966e-03,-8.34123074e-06]


--- Step 1876 ---
qpos:
[ 0.01866835, 0.03002849,-0.00941167,-0.0252667 ,-0.00338293, 1.32766991,
 -0.02947828, 0.94328414, 0.01159536, 0.0273343 ,-0.00827823, 0.02646366,
  1.38639418, 0.00765025, 1.2709545 , 0.04454175,-0.08577427,-0.04681468,
  0.09319823, 0.70795805,-0.1010596 ,-0.69491937,-0.07529556]

qacc:
[-2.52764668e+00, 1.33960239e-01, 8.89057913e-01,-7.55693652e+00,
  4.78500724e-02,-8.45404907e+00, 2.05412574e+01,-2.58205443e+01,
 -6.00342000e+00,-8.09484959e-01, 3.38907817e+00,-7.94868800e+00,
 -2.47983232e-02,-1.10238938e-01, 1.43740588e+00,-4.71938923e+00,
  4.58449981e+00,-2.40611709e+00,-2.17397718e+00, 2.34472373e+01,
  1.52713637e+02,-8.45342195e+01]

qfrc_actuator:
[ 8.17560779e-05, 9.30244505e-04, 1.47859468e-04,-8.20539770e-05,
 -1.83792124e-05, 4.82144722e-02, 1.05953149e-02, 2.29163259e-03,
 -4.74566501e-05, 7.68896163e-04, 1.54587624e-04, 5.08344274e-05,
  3.11125101e-04,-1.59405661e-03, 0.00000000e+00,-1.19148216e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004336098392803842
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80045867e-15, -1.28020968e-14,  1.00000000e+00, -3.58517429e-29,
        1.00000000e+00,  1.28020968e-14, -1.00000000e+00,  0.00000000e+00,
       -2.80045867e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17869741, -0.00783186,  0.06178316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.35731363e-05,-7.25998135e-04,-1.79443082e-04,-7.89389974e-05,
 -3.62662683e-05,-5.39061019e-05,-1.89991635e-05,-1.76841060e-05,
 -2.04161748e-05,-1.89532317e-05, 7.87038838e-06,-2.05190469e-05,
  4.77495585e-05,-1.05431463e-05,-4.90453144e+00, 1.26687026e-04,
  3.31801844e-03, 1.65908506e-05]


--- Step 1877 ---
qpos:
[ 0.01866878, 0.03002916,-0.00941133,-0.02526763,-0.00338329, 1.32794153,
 -0.02948233, 0.94329392, 0.01159578, 0.02733324,-0.00827887, 0.0264637 ,
  1.38647089, 0.00765014, 1.27108232, 0.04454423,-0.08572375,-0.04678   ,
  0.09312991, 0.70839703,-0.1011212 ,-0.69449033,-0.0750422 ]

qacc:
[ 1.45415983e+00,-3.78268686e-01, 1.38252659e+00,-5.06411190e+00,
  6.87367795e-02,-6.43367762e+00, 1.45707271e+01,-2.13038672e+01,
 -8.01904480e-01, 2.00122855e-01,-2.02527804e+00, 5.47098398e+00,
 -3.78935511e-02, 3.93281781e-02,-1.24354694e+00, 4.20960290e+00,
  4.01877328e+00,-2.10072134e+00,-3.11709531e+00, 2.06565210e+01,
  1.33921678e+02,-7.41652050e+01]

qfrc_actuator:
[ 9.09226537e-05, 8.84083683e-04, 1.24925072e-04,-9.66629861e-05,
 -6.73969264e-06, 4.79550868e-02, 1.05522647e-02, 2.23914562e-03,
 -5.12426953e-05, 7.65497279e-04, 1.55651459e-04, 6.11930521e-05,
  3.18782765e-04,-1.58434371e-03, 0.00000000e+00,-1.17077395e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004336353361060932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00010500e-14, -1.28013440e-14,  1.00000000e+00,  1.28026882e-28,
        1.00000000e+00,  1.28013440e-14, -1.00000000e+00,  0.00000000e+00,
        1.00010500e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17868002, -0.00783607,  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:
[ 8.70605624e-06,-8.49883248e-05,-3.97184686e-05,-1.87868436e-05,
  1.96181663e-05,-7.00445782e-04,-2.08129204e-04,-8.10037602e-05,
 -4.86865431e-06,-3.82021081e-05,-1.30053329e-05, 7.05188396e-06,
 -7.15089516e-06,-6.14507034e-07,-2.09240447e-06, 1.97850958e-05,
  9.01980880e-05,-1.04128097e-05,-4.90462763e+00, 3.35486949e-04,
  3.31430617e-03, 3.21749999e-05]


--- Step 1878 ---
qpos:
[ 0.01866896, 0.03002942,-0.00941134,-0.02526874,-0.00338351, 1.32820754,
 -0.0294869 , 0.9433037 , 0.01159615, 0.02733167,-0.00827941, 0.02646388,
  1.38654742, 0.00765038, 1.27120993, 0.04454826,-0.08565908,-0.04675268,
  0.09304589, 0.70899347,-0.10104834,-0.69390956,-0.07487999]

qacc:
[-2.04963292e+00, 7.68415389e-02,-2.97568659e-01,-2.01488886e+00,
  6.51735043e-02,-5.98490841e+00, 1.06492317e+01,-5.80346403e+00,
 -4.06218628e-01,-6.65174390e-01, 8.19732317e-01, 1.79195412e+00,
 -2.31896783e-01, 4.28398513e-01,-4.99251836e+00, 1.70866955e+01,
  3.53650044e+00,-1.84252753e+00,-3.92328336e+00, 1.82440963e+01,
  1.18066782e+02,-6.53989660e+01]

qfrc_actuator:
[ 7.83979441e-05, 8.74211728e-04, 1.11225957e-04,-1.04896963e-04,
  2.93395188e-07, 4.76762942e-02, 1.05285957e-02, 2.23986901e-03,
 -5.36260485e-05, 7.28550015e-04, 1.56591697e-04, 6.72837446e-05,
  3.15293731e-04,-1.56073538e-03, 0.00000000e+00,-1.08855555e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004283833920056282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.04946482e-16, -2.59165749e-14,  1.00000000e+00,  1.04948258e-29,
        1.00000000e+00,  2.59165749e-14, -1.00000000e+00,  0.00000000e+00,
        4.04946482e-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([-0.17878313, -0.0077905 ,  0.06178482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.85784016e-05,-7.11350766e-04,-1.87068040e-04,-2.79249009e-05,
 -2.54305058e-06,-6.06489672e-05,-8.28839709e-06, 4.14481348e-06,
 -7.39760533e-06, 2.18246239e-05,-1.38134778e-06, 8.24417645e-05,
  1.57269713e-04,-6.91011539e-05,-4.90447210e+00, 3.91535700e-04,
  3.33599710e-03, 4.05322851e-05]


--- Step 1879 ---
qpos:
[ 0.01866934, 0.03002965,-0.00941176,-0.02526999,-0.00338374, 1.32846806,
 -0.02949152, 0.94331303, 0.0115958 , 0.02732979,-0.00828057, 0.02646451,
  1.38662373, 0.00765094, 1.27133784, 0.04455056,-0.08562346,-0.04672078,
  0.09296911, 0.70927381,-0.10108717,-0.69364032,-0.07466689]

qacc:
[ 1.64222742e+00, 7.94714675e-01,-2.28632588e+00, 5.20535083e-01,
 -8.41946749e-03,-7.81527528e+00, 1.77068555e+01,-1.70318705e+01,
 -6.16730433e+00, 2.25084077e+00,-1.04833054e+01, 1.93680406e+01,
 -5.37951547e-01, 7.59129793e-01, 5.74191400e+00,-1.93266039e+01,
 -7.25923566e+00, 1.14663279e+00, 1.80675993e+00,-2.62425941e+01,
 -2.26855534e+02, 2.92203909e+01]

qfrc_actuator:
[ 8.87039024e-05, 9.03946095e-04, 1.03230156e-04,-1.09282187e-04,
 -1.32460536e-05, 4.74237329e-02, 1.05342836e-02, 2.21864527e-03,
 -9.06806541e-05, 7.07309512e-04, 1.21805097e-04, 8.85353305e-05,
  2.99803444e-04,-1.54687182e-03, 0.00000000e+00,-1.18379486e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00435498191909045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75265556e-14, -2.54931718e-14,  1.00000000e+00,  4.46807495e-28,
        1.00000000e+00,  2.54931718e-14, -1.00000000e+00,  0.00000000e+00,
        1.75265556e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00637461, -0.07070142,  0.06178117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.60748005e-06,-6.85390352e-04,-1.55880605e-04,-4.83596564e-05,
 -3.71555418e-05,-5.66274759e-05,-4.81673205e-05, 1.84508813e-05,
 -1.40540021e-05, 1.85431159e-05, 6.01648865e-06,-9.14083717e-05,
  2.40455020e-04,-1.66434619e-04,-4.90414923e+00, 3.42343254e-04,
  3.37617251e-03, 4.32297455e-05]


--- Step 1880 ---
qpos:
[ 0.01867019, 0.03003034,-0.0094123 ,-0.02527102,-0.00338405, 1.32872364,
 -0.02949604, 0.94332233, 0.01159501, 0.02732807,-0.00828239, 0.02646532,
  1.38669991, 0.00765169, 1.27146613, 0.0445487 ,-0.08561288,-0.04668472,
  0.0928935 , 0.70928017,-0.10121802,-0.69364224,-0.07441108]

qacc:
[ 3.97565679e+00, 1.40947719e+00,-5.08954281e+00, 8.78502422e+00,
 -3.27063928e-02,-6.80699833e+00, 1.44320576e+01,-9.77744646e+00,
 -3.79663807e+00, 2.44047974e+00,-9.20743828e+00, 1.34520357e+01,
 -5.61117618e-01, 7.25245888e-01, 1.32191016e+01,-4.52685097e+01,
 -6.26258497e+00, 1.04014532e+00, 2.94872507e-01,-2.15513598e+01,
 -1.96782381e+02, 2.31273066e+01]

qfrc_actuator:
[ 1.12372398e-04, 9.74963550e-04, 1.16590030e-04,-9.35762709e-05,
 -2.12637546e-05, 4.72245364e-02, 1.05573288e-02, 2.22019490e-03,
 -1.12341145e-04, 7.48764364e-04, 1.01772606e-04, 1.00770547e-04,
  2.93100139e-04,-1.53897400e-03, 0.00000000e+00,-1.40058909e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.47676473, -1.65264531,  8.47676473,  9.18190226,
        2.79818213, -1.65264531,  2.79818213, 22.98882725,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00450958294048219
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.15479879e-15, -1.23095976e-14,  1.00000000e+00,  7.57630962e-29,
        1.00000000e+00,  1.23095976e-14, -1.00000000e+00,  0.00000000e+00,
        6.15479879e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0060144 , -0.07055795,  0.06177384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.58040274e-06,-6.12137654e-04,-1.30488199e-04,-2.43734883e-05,
 -2.27743946e-05, 6.95606752e-07,-3.69887510e-05, 8.50783044e-06,
 -9.78629471e-06, 1.02336279e-05,-1.12849369e-05,-2.22002457e-04,
  7.55994026e-05,-4.27891836e-05,-4.90476993e+00, 2.57745168e-04,
  3.38667043e-03, 4.62027278e-05]


--- Step 1881 ---
qpos:
[ 0.01867097, 0.03003143,-0.00941273,-0.02527152,-0.00338445, 1.32897439,
 -0.02950008, 0.9433319 , 0.01159466, 0.02732664,-0.00828432, 0.02646622,
  1.38677618, 0.00765245, 1.27159407, 0.04454659,-0.08562399,-0.04664487,
  0.09281387, 0.70904774,-0.10142502,-0.69388082,-0.0741193 ]

qacc:
[-5.81166244e-01, 1.30332464e+00,-6.12433835e+00, 1.48360595e+01,
 -3.52129556e-02,-7.18321953e+00, 1.52332772e+01,-7.08903559e+00,
  3.70452169e+00, 8.57430078e-01,-2.82829482e+00, 4.18967492e+00,
  6.83048079e-02,-3.84740694e-02, 2.11007182e-01,-1.52080221e+00,
 -5.42185306e+00, 9.44930605e-01,-1.00562298e+00,-1.78051311e+01,
 -1.71399197e+02, 1.83040400e+01]

qfrc_actuator:
[ 1.08204102e-04, 9.99270390e-04, 1.24899644e-04,-6.61203618e-05,
 -2.59028084e-05, 4.70057545e-02, 1.05906602e-02, 2.23517540e-03,
 -8.92503140e-05, 7.91989886e-04, 1.08628521e-04, 1.07670319e-04,
  3.07645855e-04,-1.53464220e-03, 0.00000000e+00,-1.40315593e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.45758356, -1.74815822,  8.45758356,  9.3054305 ,
        3.23694322, -1.74815822,  3.23694322, 24.29668401,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004578686206403393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.06190823e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.06190823e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0058473 , -0.07047522,  0.06177034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.03122729e-05,-5.85473558e-04,-1.02271899e-04,-7.44758568e-06,
  2.24179561e-05, 3.64101091e-05, 2.77785602e-06, 5.82220604e-06,
  1.09562866e-05, 5.53400847e-06,-3.33750010e-05,-1.71753125e-05,
  3.20767322e-05,-7.30320525e-06,-4.90490218e+00, 1.23580564e-04,
  3.39416892e-03, 4.92072695e-05]


--- Step 1882 ---
qpos:
[ 0.01867238, 0.03003263,-0.00941319,-0.02527164,-0.00338492, 1.32922005,
 -0.02950381, 0.94334058, 0.01159492, 0.02732528,-0.00828606, 0.02646686,
  1.3868525 , 0.00765328, 1.27172192, 0.0445434 ,-0.08565394,-0.04660159,
  0.09272576, 0.70860608,-0.1016953 ,-0.69432664,-0.07379708]

qacc:
[ 5.43528856e+00, 1.00648962e+00,-4.98386471e+00, 1.15218368e+01,
 -2.95047119e-02,-9.05504094e+00, 2.33114728e+01,-2.73757991e+01,
  5.33162500e+00,-9.85396533e-01, 4.71164624e+00,-9.52915889e+00,
 -8.04732940e-02, 1.43415320e-01, 3.14856034e+00,-1.11585050e+01,
 -4.71098894e+00, 8.59285021e-01,-2.12086643e+00,-1.48077571e+01,
 -1.49949811e+02, 1.44863452e+01]

qfrc_actuator:
[ 1.40937874e-04, 9.77677384e-04, 1.12236924e-04,-4.97660642e-05,
 -2.84774037e-05, 4.67238238e-02, 1.05942336e-02, 2.18691845e-03,
 -5.77616054e-05, 7.82806637e-04, 1.13576105e-04, 9.36502202e-05,
  3.08296497e-04,-1.53236176e-03, 0.00000000e+00,-1.45696201e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.4202824 , -1.91979715,  8.4202824 ,  9.51607583,
        3.85844156, -1.91979715,  3.85844156, 25.55959304,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004578379425395927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81869433e-14, -3.63738865e-14,  1.00000000e+00,  6.61529811e-28,
        1.00000000e+00,  3.63738865e-14, -1.00000000e+00,  0.00000000e+00,
        1.81869433e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00583457, -0.0704409 ,  0.06176989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.67887862e-06,-6.27806072e-04,-1.23099291e-04,-6.86694730e-05,
  3.21513752e-05, 1.20795812e-05, 1.30481269e-05,-1.22458820e-05,
  6.61067766e-06, 6.83780380e-06,-1.81416290e-05,-5.92576535e-05,
  7.12834118e-05,-2.64905580e-05,-4.90471133e+00,-3.30091847e-05,
  3.39645258e-03, 5.26324799e-05]


--- Step 1883 ---
qpos:
[ 0.01867383, 0.03003373,-0.00941339,-0.02527155,-0.00338529, 1.3294604 ,
 -0.02950734, 0.94334865, 0.01159522, 0.02732411,-0.00828774, 0.02646697,
  1.38692863, 0.00765404, 1.27184959, 0.04454024,-0.08565858,-0.04657149,
  0.09264147, 0.70845168,-0.10172261,-0.69449682,-0.07364037]

qacc:
[ 3.25964184e-01,-4.43641393e-01, 5.34504523e-01, 2.65240385e+00,
  3.99072840e-02,-8.55678110e+00, 2.07566586e+01,-2.17672865e+01,
  2.61851593e-01,-9.91436852e-01, 6.10002717e+00,-1.53967062e+01,
 -8.73770460e-02, 6.62320743e-03,-3.47848949e-01, 8.16408576e-01,
  6.32775361e+00,-3.29461011e+00, 9.53995863e-01, 3.30620348e+01,
  2.14764901e+02,-1.18380499e+02]

qfrc_actuator:
[ 1.41880707e-04, 9.64172422e-04, 1.22593923e-04,-4.01331246e-05,
 -1.20404566e-05, 4.64416999e-02, 1.05976794e-02, 2.15502871e-03,
 -5.71025553e-05, 7.95555781e-04, 1.17127843e-04, 6.73863466e-05,
  2.79308169e-04,-1.54911303e-03, 0.00000000e+00,-1.45182084e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004706163815873042
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06895941e-14, -3.53862424e-14,  1.00000000e+00,  3.78264567e-28,
        1.00000000e+00,  3.53862424e-14, -1.00000000e+00,  0.00000000e+00,
        1.06895941e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17766856, -0.00824053,  0.06176371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.12946950e-05,-6.57297656e-04,-1.35670013e-04,-5.56120687e-05,
  1.59900561e-06, 2.17548438e-05, 7.26417334e-06,-2.55288563e-05,
 -2.47745575e-05,-1.28870362e-05,-1.69150243e-05,-9.42070647e-07,
  1.64789469e-04,-7.80533418e-05,-4.90431142e+00,-1.95654332e-04,
  3.39257818e-03, 5.66647249e-05]


--- Step 1884 ---
qpos:
[ 0.01867493, 0.0300347 ,-0.00941309,-0.02527205,-0.00338567, 1.32969553,
 -0.0295106 , 0.94335764, 0.01159553, 0.02732333,-0.00828921, 0.02646673,
  1.38700473, 0.00765436, 1.27197672, 0.04454048,-0.08564134,-0.04655276,
  0.09255529, 0.70854595,-0.10153952,-0.69442884,-0.07362704]

qacc:
[-2.93740640e+00,-2.76692192e+00, 1.20773626e+01,-2.29071702e+01,
 -3.39253183e-03,-5.99542654e+00, 9.35310462e+00, 5.99062605e+00,
  4.73413409e-02,-8.06749701e-01, 5.15285711e+00,-1.19530289e+01,
  5.42769593e-01,-9.03296163e-01,-1.11487331e+01, 3.77028037e+01,
  5.47095129e+00,-2.84390371e+00,-4.70555657e-01, 2.86235879e+01,
  1.85755138e+02,-1.02580422e+02]

qfrc_actuator:
[ 1.24092431e-04, 9.55685164e-04, 1.46480846e-04,-7.00152761e-05,
 -1.98373738e-05, 4.61972224e-02, 1.06187906e-02, 2.20404638e-03,
 -5.68450793e-05, 8.39071060e-04, 1.37651974e-04, 5.18974476e-05,
  2.75161476e-04,-1.57717879e-03, 0.00000000e+00,-1.26995846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004847898399178242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.08310997e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.08310997e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17731227, -0.00838577,  0.06175695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.15749170e-06,-6.37992311e-04,-1.24815153e-04, 2.43354765e-05,
  3.07237694e-07, 5.61507869e-05, 2.50627602e-05,-1.47959822e-05,
 -2.00568298e-05,-3.74828737e-05,-9.99091612e-06, 1.79172202e-04,
  3.91308206e-05, 1.09227981e-05,-4.90491415e+00, 1.05626215e-04,
  3.38792472e-03, 6.60736176e-05]


--- Step 1885 ---
qpos:
[ 0.0186765 , 0.03003573,-0.00941311,-0.02527322,-0.0033861 , 1.32992539,
 -0.02951383, 0.94336718, 0.01159583, 0.02732323,-0.00829084, 0.02646629,
  1.38708085, 0.0076543 , 1.27210391, 0.04454152,-0.08560513,-0.04654389,
  0.09246231, 0.70885596,-0.10117371,-0.69415399,-0.0737384 ]

qacc:
[ 3.99909544e+00,-3.99156436e-01, 4.36550170e+00,-1.54657338e+01,
 -1.75500506e-02,-6.04486053e+00, 1.02613387e+01, 6.76013372e-01,
 -1.21622884e-02, 9.50995643e-01,-1.29056336e+00,-2.27084722e+00,
  3.18322639e-01,-6.07289871e-01,-2.37726811e+00, 8.36248554e+00,
  4.74195211e+00,-2.46312510e+00,-1.69878598e+00, 2.47731603e+01,
  1.61249428e+02,-8.91733119e+01]

qfrc_actuator:
[ 1.48689882e-04, 9.50289454e-04, 1.24891811e-04,-1.05144837e-04,
 -2.43570927e-05, 4.59241168e-02, 1.06148458e-02, 2.22929876e-03,
 -5.68156031e-05, 8.82999422e-04, 1.32669606e-04, 4.29145762e-05,
  2.80587096e-04,-1.59389101e-03, 0.00000000e+00,-1.23398952e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004901130680036059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06183058e-15, -1.13261928e-14,  1.00000000e+00, -1.20264979e-29,
        1.00000000e+00,  1.13261928e-14, -1.00000000e+00,  0.00000000e+00,
       -1.06183058e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17716072, -0.00844642,  0.06175408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.22577293e-06,-6.51371546e-04,-1.42504565e-04, 3.31668425e-06,
  5.36613619e-08, 7.99180029e-05, 9.21844398e-06,-5.99176227e-06,
 -1.32125605e-05,-3.25917480e-05, 1.40512183e-05, 4.43692150e-05,
 -1.12824010e-05,-2.42172487e-05,-4.90497086e+00, 1.20765167e-04,
  3.42641684e-03, 6.37074702e-05]


--- Step 1886 ---
qpos:
[ 0.01867801, 0.03003681,-0.0094137 ,-0.02527444,-0.00338642, 1.33015   ,
 -0.02951736, 0.94337697, 0.01159613, 0.02732352,-0.00829245, 0.02646647,
  1.38715693, 0.00765398, 1.27223106, 0.04454368,-0.08555244,-0.04654358,
  0.09235832, 0.70935353,-0.10064872,-0.69369844,-0.0739587 ]

qacc:
[-5.51359355e-01, 1.54376615e+00,-5.23476508e+00, 5.32816909e+00,
  4.27037879e-02,-5.68047909e+00, 9.68207525e+00,-2.17725465e+00,
 -2.12638720e-02, 1.72118768e+00,-7.96648164e+00, 1.82114812e+01,
  2.18066230e-01,-4.17897636e-01,-3.43718051e+00, 1.18743652e+01,
  4.12038145e+00,-2.14037589e+00,-2.75404283e+00, 2.14331932e+01,
  1.40527911e+02,-7.78008418e+01]

qfrc_actuator:
[ 1.44786781e-04, 9.46594927e-04, 9.43865030e-05,-1.07599797e-04,
 -9.12089787e-06, 4.56537157e-02, 1.05960084e-02, 2.24031128e-03,
 -5.69200653e-05, 8.91241266e-04, 1.30430996e-04, 7.33195855e-05,
  2.81101568e-04,-1.60365558e-03, 0.00000000e+00,-1.17780314e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004882676650470215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.27380002e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.27380002e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1771727 , -0.00843967,  0.06175431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.21295883e-05,-6.60121928e-04,-1.62636947e-04,-1.23376768e-05,
 -7.72261996e-08, 5.46046459e-05, 1.52192644e-05, 3.40370663e-05,
 -1.35733851e-05,-2.25785087e-05, 8.21833646e-06, 5.97247293e-05,
 -1.10626846e-05,-1.39234369e-04,-4.90467032e+00,-5.13906518e-05,
  3.49383391e-03, 5.25981859e-05]


--- Step 1887 ---
qpos:
[ 0.01867808, 0.03003755,-0.00941394,-0.02527604,-0.00338661, 1.3303696 ,
 -0.02952121, 0.9433868 , 0.01159643, 0.02732378,-0.00829331, 0.02646701,
  1.38723282, 0.00765356, 1.27235814, 0.04454716,-0.08553059,-0.04653912,
  0.0922656 , 0.709513  ,-0.10025725,-0.69357468,-0.07412115]

qacc:
[-1.23120970e+01,-2.16824725e+00, 8.73416146e+00,-1.56618854e+01,
  5.73110030e-02,-5.62608895e+00, 1.03426756e+01,-5.35018023e+00,
 -4.99044493e-03,-1.39710471e+00, 3.38493100e+00, 1.75484813e+00,
  2.03598816e-02,-1.37289062e-01,-4.13628983e+00, 1.43011898e+01,
 -7.70980924e+00, 1.03516236e+00, 2.81705447e+00,-3.20380330e+01,
 -2.42799895e+02, 3.76284024e+01]

qfrc_actuator:
[ 7.08680893e-05, 9.26170710e-04, 1.12163334e-04,-1.26312052e-04,
  9.08600343e-08, 4.54225385e-02, 1.05862932e-02, 2.24285266e-03,
 -5.71027587e-05, 8.78084817e-04, 1.65227538e-04, 9.11264723e-05,
  2.68021757e-04,-1.60923639e-03, 0.00000000e+00,-1.11011144e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.18366194,  2.75943005, -8.18366194, 16.46946447,
       23.2306846 ,  2.75943005, 23.2306846 , 77.53177538,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0051218428375641445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.77382548e-15,  1.08381208e-14,  1.00000000e+00,  7.34155386e-29,
        1.00000000e+00, -1.08381208e-14, -1.00000000e+00,  0.00000000e+00,
       -6.77382548e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0045464 , -0.06983449,  0.06174314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.63443767e-05,-6.30107928e-04,-1.57969777e-04,-2.20324302e-05,
 -1.68652360e-07, 2.19901908e-05, 4.91436076e-05, 2.13385621e-05,
 -2.50499652e-05,-1.54938776e-05, 7.54259237e-06, 7.14041147e-05,
  2.37839082e-05,-3.04319110e-04,-4.90414347e+00,-3.42346647e-04,
  3.58010429e-03, 3.49434879e-05]


--- Step 1888 ---
qpos:
[ 0.01867727, 0.03003785,-0.00941392,-0.02527748,-0.00338668, 1.33058441,
 -0.02952525, 0.94339587, 0.01159638, 0.02732418,-0.0082943 , 0.0264678 ,
  1.38730851, 0.00765309, 1.27248511, 0.04455243,-0.08553518,-0.04653091,
  0.09217732, 0.70938089,-0.0999745 ,-0.69373838,-0.07423552]

qacc:
[-7.59227652e+00,-9.99852983e-01, 2.08492938e+00, 4.52461059e-01,
  5.31451631e-02,-7.08853281e+00, 1.70716155e+01,-2.05618646e+01,
 -2.98657432e+00, 1.07357294e+00,-4.60842528e+00, 9.03577672e+00,
  1.61124904e-02,-1.18887998e-01,-5.59868311e+00, 1.93176567e+01,
 -6.60942342e+00, 9.40889142e-01, 1.10951399e+00,-2.58551490e+01,
 -2.09535186e+02, 2.95463051e+01]

qfrc_actuator:
[ 2.73502481e-05, 8.96066414e-04, 1.22718468e-04,-1.18919876e-04,
  5.61345729e-06, 4.51989895e-02, 1.05821974e-02, 2.20491577e-03,
 -7.50827562e-05, 8.70103081e-04, 1.50489098e-04, 1.01374972e-04,
  2.57451624e-04,-1.61236026e-03, 0.00000000e+00,-1.01842976e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.41094357, -1.9603074 ,  8.41094357,  9.19331349,
        2.38966285, -1.9603074 ,  2.38966285, 18.88951038,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005268354255404117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31708947e-15, -2.10734315e-14,  1.00000000e+00, -2.77555947e-29,
        1.00000000e+00,  2.10734315e-14, -1.00000000e+00,  0.00000000e+00,
       -1.31708947e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00420737, -0.06968394,  0.06173615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.51434104e-05,-6.05217397e-04,-1.46225582e-04,-6.17040389e-05,
 -1.79800832e-05, 1.53813569e-05,-3.39861851e-06, 1.33067520e-05,
 -2.65944740e-05,-1.36462141e-05, 8.37656625e-06, 9.59281400e-05,
 -5.61603576e-05,-6.64882888e-05,-4.90478467e+00, 3.08865042e-07,
  3.52753151e-03, 3.46242063e-05]


--- Step 1889 ---
qpos:
[ 0.01867731, 0.03003805,-0.00941394,-0.02527816,-0.00338679, 1.33079468,
 -0.02952953, 0.94340579, 0.01159543, 0.0273247 ,-0.00829624, 0.02646842,
  1.38738415, 0.00765248, 1.27261207, 0.04455876,-0.08556249,-0.04651927,
  0.09208759, 0.70899616,-0.09978052,-0.69415154,-0.07430975]

qacc:
[ 7.39904197e+00, 1.57097831e+00,-9.03528476e+00, 2.24560036e+01,
 -1.88825211e-02,-3.86560846e+00, 3.69314131e+00, 9.40396033e+00,
 -7.75082163e+00, 2.50906188e+00,-7.96933119e+00, 6.46471499e+00,
  1.22454493e-01,-2.29847919e-01,-3.21277500e+00, 1.12114247e+01,
 -5.68087365e+00, 8.54816272e-01,-3.61959836e-01,-2.09327457e+01,
 -1.81404793e+02, 2.31827283e+01]

qfrc_actuator:
[ 7.31080537e-05, 9.13658870e-04, 1.28883280e-04,-7.84945220e-05,
 -8.87398188e-06, 4.49995694e-02, 1.05814678e-02, 2.24998819e-03,
 -1.21146622e-04, 8.47318707e-04, 8.88631236e-05, 8.93050637e-05,
  2.64373651e-04,-1.61400505e-03, 0.00000000e+00,-9.66604910e-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,  8.39135227, -2.04254352,  8.39135227,  9.31071203,
        2.77041584, -2.04254352,  2.77041584, 20.01802332,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005320569932465505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00407662, -0.06960065,  0.0617333 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.57384000e-06,-5.66180784e-04,-1.37812623e-04, 2.14699309e-05,
 -4.65851450e-05,-1.43258784e-05,-5.84011095e-05,-1.12690879e-05,
 -9.35084657e-06,-1.20242444e-05, 1.15238571e-05, 5.75483592e-05,
 -1.75321866e-05, 4.92931119e-05,-4.90486591e+00, 2.12533514e-04,
  3.48650525e-03, 3.26358378e-05]


--- Step 1890 ---
qpos:
[ 0.01867757, 0.03003828,-0.00941396,-0.02527836,-0.00338714, 1.33100047,
 -0.02953326, 0.94341578, 0.01159393, 0.02732494,-0.00829843, 0.02646786,
  1.38745987, 0.00765177, 1.27273952, 0.04456199,-0.08560938,-0.04650453,
  0.09199136, 0.70839155,-0.09965925,-0.69478161,-0.07435032]

qacc:
[ 1.74138253e+00, 9.81728539e-01,-5.43131247e+00, 1.35237441e+01,
 -1.02490273e-01,-7.24277619e+00, 1.63602757e+01,-1.04860845e+01,
 -4.65410267e+00,-2.13848995e+00, 1.20720887e+01,-3.19323661e+01,
 -1.25714948e-01, 9.81802623e-02, 1.01101785e+01,-3.43020366e+01,
 -4.89569601e+00, 7.75780358e-01,-1.62519529e+00,-1.70045953e+01,
 -1.57592957e+02, 1.81736722e+01]

qfrc_actuator:
[ 8.22736370e-05, 9.24190220e-04, 1.32619690e-04,-5.44288249e-05,
 -3.52474061e-05, 4.47985278e-02, 1.06183907e-02, 2.25480887e-03,
 -1.47860676e-04, 8.15610808e-04, 7.09929459e-05, 2.86572542e-05,
  2.76457816e-04,-1.61467838e-03, 0.00000000e+00,-1.13395731e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.3541312 , -2.18981022,  8.3541312 ,  9.49117872,
        3.26112159, -2.18981022,  3.26112159, 21.07755025,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005296455370963855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57212175e-14, -2.09616233e-14,  1.00000000e+00,  3.29542239e-28,
        1.00000000e+00,  2.09616233e-14, -1.00000000e+00,  0.00000000e+00,
        1.57212175e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00411235, -0.06957075,  0.06173375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.96826728e-05,-5.42024590e-04,-8.91178642e-05,-1.54391073e-05,
 -2.80809033e-05,-5.22824232e-05,-2.83964463e-05,-6.34982389e-05,
  4.74806461e-06,-6.49523004e-06, 8.60623742e-06,-1.63400122e-04,
  9.83927601e-05, 8.78593162e-05,-4.90458468e+00, 3.42495952e-04,
  3.45037404e-03, 2.98146208e-05]


--- Step 1891 ---
qpos:
[ 0.01867724, 0.03003836,-0.0094141 ,-0.02527859,-0.00338762, 1.33120198,
 -0.02953623, 0.943424  , 0.01159247, 0.02732449,-0.00829959, 0.02646724,
  1.38753551, 0.00765108, 1.27286726, 0.04456121,-0.08562898,-0.046504  ,
  0.09190383, 0.70810257,-0.09926797,-0.69510781,-0.07457719]

qacc:
[-4.98461123e+00, 1.11221552e-01,-5.80149457e-01, 4.86137379e-01,
 -5.25617202e-02,-1.06800348e+01, 3.17016560e+01,-4.53574101e+01,
  3.46537940e-01,-3.90492829e+00, 1.29043021e+01,-1.52261989e+01,
 -4.19687601e-01, 4.81397968e-01, 1.26273192e+01,-4.34451959e+01,
  6.82311089e+00,-3.55169952e+00, 2.17665897e+00, 3.53512392e+01,
  2.36596072e+02,-1.32908994e+02]

qfrc_actuator:
[ 5.20457027e-05, 8.94895647e-04, 1.17111714e-04,-5.79412077e-05,
 -3.30313892e-05, 4.45982790e-02, 1.06594583e-02, 2.16489587e-03,
 -1.45209953e-04, 7.96665383e-04, 1.32297879e-04, 2.87056696e-05,
  2.65000238e-04,-1.61472491e-03, 0.00000000e+00,-1.34031498e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005428151911834801
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.15452728e-15, -1.02265287e-14,  1.00000000e+00,  4.24863924e-29,
        1.00000000e+00,  1.02265287e-14, -1.00000000e+00,  0.00000000e+00,
        4.15452728e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17575249, -0.00901937,  0.06172738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.53183758e-05,-5.19421385e-04,-7.57836491e-05,-1.08879726e-04,
  1.81219772e-06,-5.67652303e-05, 4.48341843e-05,-4.40395270e-06,
 -1.11850620e-05,-5.84565808e-07,-1.80972309e-05,-2.15267778e-04,
  2.61328952e-04, 7.91253770e-05,-4.90407626e+00, 4.21245257e-04,
  3.41525619e-03, 2.66533098e-05]


--- Step 1892 ---
qpos:
[ 0.01867758, 0.03003828,-0.00941469,-0.02527884,-0.00338787, 1.33139943,
 -0.02953853, 0.94343176, 0.01159139, 0.02732384,-0.00830047, 0.02646695,
  1.38761093, 0.00765027, 1.27299465, 0.04455994,-0.08562513,-0.04651569,
  0.09181844, 0.708085  ,-0.0986441 ,-0.6951728 ,-0.07496492]

qacc:
[ 5.77475775e+00, 9.96785450e-01,-3.79834629e+00, 4.35136825e+00,
  9.79526130e-02,-7.94833184e+00, 2.04539603e+01,-2.05533979e+01,
  3.31676603e+00,-3.39134154e-01,-6.31725950e-01, 6.24884926e+00,
 -1.03999987e-01,-2.46526818e-02, 9.35104347e-01,-3.99205622e+00,
  5.86344887e+00,-3.05483743e+00, 5.34164816e-01, 3.01693437e+01,
  2.03473432e+02,-1.14707901e+02]

qfrc_actuator:
[ 8.76474640e-05, 8.77381411e-04, 9.01869238e-05,-5.99434998e-05,
  4.07036434e-06, 4.44178468e-02, 1.07025898e-02, 2.14422739e-03,
 -1.25302903e-04, 8.03638581e-04, 1.51178079e-04, 4.67794384e-05,
  2.39430295e-04,-1.63225344e-03, 0.00000000e+00,-1.35488817e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0055835494980047695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55342357e-15, -9.94191083e-15,  1.00000000e+00,  1.54439986e-29,
        1.00000000e+00,  9.94191083e-15, -1.00000000e+00,  0.00000000e+00,
        1.55342357e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.175367  , -0.00917737,  0.06172006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.80441795e-05,-4.87275210e-04,-7.05207182e-05,-4.07386945e-05,
  1.99359890e-05,-1.56707398e-05, 1.25429839e-05, 1.71113652e-05,
 -3.24849434e-05,-1.97769580e-05,-3.52969863e-05,-2.95822729e-05,
  1.20454233e-05, 1.19529788e-04,-4.90456452e+00, 4.02418601e-04,
  3.46957529e-03, 1.41047549e-05]


--- Step 1893 ---
qpos:
[ 0.01867835, 0.03003789,-0.00941531,-0.02527842,-0.0033878 , 1.3315929 ,
 -0.02954062, 0.94343992, 0.01159056, 0.02732315,-0.00830117, 0.02646652,
  1.387686  , 0.00764934, 1.27312152, 0.04456114,-0.08560108,-0.04653791,
  0.09172951, 0.70830103,-0.09781955,-0.69501219,-0.07549201]

qacc:
[ 3.64196179e+00, 1.03192182e+00,-7.06329275e+00, 1.87597027e+01,
  1.35042955e-01,-5.09936900e+00, 9.47140791e+00,-9.86853350e-01,
  2.11389502e+00,-8.89558490e-01, 3.67766969e+00,-6.39672197e+00,
  2.02078053e-02,-1.93389808e-01,-8.23263408e+00, 2.76296978e+01,
  5.04700299e+00,-2.63459138e+00,-8.85822374e-01, 2.56786337e+01,
  1.75461082e+02,-9.92068304e+01]

qfrc_actuator:
[ 1.08466222e-04, 8.66997973e-04, 9.22882936e-05,-2.55310338e-05,
  2.62929500e-05, 4.42152855e-02, 1.07112258e-02, 2.16450496e-03,
 -1.13160497e-04, 8.08205959e-04, 1.62697476e-04, 3.97815785e-05,
  2.16059343e-04,-1.64236484e-03, 0.00000000e+00,-1.22082157e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005637644003741199
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.23110864e-16,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.23110864e-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([-0.17521252, -0.00924001,  0.06171712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.87543192e-05,-4.88511317e-04,-9.61253260e-05, 2.90205484e-06,
  1.27166137e-05,-8.33436957e-07, 1.04360961e-05,-6.89936675e-06,
 -4.51395273e-05,-2.31615132e-05,-2.08822481e-05, 1.27586439e-04,
 -1.31748539e-04, 1.74726458e-05,-4.90441948e+00, 8.47287281e-05,
  3.56511539e-03,-1.10402086e-05]


--- Step 1894 ---
qpos:
[ 0.01867901, 0.03003727,-0.00941594,-0.02527761,-0.00338773, 1.33178247,
 -0.02954291, 0.94344863, 0.01158954, 0.02732204,-0.00830131, 0.02646672,
  1.38776037, 0.0076491 , 1.27324825, 0.04456389,-0.08555964,-0.04656925,
  0.09163215, 0.70871829,-0.09682153,-0.69465578,-0.07614024]

qacc:
[-8.60603533e-01, 5.40448674e-01,-4.02718845e+00, 1.10536419e+01,
  2.01681966e-03,-3.63943999e+00, 4.58422816e+00, 4.77251392e+00,
 -1.61655837e+00,-7.91862309e-01,-6.18319982e-01, 1.09526026e+01,
 -8.73816685e-01, 1.23123204e+00,-4.81355021e+00, 1.67565184e+01,
  4.35106449e+00,-2.27787028e+00,-2.10822833e+00, 2.17875148e+01,
  1.51743032e+02,-8.60111470e+01]

qfrc_actuator:
[ 1.02643212e-04, 8.61109177e-04, 9.38164257e-05,-5.44503576e-06,
  3.90290181e-06, 4.40187580e-02, 1.06993669e-02, 2.19091382e-03,
 -1.23444095e-04, 7.75746353e-04, 1.87525507e-04, 7.13446368e-05,
  1.88701144e-04,-1.59473352e-03, 0.00000000e+00,-1.14233408e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005609721176959764
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.0923524e-16,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.0923524e-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([-0.17524239, -0.00922659,  0.06171769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.62429603e-07,-4.86827138e-04,-1.18489934e-04, 9.25243820e-06,
 -9.91456080e-06,-3.10295029e-05, 2.57184402e-05, 3.17575380e-05,
 -5.55147180e-05, 3.02764897e-05, 3.08936687e-06, 8.25834759e-05,
 -2.02750713e-04,-1.73925358e-04,-4.90387421e+00,-4.14602095e-04,
  3.68525965e-03,-4.52095557e-05]


--- Step 1895 ---
qpos:
[ 0.01867995, 0.03003659,-0.00941687,-0.02527691,-0.00338776, 1.33196836,
 -0.02954536, 0.94345619, 0.01158806, 0.02732051,-0.00830137, 0.02646768,
  1.38783431, 0.00764956, 1.27337521, 0.04456555,-0.08554945,-0.04659716,
  0.09154787, 0.70878768,-0.09596442,-0.69463892,-0.07673084]

qacc:
[ 2.30691988e+00, 5.39917621e-01,-1.58985471e+00, 2.18988847e-01,
 -4.54377477e-02,-6.36273298e+00, 1.72857123e+01,-2.60041176e+01,
 -3.91550640e+00, 7.89930137e-01,-6.81979821e+00, 2.01156561e+01,
 -8.89137619e-01, 1.33422236e+00, 3.74272747e+00,-1.23770538e+01,
 -7.81470343e+00, 8.56951270e-01, 3.27283112e+00,-3.38315751e+01,
 -2.49301799e+02, 3.96800093e+01]

qfrc_actuator:
[ 1.16695544e-04, 8.57957944e-04, 7.72366505e-05,-1.17080006e-05,
 -9.56279801e-06, 4.38451013e-02, 1.06932879e-02, 2.13193942e-03,
 -1.46842942e-04, 7.39203358e-04, 1.84390979e-04, 1.07574956e-04,
  1.85624287e-04,-1.54871993e-03, 0.00000000e+00,-1.20379032e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.19448905,  2.72710947, -8.19448905, 15.5858253 ,
       20.88192215,  2.72710947, 20.88192215, 71.38290334,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005729046294839744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21117784e-15, -1.93788454e-14,  1.00000000e+00, -2.34712281e-29,
        1.00000000e+00,  1.93788454e-14, -1.00000000e+00,  0.00000000e+00,
       -1.21117784e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00308304, -0.06899452,  0.06171184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.32101972e-05,-4.67180803e-04,-1.14733396e-04,-7.65936028e-05,
 -2.37060121e-05,-4.71870296e-05,-5.26411835e-06, 3.64110469e-05,
 -2.36362998e-05, 4.18912754e-05, 7.01433695e-06,-5.72481826e-05,
 -2.22456664e-04,-4.19085969e-04,-4.90308886e+00,-1.01580710e-03,
  3.81856025e-03,-8.58506896e-05]


--- Step 1896 ---
qpos:
[ 0.01868071, 0.03003609,-0.00941784,-0.02527669,-0.00338793, 1.33215088,
 -0.02954862, 0.94346334, 0.01158631, 0.02731909,-0.00830165, 0.02646868,
  1.38790829, 0.00764998, 1.27350209, 0.04456713,-0.08556597,-0.04662194,
  0.09146943, 0.708558  ,-0.09522074,-0.69491533,-0.07727394]

qacc:
[-1.58068830e+00,-6.48558199e-01, 4.66732921e+00,-1.29863878e+01,
 -5.46112460e-02,-2.92763746e+00, 5.04847812e+00,-6.99441805e+00,
 -2.31022131e+00, 8.24402481e-01,-2.88596115e+00, 3.75521269e+00,
  6.52497895e-02,-8.67504691e-02, 9.17735236e-02,-5.00486575e-01,
 -6.67607768e+00, 7.83097044e-01, 1.45875094e+00,-2.67986803e+01,
 -2.14435896e+02, 3.06854886e+01]

qfrc_actuator:
[ 1.06837491e-04, 8.91883770e-04, 8.56000735e-05,-3.34316346e-05,
 -1.75634628e-05, 4.36865113e-02, 1.06552121e-02, 2.11197220e-03,
 -1.60013759e-04, 7.71401975e-04, 1.82488468e-04, 1.10721201e-04,
  1.91791306e-04,-1.55722135e-03, 0.00000000e+00,-1.20516538e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.39708339, -2.01885299,  8.39708339,  9.10105292,
        1.93279781, -2.01885299,  1.93279781, 16.67551479,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00585400313563645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30385706e-14, -3.79303871e-14,  1.00000000e+00,  4.94558028e-28,
        1.00000000e+00,  3.79303871e-14, -1.00000000e+00,  0.00000000e+00,
        1.30385706e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00279736, -0.06885157,  0.06170585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.58132092e-05,-4.43068643e-04,-1.44975740e-04,-3.88830763e-05,
 -1.38876257e-05, 6.32524251e-06,-1.10223215e-05, 1.65266813e-06,
  3.89566877e-06,-1.55428296e-06,-7.22139158e-06,-4.57976665e-06,
 -2.15911559e-04,-6.54940072e-05,-4.90379550e+00,-1.87796751e-04,
  3.69543296e-03,-8.92827760e-05]


--- Step 1897 ---
qpos:
[ 0.01868133, 0.03003614,-0.00941892,-0.02527677,-0.00338821, 1.33232949,
 -0.02955161, 0.94347089, 0.01158579, 0.02731792,-0.00830235, 0.0264697 ,
  1.38798233, 0.00764989, 1.27362895, 0.04456834,-0.08560535,-0.04664386,
  0.09139058, 0.70807015,-0.09456851,-0.69544525,-0.07777769]

qacc:
[-1.07821165e+00, 4.13685150e-01, 8.82023341e-01,-6.40953399e+00,
 -4.81346354e-02,-5.20033031e+00, 9.94806582e+00,-1.61146896e+00,
  1.05147760e+01, 1.53187977e+00,-5.08767512e+00, 5.97824695e+00,
  3.35749268e-01,-6.81840097e-01, 1.07309833e+00,-3.90073765e+00,
 -5.71559820e+00, 7.13664698e-01,-1.04897861e-01,-2.12240719e+01,
 -1.84921042e+02, 2.36715284e+01]

qfrc_actuator:
[ 1.00731512e-04, 9.47837862e-04, 9.10258423e-05,-4.62691225e-05,
 -2.22205839e-05, 4.34848644e-02, 1.06696653e-02, 2.13288121e-03,
 -9.60434886e-05, 7.91232511e-04, 1.63839562e-04, 1.12189897e-04,
  1.76847988e-04,-1.59797021e-03, 0.00000000e+00,-1.22433584e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.38531759, -2.06717823,  8.38531759,  9.18993813,
        2.24552383, -2.06717823,  2.24552383, 17.74512367,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0058810788670196484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.43894011e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.43894011e-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([ 0.00272533, -0.06877772,  0.06170411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.40053365e-05,-4.77543638e-04,-9.00604005e-05, 2.69872407e-06,
  6.35614685e-05, 2.12040603e-05,-1.86262216e-05, 1.39237120e-06,
 -1.37060890e-05,-4.01571183e-05,-6.08793240e-06,-2.08853404e-05,
 -1.04092299e-04, 1.40697625e-04,-4.90389711e+00, 4.34508154e-04,
  3.59970554e-03,-9.62368911e-05]


--- Step 1898 ---
qpos:
[ 0.01868223, 0.03003643,-0.00941929,-0.02527668,-0.00338858, 1.33250413,
 -0.0295543 , 0.9434769 , 0.01158639, 0.02731675,-0.00830289, 0.02647037,
  1.38805636, 0.00764914, 1.27375588, 0.04456829,-0.08561974,-0.04667147,
  0.09135382, 0.70789742,-0.09391083,-0.69565377,-0.07828045]

qacc:
[ 2.30567446e+00,-1.30653238e+00, 4.37145987e+00,-2.64315616e+00,
 -3.72970577e-02,-8.64824193e+00, 2.50806546e+01,-3.70006559e+01,
  9.52783382e+00,-1.18019774e+00, 5.61752269e+00,-1.17612107e+01,
  3.17596554e-01,-7.82540274e-01, 3.86121076e+00,-1.34537355e+01,
  6.24705890e+00,-1.42274653e+00, 1.05248260e+01, 4.67540265e+00,
  2.23522629e+02, 2.59092619e+01]

qfrc_actuator:
[ 1.14643339e-04, 9.63303590e-04, 1.30284802e-04,-3.60019884e-05,
 -2.48347138e-05, 4.32770314e-02, 1.06793722e-02, 2.05340999e-03,
 -4.04420977e-05, 7.85687308e-04, 1.70930888e-04, 9.48981196e-05,
  1.65213578e-04,-1.63983693e-03, 0.00000000e+00,-1.28935062e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005910417609432242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.69604306e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.69604306e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13577769, -0.03512959,  0.06170227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.08970982e-05,-4.90777714e-04,-9.40747958e-05,-9.61470826e-05,
  5.74669318e-05, 2.59301634e-06, 9.24174656e-06,-1.70013423e-05,
 -2.82729759e-05,-5.67965997e-05,-7.51172849e-06,-6.75216385e-05,
  7.28132698e-05, 2.51412934e-04,-4.90361016e+00, 9.14696734e-04,
  3.52066069e-03,-1.05514607e-04]


--- Step 1899 ---
qpos:
[ 0.01868329, 0.03003685,-0.00941907,-0.02527679,-0.00338915, 1.33267547,
 -0.02955826, 0.94348195, 0.01158661, 0.02731615,-0.00830327, 0.02647007,
  1.38813026, 0.00764809, 1.27388237, 0.04457047,-0.0856125 ,-0.04670402,
  0.09134816, 0.70799653,-0.09324759,-0.69558523,-0.0787845 ]

qacc:
[ 1.38781992e+00,-1.91502764e+00, 7.90526053e+00,-1.24067234e+01,
 -8.85246372e-02,-2.54124735e+00, 5.04058242e+00,-1.35257839e+01,
 -3.17941285e+00,-1.66095106e+00, 1.11426239e+01,-2.86957140e+01,
  2.77643493e-01,-5.39421502e-01,-7.39666964e+00, 2.48729620e+01,
  5.40673481e+00,-1.23232890e+00, 7.77546660e+00, 3.43957688e+00,
  1.92897658e+02, 2.12546714e+01]

qfrc_actuator:
[ 1.22472040e-04, 9.54569605e-04, 1.53564031e-04,-4.77359948e-05,
 -4.39553839e-05, 4.31203545e-02, 1.06150740e-02, 2.00423750e-03,
 -6.12479118e-05, 8.53838318e-04, 1.93054093e-04, 4.89526512e-05,
  1.66219927e-04,-1.64650040e-03, 0.00000000e+00,-1.16781247e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005969193839729228
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.29960606e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.29960606e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13568943, -0.03514078,  0.06169948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.55694598e-05,-4.50675284e-04,-1.74023855e-04,-6.86625718e-05,
 -1.91255289e-05, 7.08504088e-05, 2.32255625e-05,-4.58454363e-05,
 -2.69800949e-05,-2.98415232e-05,-1.36250999e-05, 1.16196962e-04,
 -8.08276459e-05, 8.16518440e-05,-4.90413451e+00, 2.89521761e-04,
  3.52327886e-03,-1.40191742e-04]


--- Step 1900 ---
qpos:
[ 0.01868477, 0.03003733,-0.00941905,-0.02527663,-0.00338994, 1.33284349,
 -0.02956336, 0.94348637, 0.01158659, 0.02731617,-0.00830349, 0.02646956,
  1.38820393, 0.00764714, 1.27400877, 0.04457405,-0.08558645,-0.04674085,
  0.09136424, 0.70833092,-0.09257878,-0.69527645,-0.07929144]

qacc:
[ 3.68758020e+00, 1.20286669e+00,-5.32371584e+00, 1.02934012e+01,
 -9.07731680e-02,-2.39301937e+00, 3.83275903e+00,-8.54187866e+00,
 -2.14568285e+00,-1.00377191e-01, 2.44792095e+00,-6.86393533e+00,
 -1.31213527e-01, 1.45694681e-01,-4.40053368e+00, 1.51878122e+01,
  4.70333152e+00,-1.07307678e+00, 5.43328002e+00, 2.47440411e+00,
  1.67225691e+02, 1.75142238e+01]

qfrc_actuator:
[ 1.44403610e-04, 9.31335000e-04, 1.31579779e-04,-3.68598734e-05,
 -5.50714997e-05, 4.29597951e-02, 1.05610970e-02, 1.97329577e-03,
 -7.35989423e-05, 8.94627757e-04, 2.06395392e-04, 3.98435529e-05,
  1.64170568e-04,-1.63215170e-03, 0.00000000e+00,-1.09709408e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00594994706740317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.32968825e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.32968825e-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([-0.13570896, -0.03512904,  0.06170026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.62236193e-05,-4.47163263e-04,-1.64146304e-04,-5.09420801e-05,
 -1.28878810e-05, 8.32633327e-05, 2.92641007e-05,-6.15776567e-06,
 -2.26004977e-05,-7.64290520e-07, 5.07416931e-06, 7.50743786e-05,
 -1.00817429e-04,-7.82309625e-05,-4.90419172e+00,-1.91101562e-04,
  3.53151226e-03,-1.70402409e-04]


--- Step 1901 ---
qpos:
[ 0.01868651, 0.03003764,-0.00941946,-0.02527595,-0.00339106, 1.33300787,
 -0.02956876, 0.94349072, 0.01158676, 0.02731626,-0.00830277, 0.02646965,
  1.38827738, 0.00764634, 1.27413524, 0.04457778,-0.08558473,-0.04677361,
  0.09138399, 0.70837758,-0.09198066,-0.69525401,-0.07976604]

qacc:
[ 2.14939428e+00, 2.04101554e+00,-9.80703233e+00, 1.96305300e+01,
 -1.36601158e-01,-4.08155791e+00, 7.68502392e+00,-5.19218670e+00,
  1.70840234e+00,-1.27413393e+00, 2.11477569e+00, 6.80469307e+00,
 -2.65775765e-01, 3.31365754e-01,-3.10482290e-01, 1.31491342e+00,
 -6.08027359e+00, 1.01796164e+00, 9.18377143e-01,-1.57647431e+01,
 -2.05735646e+02, 1.13618671e+01]

qfrc_actuator:
[ 1.56709544e-04, 8.99414352e-04, 1.00752238e-04,-1.28084438e-05,
 -7.90484719e-05, 4.27804937e-02, 1.05491794e-02, 1.97109420e-03,
 -6.30967929e-05, 8.83217330e-04, 2.49887133e-04, 7.02157661e-05,
  1.54975429e-04,-1.62322196e-03, 0.00000000e+00,-1.09244391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005985006404780599
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.11565670e-15, -1.85500725e-14,  1.00000000e+00,  1.50546020e-28,
        1.00000000e+00,  1.85500725e-14, -1.00000000e+00,  0.00000000e+00,
        8.11565670e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00250208, -0.06856323,  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:
[ 1.29517355e-05,-3.16384774e-05,-3.09579220e-05, 2.40963348e-05,
 -3.94709464e-05,-4.61472298e-04,-1.19750980e-04,-2.14028392e-05,
  1.01525216e-05, 4.09304200e-05, 6.40863145e-05, 3.48352165e-05,
 -2.05604793e-05, 3.35894656e-06, 7.73942297e-06, 8.80737558e-06,
 -3.35363819e-05,-2.27652511e-04,-4.90394539e+00,-5.66628594e-04,
  3.54541567e-03,-1.97281888e-04]


--- Step 1902 ---
qpos:
[ 0.01868735, 0.03003779,-0.00942046,-0.02527601,-0.00339248, 1.33316863,
 -0.02957379, 0.94349601, 0.01158741, 0.02731619,-0.0083016 , 0.02646982,
  1.38835075, 0.00764559, 1.27426205, 0.04457886,-0.08560399,-0.04680278,
  0.09140155, 0.70817589,-0.09144022,-0.69547924,-0.0802136 ]

qacc:
[-7.73615181e+00,-5.94649070e-02, 3.08566892e+00,-1.49171017e+01,
 -1.28160840e-01,-4.11495393e+00, 5.76970288e+00, 8.18077259e+00,
  4.02324125e+00,-1.31673775e+00, 4.05825423e+00,-3.28769391e+00,
 -3.15446253e-01, 3.77555644e-01, 8.54073905e+00,-2.90637854e+01,
 -5.24794370e+00, 9.00488120e-01,-5.46237979e-01,-1.25708688e+01,
 -1.77598110e+02, 8.33552795e+00]

qfrc_actuator:
[ 1.09988894e-04, 8.80242725e-04, 6.49245742e-05,-5.22211700e-05,
 -9.27949662e-05, 4.26271009e-02, 1.05798764e-02, 2.02133441e-03,
 -3.92300962e-05, 8.40791940e-04, 2.57384658e-04, 7.02877162e-05,
  1.57478047e-04,-1.61762986e-03, 0.00000000e+00,-1.23325658e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.6326442 , -0.25343822,  8.6326442 ,  8.65515591,
        0.64010489, -0.25343822,  0.64010489, 30.43969645,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005995270213676442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.47218407e-15, -1.85183150e-14,  1.00000000e+00,  6.42989984e-29,
        1.00000000e+00,  1.85183150e-14, -1.00000000e+00,  0.00000000e+00,
        3.47218407e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00249494, -0.06853289,  0.06169858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.63546949e-05,-4.22344563e-05,-4.53437892e-05,-4.13713190e-05,
 -3.70609323e-05,-4.33879368e-04,-7.40108297e-05, 3.25904426e-05,
  2.41753109e-05,-4.81361460e-06, 2.50413347e-05, 4.71899698e-06,
 -7.03925280e-06, 1.79167944e-06, 1.11243176e-06,-1.40116219e-04,
 -7.47308225e-05,-4.55316999e-05,-4.90432574e+00,-9.42045831e-05,
  3.51084200e-03,-2.03521994e-04]


--- Step 1903 ---
qpos:
[ 0.01868624, 0.03003755,-0.00942129,-0.02527622,-0.00339399, 1.33332621,
 -0.02957855, 0.94350079, 0.01158833, 0.02731624,-0.0083009 , 0.02646933,
  1.38842424, 0.00764482, 1.27438894, 0.04457759,-0.08564143,-0.04682875,
  0.09141192, 0.70775887,-0.09094697,-0.69591916,-0.08063837]

qacc:
[-1.66769956e+01,-1.29951836e+00, 4.55612773e+00,-7.17506550e+00,
 -3.99709591e-02,-5.78186708e+00, 1.48472203e+01,-1.67293037e+01,
  2.38405639e+00, 1.05506458e-01, 2.60369592e+00,-1.33139569e+01,
 -8.25595646e-02, 1.16036736e-01, 7.25341914e+00,-2.51932261e+01,
 -4.54487570e+00, 7.97779794e-01,-1.79984325e+00,-1.00169452e+01,
 -1.53835330e+02, 6.02600620e+00]

qfrc_actuator:
[ 1.11505380e-05, 8.68766741e-04, 7.96895431e-05,-5.76454115e-05,
 -8.25410437e-05, 4.24906750e-02, 1.06000878e-02, 1.99554066e-03,
 -2.54485665e-05, 8.33205258e-04, 2.25635638e-04, 3.47097512e-05,
  1.72319322e-04,-1.61400756e-03, 0.00000000e+00,-1.35209647e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63507765, -0.14903315,  8.63507765,  8.64342999,
        0.40942933, -0.14903315,  0.40942933, 32.35896437,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005931728596896869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.18855019e-15, -9.35834307e-15,  1.00000000e+00,  7.66312620e-29,
        1.00000000e+00,  9.35834307e-15, -1.00000000e+00,  0.00000000e+00,
        8.18855019e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00264799, -0.06854797,  0.06170143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.16378423e-05,-3.91048961e-04,-7.23033906e-05,-4.00242749e-05,
  1.44877431e-05,-4.90488960e-06,-2.95093637e-05,-3.48296885e-05,
  1.11133185e-05, 2.79322979e-06,-1.86720796e-05,-1.27332423e-04,
 -2.61826641e-05, 6.72638660e-05,-4.90432027e+00, 2.94099111e-04,
  3.47699754e-03,-2.11336315e-04]


--- Step 1904 ---
qpos:
[ 0.0186843 , 0.03003693,-0.0094217 ,-0.02527582,-0.0033955 , 1.33348054,
 -0.02958308, 0.94350662, 0.01158907, 0.02731667,-0.00830047, 0.02646837,
  1.38849762, 0.00764439, 1.2745153 , 0.04457822,-0.08565744,-0.0468594 ,
  0.09145149, 0.70760467,-0.09044041,-0.69609115,-0.08107569]

qacc:
[-7.12050927e+00,-3.90085306e-01,-1.89348861e+00, 1.20304317e+01,
  1.46928502e-04,-3.12283333e+00, 2.86815968e+00, 1.17147072e+01,
 -1.60759220e+00, 2.90508221e-01, 1.70560433e+00,-9.74369762e+00,
 -1.13298057e-01, 3.06897111e-01,-6.53509220e+00, 2.17725346e+01,
  5.35880362e+00,-1.17044227e+00, 7.30341677e+00, 1.48871919e+00,
  1.87378269e+02, 1.37075153e+01]

qfrc_actuator:
[-2.87899114e-05, 8.62213345e-04, 1.06521487e-04,-2.52220741e-05,
 -7.57264386e-05, 4.23299472e-02, 1.06139558e-02, 2.04946397e-03,
 -3.54703769e-05, 8.81828583e-04, 2.24343171e-04, 1.39531167e-05,
  1.67920931e-04,-1.59376255e-03, 0.00000000e+00,-1.24394919e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005896585120775143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13578252, -0.03509424,  0.06170302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.89453826e-08,-3.93485022e-04,-7.22021856e-05, 3.93413704e-05,
 -9.59579103e-06, 3.82916008e-05,-7.15268593e-06,-2.26667143e-05,
  8.88452592e-07, 2.41039013e-05,-2.49333928e-05, 9.81453602e-05,
  7.88523571e-05, 1.33609042e-04,-4.90406548e+00, 6.19377610e-04,
  3.44254717e-03,-2.20348433e-04]


--- Step 1905 ---
qpos:
[ 0.0186819 , 0.0300365 ,-0.00942227,-0.02527576,-0.00339683, 1.33363097,
 -0.02958628, 0.94351375, 0.01159002, 0.0273175 ,-0.00830068, 0.0264672 ,
  1.38857111, 0.00764393, 1.27464145, 0.04458043,-0.08565478,-0.04689416,
  0.09151131, 0.70767873,-0.08992194,-0.69603057,-0.08152492]

qacc:
[-3.99934936e+00, 1.21455475e-02, 1.79134722e+00,-7.60560564e+00,
  7.82936218e-02,-6.46499401e+00, 1.22588477e+01, 6.83501416e+00,
  1.84280265e+00, 1.87246684e+00,-5.00253156e+00, 1.98312580e+00,
  2.28291279e-01,-2.50016987e-01,-5.10310029e+00, 1.73333092e+01,
  4.66844027e+00,-1.02798042e+00, 5.05950092e+00, 9.67083782e-01,
  1.62745145e+02, 1.14116898e+01]

qfrc_actuator:
[-5.14791878e-05, 8.94268316e-04, 1.04785794e-04,-4.17990295e-05,
 -5.32795574e-05, 4.21204779e-02, 1.06772021e-02, 2.11436211e-03,
 -2.39135915e-05, 8.92845819e-04, 1.88050819e-04, 2.16662936e-06,
  1.73297135e-04,-1.59939496e-03, 0.00000000e+00,-1.16270854e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005875965903424221
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83414602e-14,  9.44715339e-15,  1.00000000e+00, -2.67746122e-28,
        1.00000000e+00, -9.44715339e-15, -1.00000000e+00,  0.00000000e+00,
        2.83414602e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13581642, -0.03508348,  0.0617042 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.23919299e-05,-4.41141833e-04,-2.09546968e-05, 5.20833187e-05,
  1.12919324e-05, 2.99618175e-05,-3.00547364e-05,-1.08333956e-05,
  1.11477630e-05, 1.85419227e-06,-1.57813873e-06, 8.32690312e-05,
 -2.41311680e-05, 3.82987206e-05,-4.90441179e+00, 2.02547027e-04,
  3.44135473e-03,-2.46425298e-04]


--- Step 1906 ---
qpos:
[ 0.01867993, 0.03003641,-0.00942268,-0.02527594,-0.00339794, 1.33377799,
 -0.02958902, 0.94352057, 0.01159111, 0.02731887,-0.00830198, 0.02646555,
  1.38864465, 0.00764344, 1.27476751, 0.04458392,-0.08563574,-0.04693256,
  0.09158376, 0.70795186,-0.08939276,-0.69576684,-0.08198534]

qacc:
[ 3.73553607e+00,-5.18815840e-01, 3.47063403e+00,-8.08049257e+00,
  9.44509088e-02,-6.23285281e+00, 1.55503813e+01,-1.48971425e+01,
  1.07615686e+00, 2.78532062e+00,-6.92355816e+00, 1.98487912e-01,
  1.69086341e-01,-1.95464721e-01,-4.01099433e+00, 1.38087035e+01,
  4.09185298e+00,-9.08763066e-01, 3.15727399e+00, 5.60271057e-01,
  1.42104486e+02, 9.56354785e+00]

qfrc_actuator:
[-2.83466512e-05, 9.31304865e-04, 1.21820741e-04,-5.15634662e-05,
 -3.93898883e-05, 4.19547112e-02, 1.06978830e-02, 2.09641548e-03,
 -1.74932142e-05, 9.16639126e-04, 1.31241101e-04,-2.20565117e-05,
  1.73872170e-04,-1.60257670e-03, 0.00000000e+00,-1.09803960e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005795576256487578
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.91563871e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.91563871e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13593159, -0.03505401,  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:
[ 2.24438677e-05, 4.54927048e-05, 1.95952098e-05,-9.48925104e-06,
  2.70918907e-05,-4.13364670e-04,-6.66310717e-05,-3.03967410e-05,
  6.76538871e-06, 3.38577626e-05,-5.47014037e-05,-2.41889414e-05,
  6.60125296e-06,-3.42478815e-08, 6.53614165e-06, 6.86267544e-05,
 -3.45904448e-05,-5.59993425e-05,-4.90443598e+00,-1.31968659e-04,
  3.44664023e-03,-2.69996525e-04]


--- Step 1907 ---
qpos:
[ 0.01867998, 0.03003658,-0.00942261,-0.02527591,-0.00339884, 1.33392267,
 -0.02959306, 0.94352678, 0.01159123, 0.02731994,-0.0083031 , 0.026464  ,
  1.38871791, 0.0076433 , 1.27489396, 0.04458515,-0.08563714,-0.04696685,
  0.09165317, 0.70797976,-0.08890216,-0.69574927,-0.08242586]

qacc:
[ 1.73054438e+01,-5.48223934e-01, 1.51932712e+00, 1.29383152e+00,
  8.55190583e-02,-6.16743285e-01,-4.29904084e-01,-5.27062182e+00,
 -8.22430345e+00,-6.75608294e-01, 1.47012478e+00, 2.21827165e-02,
 -6.37436060e-01, 8.63842958e-01, 7.47835762e+00,-2.51830981e+01,
 -5.10770919e+00, 1.02661141e+00,-7.59659730e-01,-7.60107928e+00,
 -1.74921781e+02,-5.91691541e-01]

qfrc_actuator:
[ 7.48222707e-05, 9.53369003e-04, 1.49860140e-04,-3.94542400e-05,
 -3.07465296e-05, 4.18695041e-02, 1.06401069e-02, 2.06535051e-03,
 -6.74122327e-05, 8.76780897e-04, 1.33827898e-04,-1.79012526e-05,
  1.50263269e-04,-1.58652140e-03, 0.00000000e+00,-1.22117462e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00574147829555377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20855528e-15, -1.93368845e-14,  1.00000000e+00, -2.33696938e-29,
        1.00000000e+00,  1.93368845e-14, -1.00000000e+00,  0.00000000e+00,
       -1.20855528e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0031548 , -0.068609  ,  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:
[ 1.03839190e-04, 5.11666949e-05, 3.95276413e-05, 1.45511203e-05,
  2.46218345e-05,-3.28832136e-04,-1.47269979e-04,-4.59369241e-05,
 -4.97031489e-05,-3.32858059e-05, 2.00966817e-06, 3.24614953e-06,
 -2.02072841e-05, 1.75366174e-05, 8.06928301e-06,-1.19083029e-04,
  1.64958564e-05,-1.47607245e-04,-4.90424696e+00,-4.04287202e-04,
  3.45780285e-03,-2.91635607e-04]


--- Step 1908 ---
qpos:
[ 0.01868023, 0.03003697,-0.0094219 ,-0.02527539,-0.00339959, 1.33406478,
 -0.02959781, 0.9435329 , 0.01159041, 0.02732009,-0.00830308, 0.02646321,
  1.38879098, 0.00764315, 1.27502031, 0.04458591,-0.08565635,-0.04699754,
  0.09171478, 0.70779455,-0.08844361,-0.69594582,-0.08284943]

qacc:
[ 1.75608797e+00,-5.45884370e-01, 3.03291381e-01, 6.89361727e+00,
  6.94089329e-02,-1.61575606e+00, 1.37339348e+00,-5.28144301e-01,
 -8.00434443e+00,-2.83520933e+00, 5.14944448e+00, 6.88453128e+00,
 -1.80755064e-01, 1.52772873e-01, 1.27583519e+00,-4.63008304e+00,
 -4.45151532e+00, 9.00685783e-01,-1.94881424e+00,-6.09732176e+00,
 -1.52001090e+02,-1.14956522e+00]

qfrc_actuator:
[ 8.22373098e-05, 9.66371917e-04, 1.84127745e-04,-1.45782434e-05,
 -2.53195493e-05, 4.17441554e-02, 1.06078364e-02, 2.06234942e-03,
 -1.14586287e-04, 8.17115654e-04, 1.88985322e-04, 2.06636088e-05,
  1.33475575e-04,-1.59478555e-03, 0.00000000e+00,-1.24092998e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.29098057,   2.41793673,   8.29098057,
        11.90128537, -11.19524857,   2.41793673, -11.19524857,
        47.02429472,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00569541645760567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.65498851e-15, -9.74663603e-15,  1.00000000e+00,  3.56238427e-29,
        1.00000000e+00,  9.74663603e-15, -1.00000000e+00,  0.00000000e+00,
        3.65498851e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0032856 , -0.06862972,  0.06171344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.99509046e-05,-3.38436646e-04,-1.14858679e-04,-1.80642846e-05,
 -4.86396973e-05,-7.77636823e-05, 4.86478426e-05, 3.72768207e-05,
 -2.32206466e-05,-7.61466094e-06,-1.37284773e-05,-2.63046679e-05,
 -2.63408093e-05,-3.69387643e-05,-4.90448462e+00,-7.10476114e-05,
  3.44588976e-03,-2.98981942e-04]


--- Step 1909 ---
qpos:
[ 0.01867988, 0.03003752,-0.00942097,-0.02527454,-0.00340035, 1.33420389,
 -0.02960282, 0.94354   , 0.01158972, 0.02732   ,-0.0083026 , 0.02646285,
  1.38886386, 0.00764315, 1.27514615, 0.04458975,-0.08569114,-0.04702506,
  0.09176454, 0.70742315,-0.08801179,-0.69632927,-0.08325842]

qacc:
[-5.15520180e+00, 3.19705586e-01,-2.20523862e+00, 7.45661750e+00,
 -8.49241661e-03,-1.57765093e+00,-1.63280746e+00, 1.46056188e+01,
  1.11982099e+00,-7.11584392e-01, 2.65372649e-01, 6.60190996e+00,
  1.87712475e-02, 1.73308755e-02,-1.00793757e+01, 3.41549432e+01,
 -3.89749867e+00, 7.93081673e-01,-2.96156279e+00,-4.87957974e+00,
 -1.32685618e+02,-1.51916457e+00]

qfrc_actuator:
[ 5.09594833e-05, 9.56137661e-04, 1.86257947e-04,-1.51410702e-07,
 -3.96175425e-05, 4.15781323e-02, 1.05907922e-02, 2.11140598e-03,
 -1.06490604e-04, 8.35064995e-04, 2.21380961e-04, 4.36594505e-05,
  1.31434233e-04,-1.58193123e-03, 0.00000000e+00,-1.07528403e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.21462949,   2.66582806,   8.21462949,
        12.81241806, -12.86832422,   2.66582806, -12.86832422,
        48.28952701,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0055921704909388525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.92658420e-15, -9.92658420e-15,  1.00000000e+00,  9.85370739e-29,
        1.00000000e+00,  9.92658420e-15, -1.00000000e+00,  0.00000000e+00,
        9.92658420e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00354041, -0.06868269,  0.06171834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.53174746e-06,-3.77226003e-04,-9.70004926e-05, 3.52970399e-05,
  6.64079736e-06,-1.39137916e-05, 2.36150162e-05, 2.20753127e-05,
 -1.59440659e-05, 5.38491013e-06,-1.16517063e-05, 1.61868912e-04,
  9.80925140e-07, 3.58819659e-05,-4.90445012e+00, 2.21458361e-04,
  3.42956689e-03,-3.07318325e-04]


--- Step 1910 ---
qpos:
[ 0.01867984, 0.03003839,-0.00942086,-0.02527381,-0.00340119, 1.33433982,
 -0.02960787, 0.9435466 , 0.01158878, 0.02731975,-0.00830228, 0.02646246,
  1.38893663, 0.00764306, 1.2752718 , 0.04459619,-0.08570681,-0.04705695,
  0.09183502, 0.7072825 ,-0.08756471,-0.69647764,-0.08368266]

qacc:
[ 2.69093032e+00, 2.43339522e+00,-7.54420712e+00, 6.43622990e+00,
 -3.35234177e-02,-4.89563485e+00, 1.19513336e+01,-1.41215345e+01,
 -2.07356576e+00, 1.74952789e-01,-7.93385338e-01, 5.91463051e-01,
  1.79883724e-01,-2.98005484e-01,-8.13672008e+00, 2.80068446e+01,
  4.78147016e+00,-1.09462351e+00, 5.17737994e+00, 4.57001209e-01,
  1.64793016e+02, 9.24574430e+00]

qfrc_actuator:
[ 6.81994546e-05, 9.49678186e-04, 1.33781266e-04,-9.78685695e-06,
 -4.78792077e-05, 4.14069314e-02, 1.05827273e-02, 2.08415885e-03,
 -1.19186249e-04, 8.10508232e-04, 2.04847056e-04, 3.95911285e-05,
  1.22270239e-04,-1.59206527e-03, 0.00000000e+00,-9.43777597e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005554765430994861
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99868570e-14,  9.99342851e-15,  1.00000000e+00, -1.99737227e-28,
        1.00000000e+00, -9.99342851e-15, -1.00000000e+00,  0.00000000e+00,
        1.99868570e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13629272, -0.03495883,  0.06172031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.76981879e-06,-3.98740534e-04,-9.20053156e-05,-4.04142790e-05,
 -1.25077226e-05,-2.65149004e-05,-1.57402719e-05,-3.41834503e-06,
 -1.57643040e-05,-1.23374558e-05, 1.11054139e-05, 1.38668598e-04,
  7.35887079e-05, 8.22650383e-05,-4.90423667e+00, 4.80237744e-04,
  3.40920437e-03,-3.16508553e-04]


--- Step 1911 ---
qpos:
[ 0.0186807 , 0.03003905,-0.00942116,-0.02527317,-0.00340212, 1.33447271,
 -0.02961272, 0.94355177, 0.01158736, 0.02731874,-0.00830214, 0.02646175,
  1.38900917, 0.00764292, 1.2753979 , 0.0446008 ,-0.08570569,-0.04709272,
  0.09191869, 0.70734368,-0.087104  ,-0.69642046,-0.08412103]

qacc:
[ 7.68139271e+00, 6.96300977e-01,-2.58882682e+00, 2.06996272e+00,
 -3.55144561e-02,-6.99153947e+00, 2.09533675e+01,-3.29291694e+01,
 -4.16756036e+00,-1.14230491e+00, 3.97155993e+00,-8.58149830e+00,
 -3.16294562e-01, 2.65788032e-01, 6.17600180e+00,-2.05946144e+01,
  4.19719581e+00,-9.68343445e-01, 3.29805847e+00, 1.40011703e-01,
  1.44169654e+02, 7.70113973e+00]

qfrc_actuator:
[ 1.13872095e-04, 9.09759781e-04, 1.02740651e-04,-1.57818727e-05,
 -5.24516050e-05, 4.12695004e-02, 1.05976911e-02, 2.01220933e-03,
 -1.44036596e-04, 7.24964736e-04, 1.77145994e-04, 1.95748388e-05,
  1.03506660e-04,-1.59805364e-03, 0.00000000e+00,-1.04652795e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0055004543591581495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.02763086e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.02763086e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13637684, -0.03493629,  0.06172316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.03543036e-05,-3.78150392e-04,-7.48349698e-05,-8.73770926e-05,
 -2.52257149e-05,-1.03769624e-04,-3.52354135e-05,-2.17626378e-05,
 -2.91186970e-05,-1.35392250e-05, 1.78000549e-05,-9.42446913e-05,
 -2.61483308e-06, 1.72262499e-05,-4.90449664e+00, 1.46876637e-04,
  3.40738117e-03,-3.39347983e-04]


--- Step 1912 ---
qpos:
[ 0.01868245, 0.03003918,-0.00942172,-0.02527223,-0.00340311, 1.33460281,
 -0.02961718, 0.94355531, 0.01158599, 0.02731712,-0.0083021 , 0.02646114,
  1.38908125, 0.00764325, 1.27552416, 0.04460352,-0.08568973,-0.04713194,
  0.09200919, 0.70758236,-0.08663105,-0.69618228,-0.08457246]

qacc:
[ 7.60201105e+00, 6.29206472e-01,-4.50643781e+00, 1.04491048e+01,
 -2.89008606e-02,-7.50479738e+00, 2.33977006e+01,-3.73613823e+01,
  4.97059685e-01,-3.19543215e-01,-4.12790042e-01, 2.58999180e+00,
 -8.24412264e-01, 1.10587274e+00, 6.09741610e+00,-2.07619421e+01,
  3.70971602e+00,-8.62929056e-01, 1.70955024e+00,-1.06066034e-01,
  1.26902631e+02, 6.46488954e+00]

qfrc_actuator:
[ 1.58145609e-04, 8.67924539e-04, 8.44869725e-05,-1.83678589e-06,
 -5.47737365e-05, 4.11534580e-02, 1.06262395e-02, 1.93232930e-03,
 -1.40331035e-04, 7.09995990e-04, 1.78325587e-04, 2.57884553e-05,
  8.43235910e-05,-1.56605169e-03, 0.00000000e+00,-1.14443943e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005397945250411061
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05675118e-14, -2.05675118e-14,  1.00000000e+00,  4.23022540e-28,
        1.00000000e+00,  2.05675118e-14, -1.00000000e+00,  0.00000000e+00,
        2.05675118e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13652613, -0.03489839,  0.06172819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.44835114e-06,-3.43405710e-04,-5.66448731e-05,-9.52800528e-05,
  2.92969155e-06,-8.11854519e-05,-2.53372716e-05, 1.28227213e-07,
 -3.71037261e-05, 2.12483415e-05,-6.79088533e-06,-1.01911424e-04,
 -7.90918819e-06,-5.02292763e-05,-4.90450841e+00,-1.27788046e-04,
  3.41163379e-03,-3.60420759e-04]


--- Step 1913 ---
qpos:
[ 0.01868299, 0.03003898,-0.00942256,-0.02527149,-0.00340401, 1.33473041,
 -0.02962144, 0.94355855, 0.01158433, 0.02731531,-0.008302  , 0.02646053,
  1.38915293, 0.00764396, 1.27565075, 0.04460201,-0.08569218,-0.04716715,
  0.09209259, 0.70760091,-0.08618121,-0.6961659 ,-0.08501047]

qacc:
[-1.03491703e+01,-7.83216527e-02, 5.37724851e-01,-3.45995648e+00,
  4.12380492e-02,-4.32410666e+00, 1.07722759e+01,-1.13293329e+01,
 -2.47291654e+00,-4.30592596e-01, 1.11398799e+00,-8.79911276e-01,
 -9.01727950e-01, 1.16157737e+00, 1.33247091e+01,-4.56947541e+01,
 -4.60416231e+00, 1.00265179e+00,-1.77629479e+00,-3.65718546e+00,
 -1.56655228e+02,-6.12111392e+00]

qfrc_actuator:
[ 9.47157212e-05, 8.60830268e-04, 7.39119339e-05,-1.17770975e-05,
 -3.79748435e-05, 4.10512182e-02, 1.06449133e-02, 1.91946176e-03,
 -1.55348052e-04, 7.37533014e-04, 1.96838088e-04, 2.97096619e-05,
  6.49181400e-05,-1.54726215e-03, 0.00000000e+00,-1.36290309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005292354475204437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.17781633e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.17781633e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00432248, -0.06884905,  0.0617334 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.17990798e-05,-3.07044614e-04,-5.78838999e-05,-2.68788424e-05,
 -1.49637053e-05,-2.30345463e-05,-1.35553027e-06,-4.27595779e-07,
 -3.35970991e-05, 1.66611892e-05,-1.80887040e-05,-2.25828825e-04,
  3.49695681e-05,-1.18154904e-04,-4.90435231e+00,-3.57253856e-04,
  3.42135077e-03,-3.80110863e-04]


--- Step 1914 ---
qpos:
[ 0.01868139, 0.03003854,-0.00942358,-0.02527124,-0.00340477, 1.33485548,
 -0.0296258 , 0.94356301, 0.0115832 , 0.02731358,-0.00830212, 0.02645996,
  1.38922442, 0.00764465, 1.27577786, 0.04459287,-0.08571083,-0.04719885,
  0.09216486, 0.70742681,-0.08575098,-0.69634376,-0.08543683]

qacc:
[-1.83884986e+01,-7.91044731e-01, 4.47283418e+00,-1.25260310e+01,
  6.03754726e-02,-9.69703226e-01,-3.36367642e+00, 1.86935374e+01,
  4.44603275e+00, 7.97021407e-01,-2.84282975e+00, 3.75645513e+00,
 -7.68701417e-01, 8.17979298e-01, 2.39800369e+01,-8.25743395e+01,
 -4.04621914e+00, 8.79044833e-01,-2.78245687e+00,-2.93123353e+00,
 -1.37113139e+02,-5.61154839e+00]

qfrc_actuator:
[-1.38460239e-05, 8.56856616e-04, 6.80677856e-05,-3.56638097e-05,
 -2.75942105e-05, 4.09225819e-02, 1.06399559e-02, 1.98164051e-03,
 -1.28015918e-04, 7.54898531e-04, 1.90107986e-04, 3.22969202e-05,
  5.07155767e-05,-1.55425389e-03, 0.00000000e+00,-1.75714102e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.68451796,   5.46845467,   6.68451796,
        33.95121815, -30.94431789,   5.46845467, -30.94431789,
        46.46201297,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005229578049199206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.06148432e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.06148432e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00449328, -0.0688865 ,  0.0617367 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.73362022e-05,-3.11493680e-04,-7.25340311e-05, 5.08058887e-05,
  2.68801477e-05, 4.24139866e-06,-1.16497514e-05, 1.55036937e-06,
 -2.82916053e-05,-9.39868288e-06,-3.69980831e-05,-4.09931977e-04,
 -5.60921995e-06,-3.70039598e-05,-4.90452683e+00,-7.99980399e-05,
  3.41680417e-03,-3.88110091e-04]


--- Step 1915 ---
qpos:
[ 0.01867954, 0.03003778,-0.00942444,-0.02527027,-0.00340539, 1.33497759,
 -0.02962993, 0.94356682, 0.01158274, 0.02731213,-0.00830243, 0.0264594 ,
  1.38929568, 0.00764528, 1.27590418, 0.04458406,-0.08574377,-0.04722744,
  0.09222259, 0.70708302,-0.08533746,-0.69669247,-0.08585297]

qacc:
[-2.18321064e+00, 6.84399511e-01,-6.10942912e+00, 1.87498578e+01,
  5.81904316e-02,-5.61815461e+00, 1.49617020e+01,-1.86110220e+01,
  5.80058371e+00, 9.15567950e-01,-2.80219145e+00, 3.09505034e+00,
 -5.83066433e-02,-2.75218026e-02,-2.19623391e+00, 5.97861393e+00,
 -3.57543859e+00, 7.74497325e-01,-3.63716348e+00,-2.33092691e+00,
 -1.20669595e+02,-5.14348820e+00]

qfrc_actuator:
[-2.37988624e-05, 8.54797621e-04, 8.28291540e-05, 3.45720445e-06,
 -2.11486378e-05, 4.07436322e-02, 1.06387836e-02, 1.94541968e-03,
 -9.37229534e-05, 7.83711573e-04, 1.86250831e-04, 3.40563260e-05,
  3.96315785e-05,-1.55871489e-03, 0.00000000e+00,-1.71914892e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.53982471,   5.64069762,   6.53982471,
        36.10574389, -31.84799891,   5.64069762, -31.84799891,
        45.56093292,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00511932244056814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.42172835e-15, -1.62651851e-14,  1.00000000e+00,  8.81854149e-29,
        1.00000000e+00,  1.62651851e-14, -1.00000000e+00,  0.00000000e+00,
        5.42172835e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00476757, -0.06894933,  0.061742  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.66701478e-05,-3.64777877e-04,-6.90021772e-05,-4.63578826e-05,
  3.50764284e-05, 2.89158807e-05,-4.34166927e-06, 1.57229938e-06,
 -2.95164129e-05,-1.29345172e-05,-6.57991208e-05, 9.71129082e-06,
  1.22378646e-05, 1.91554947e-05,-4.90448488e+00, 1.73473405e-04,
  3.40687463e-03,-3.96915354e-04]


--- Step 1916 ---
qpos:
[ 0.01867826, 0.03003694,-0.00942494,-0.02526887,-0.00340575, 1.33509673,
 -0.02963398, 0.9435695 , 0.0115827 , 0.02731104,-0.00830257, 0.02645848,
  1.38936678, 0.00764585, 1.27602958, 0.04458002,-0.08575881,-0.04726044,
  0.09229615, 0.7069525 ,-0.08490782,-0.69682406,-0.08628472]

qacc:
[ 5.01678085e+00,-2.91894144e-01,-9.07187504e-01, 7.61991496e+00,
  1.10004454e-01,-6.06991019e+00, 1.74452864e+01,-2.65103695e+01,
  3.53918326e+00,-7.33767501e-01, 4.83864908e+00,-1.15956901e+01,
  3.32337727e-01,-4.79214595e-01,-1.58143951e+01, 5.32622047e+01,
  4.47587221e+00,-1.10024629e+00, 3.95925728e+00, 4.12106220e-02,
  1.52413837e+02, 7.28760025e+00]

qfrc_actuator:
[ 6.63076945e-06, 8.71801373e-04, 1.09694720e-04, 2.60989224e-05,
  6.37069870e-07, 4.05891960e-02, 1.06395932e-02, 1.88704368e-03,
 -7.33738089e-05, 8.19172268e-04, 2.01933010e-04, 1.75782158e-05,
  3.57528694e-05,-1.56161420e-03, 0.00000000e+00,-1.46224861e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005104749501285283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.26232372e-14, -1.08744124e-14,  1.00000000e+00,  3.54758535e-28,
        1.00000000e+00,  1.08744124e-14, -1.00000000e+00,  0.00000000e+00,
        3.26232372e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13696512, -0.03478023,  0.06174302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.16156692e-05,-3.71952038e-04,-7.98901038e-05,-7.22679669e-05,
  2.13816318e-05, 5.08696764e-05, 2.11949095e-05,-1.53549173e-05,
 -2.29171129e-05,-1.30881992e-05,-2.86657934e-05, 2.49146893e-04,
  6.88029479e-05, 5.71421588e-05,-4.90429750e+00, 4.05234318e-04,
  3.39221424e-03,-4.06463777e-04]


--- Step 1917 ---
qpos:
[ 0.01867702, 0.03003649,-0.00942585,-0.02526791,-0.00340599, 1.33521296,
 -0.02963805, 0.94357215, 0.01158325, 0.02731018,-0.00830249, 0.02645773,
  1.38943763, 0.0076466 , 1.27615466, 0.04458002,-0.08575803,-0.04729734,
  0.09237894, 0.70700972,-0.08446363,-0.69676457,-0.08673112]

qacc:
[ 2.35351027e-01, 7.33169337e-01,-8.88823429e-03,-7.24091295e+00,
  4.87426089e-02,-3.79950364e+00, 7.82911703e+00,-5.25520005e+00,
  5.03438361e+00,-1.16919805e-02,-2.82479905e-01, 2.73614682e+00,
  1.62405771e-02, 2.83892702e-02,-1.27341752e+01, 4.38349914e+01,
  3.95468922e+00,-9.76432694e-01, 2.30946409e+00,-2.30520345e-01,
  1.34204594e+02, 5.96332966e+00]

qfrc_actuator:
[ 7.29534523e-06, 9.00148147e-04, 9.02897309e-05, 3.37017115e-06,
 -4.05553312e-06, 4.04506586e-02, 1.06416489e-02, 1.88713895e-03,
 -4.36446153e-05, 8.22905140e-04, 2.11295991e-04, 2.60276809e-05,
  3.08756821e-05,-1.54578207e-03, 0.00000000e+00,-1.25609422e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005044831409347424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.20071383e-14, -1.10035691e-14,  1.00000000e+00,  2.42157068e-28,
        1.00000000e+00,  1.10035691e-14, -1.00000000e+00,  0.00000000e+00,
        2.20071383e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13705664, -0.03475445,  0.06174612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.39620017e-05,-3.62911190e-04,-8.20447437e-05,-1.49379457e-05,
  3.03691939e-05, 3.59499126e-05, 2.19656276e-05, 1.10678565e-05,
 -1.92883313e-05, 6.51409125e-06, 1.44145115e-05, 2.16347162e-04,
  6.91568374e-06, 4.38151525e-06,-4.90451205e+00, 1.03901463e-04,
  3.39034855e-03,-4.28329012e-04]


--- Step 1918 ---
qpos:
[ 0.01867545, 0.03003603,-0.00942685,-0.02526686,-0.00340634, 1.33532655,
 -0.02964223, 0.94357545, 0.01158347, 0.02730955,-0.00830255, 0.02645711,
  1.3895085 , 0.00764721, 1.27628   , 0.0445805 ,-0.08574317,-0.04733774,
  0.09246541, 0.70723318,-0.08400623,-0.69653562,-0.08719124]

qacc:
[-2.80375466e+00, 4.87983636e-01,-2.14131290e+00, 3.96144977e+00,
 -4.24027785e-02,-2.04777064e+00, 1.14974733e+00, 8.24850932e+00,
 -2.88434336e+00, 1.01790238e+00,-3.70096797e+00, 6.00513664e+00,
  1.28442095e-01,-2.32909902e-01,-1.02400761e+00, 4.11877881e+00,
  3.51987865e+00,-8.73407333e-01, 9.16612446e-01,-4.40662211e-01,
  1.18967174e+02, 4.91398128e+00]

qfrc_actuator:
[-9.57882675e-06, 8.81595771e-04, 7.92478640e-05, 7.36706246e-06,
 -2.45942064e-05, 4.03405455e-02, 1.06445269e-02, 1.92165771e-03,
 -6.18858041e-05, 8.25361812e-04, 1.98989077e-04, 3.12943752e-05,
  3.60633630e-05,-1.55445130e-03, 0.00000000e+00,-1.24134935e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00494309337238729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.24600860e-14,  1.12300430e-14,  1.00000000e+00, -2.52227733e-28,
        1.00000000e+00, -1.12300430e-14, -1.00000000e+00,  0.00000000e+00,
        2.24600860e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13720479, -0.03471528,  0.06175112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.23073837e-05,-3.28162991e-04,-7.80135603e-05, 2.10191533e-05,
 -1.73433359e-05, 2.76161067e-05,-1.78233272e-06, 7.78497851e-06,
 -2.20489821e-06,-1.16164516e-05, 2.80240669e-05, 2.80497276e-05,
  5.19023934e-06,-5.25597706e-05,-4.90451451e+00,-1.48753106e-04,
  3.39416838e-03,-4.48747668e-04]


--- Step 1919 ---
qpos:
[ 0.01867403, 0.03003556,-0.0094277 ,-0.02526544,-0.0034067 , 1.33543813,
 -0.02964666, 0.94357909, 0.01158311, 0.0273094 ,-0.00830286, 0.02645654,
  1.38957967, 0.00764714, 1.27640582, 0.04457816,-0.08574591,-0.04737419,
  0.09254272, 0.70724844,-0.08356399,-0.6965168 ,-0.08764161]

qacc:
[ 1.33182025e+00, 3.04622627e-01,-2.69478721e+00, 8.87249384e+00,
 -5.53419926e-03,-1.40603273e+00, 7.16750386e-01, 4.57517313e+00,
 -4.83768955e+00, 1.40893223e+00,-4.31043176e+00, 5.14608262e+00,
  4.14832920e-01,-8.06382026e-01, 9.14623965e+00,-3.10767528e+01,
 -4.39934279e+00, 9.85606478e-01,-2.28775609e+00,-1.54846954e+00,
 -1.47880119e+02,-9.17529414e+00]

qfrc_actuator:
[-1.12673958e-06, 8.88400492e-04, 9.08391077e-05, 2.70392340e-05,
 -1.89659269e-05, 4.02838843e-02, 1.06479941e-02, 1.94065630e-03,
 -9.04660729e-05, 8.62443645e-04, 1.91721034e-04, 3.46238250e-05,
  4.72749790e-05,-1.59531171e-03, 0.00000000e+00,-1.39274260e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004820865565852504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15147686e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.15147686e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00554516, -0.06913001,  0.06175705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.65049064e-06,-2.53600081e-04,-6.91091419e-05, 7.49218064e-06,
 -2.90810121e-05, 5.25097044e-05,-1.50336690e-06, 4.60642710e-06,
  7.73714946e-06,-4.50089457e-05, 1.20689071e-05,-1.47141480e-04,
  4.51268584e-05,-1.11601044e-04,-4.90437079e+00,-3.63686135e-04,
  3.40312612e-03,-4.68033465e-04]


--- Step 1920 ---
qpos:
[ 0.01867307, 0.03003528,-0.00942849,-0.02526416,-0.00340704, 1.33554789,
 -0.02965109, 0.94358187, 0.01158242, 0.02730935,-0.00830312, 0.02645604,
  1.38965049, 0.00764766, 1.27653158, 0.04457506,-0.08576421,-0.04740719,
  0.09260727, 0.70708043,-0.08313486,-0.69668298,-0.0880834 ]

qacc:
[ 3.91700773e+00,-2.21899845e-01, 1.77875301e+00,-4.52053275e+00,
  9.04696567e-03,-3.85527254e+00, 1.14477904e+01,-1.87768017e+01,
 -2.90166456e+00, 1.52151274e-01,-6.21466756e-01, 1.66101372e+00,
 -7.05623049e-01, 1.07271414e+00, 2.29958674e+00,-7.99820634e+00,
 -3.88904689e+00, 8.65273332e-01,-3.19057795e+00,-1.19779031e+00,
 -1.30182513e+02,-8.15883591e+00]

qfrc_actuator:
[ 2.21706107e-05, 9.10441221e-04, 9.80439874e-05, 2.02989504e-05,
 -1.54371085e-05, 4.02064528e-02, 1.06519852e-02, 1.89713773e-03,
 -1.07134346e-04, 8.48971227e-04, 1.87632373e-04, 3.68227129e-05,
  3.54467338e-05,-1.54838790e-03, 0.00000000e+00,-1.42770365e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   4.47381803,   7.38726804,   4.47381803,
        64.16686954, -33.62993971,   7.38726804, -33.62993971,
        29.00305806,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004763815365097249
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16526664e-14,  1.16526664e-14,  1.00000000e+00, -1.35784634e-28,
        1.00000000e+00, -1.16526664e-14, -1.00000000e+00,  0.00000000e+00,
        1.16526664e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00569973, -0.0691664 ,  0.06176005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.54530704e-06,-2.31772693e-04,-5.33799916e-05,-5.28396019e-05,
 -1.75027640e-05, 1.57775842e-05, 6.73976306e-06, 4.49023565e-06,
 -1.89755404e-05, 3.55944064e-05,-1.43812032e-05,-4.24426595e-05,
  4.72768964e-06,-4.16652540e-05,-4.90451906e+00,-1.04617212e-04,
  3.40177487e-03,-4.76548501e-04]


--- Step 1921 ---
qpos:
[ 0.0186724 , 0.03003525,-0.00942919,-0.02526333,-0.00340734, 1.33565574,
 -0.02965515, 0.94358409, 0.01158188, 0.02730922,-0.0083036 , 0.02645561,
  1.38972089, 0.00764899, 1.27665675, 0.04457556,-0.08576675,-0.04744427,
  0.0926802 , 0.707098  ,-0.08269043,-0.69666017,-0.08853988]

qacc:
[ 2.45944415e+00,-8.43193184e-01, 5.31693406e+00,-1.32624366e+01,
  1.32269658e-02,-4.45649433e+00, 1.26420637e+01,-1.61770125e+01,
  1.27557876e+00, 6.55541846e-01,-2.78917022e+00, 4.45389726e+00,
 -5.31247933e-01, 9.88993105e-01,-1.17094030e+01, 3.98190734e+01,
  3.93841146e+00,-1.02375565e+00, 2.09577756e+00,-3.17580632e-01,
  1.32743257e+02, 5.50250623e+00]

qfrc_actuator:
[ 3.62585288e-05, 9.23652361e-04, 1.02641356e-04,-1.92212418e-06,
 -1.31969743e-05, 4.01171894e-02, 1.06739094e-02, 1.87043204e-03,
 -9.89018555e-05, 8.23090598e-04, 1.67500915e-04, 3.83012160e-05,
  2.04934616e-05,-1.50304080e-03, 0.00000000e+00,-1.23394999e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004674332810839912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.93786894e-15,  1.18757379e-14,  1.00000000e+00,  7.05165751e-29,
        1.00000000e+00, -1.18757379e-14, -1.00000000e+00,  0.00000000e+00,
       -5.93786894e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13759793, -0.03460756,  0.06176441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.73515448e-06,-2.30255224e-04,-3.11561586e-05,-3.63120680e-05,
  7.72438095e-06,-1.54753902e-05,-1.58821127e-05, 2.47763368e-06,
 -1.66679991e-05, 5.16962397e-05,-1.40304731e-05, 1.88953725e-04,
  1.74691728e-05, 8.46339854e-06,-4.90447470e+00, 1.38036303e-04,
  3.39485534e-03,-4.85820347e-04]


--- Step 1922 ---
qpos:
[ 0.01867122, 0.03003585,-0.00943006,-0.02526211,-0.00340748, 1.33576125,
 -0.02965849, 0.94358704, 0.01158178, 0.02730877,-0.00830365, 0.02645553,
  1.3897913 , 0.00765034, 1.27678191, 0.04457733,-0.08578475,-0.04747721,
  0.09274039, 0.70693457,-0.08227245,-0.69682102,-0.08896755]

qacc:
[-4.43702063e+00, 2.12099227e+00,-7.93591133e+00, 1.43525441e+01,
  7.45368992e-02,-3.75699861e+00, 7.08364747e+00, 3.67484144e+00,
  3.83882722e+00,-9.11517998e-01, 1.09713762e+00, 4.63396226e+00,
  9.69853157e-02,-9.71684880e-02,-3.86803999e+00, 1.34902287e+01,
 -3.86497307e+00, 1.03840861e+00,-3.18568502e+00, 1.32931383e+00,
 -1.30335777e+02, 3.79072470e+00]

qfrc_actuator:
[ 9.30271107e-06, 9.84707697e-04, 1.05627298e-04, 2.01815084e-05,
  6.00443488e-06, 3.99861371e-02, 1.07062184e-02, 1.90710769e-03,
 -7.60829092e-05, 8.07655181e-04, 1.91247902e-04, 5.70691843e-05,
  1.96611425e-05,-1.51235455e-03, 0.00000000e+00,-1.17331518e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004616840181948828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.01181209e-15, -3.00590604e-15,  1.00000000e+00, -1.80709423e-29,
        1.00000000e+00,  3.00590604e-15, -1.00000000e+00,  0.00000000e+00,
       -6.01181209e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00534535, -0.0715311 ,  0.0617674 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.13990216e-05,-2.66347573e-04,-1.74590996e-05, 2.81469760e-05,
  2.30393594e-05,-2.72519038e-05, 1.86869548e-05, 1.76053397e-05,
  3.10503541e-06, 1.99999076e-06, 1.29472105e-05, 6.90105206e-05,
  6.98351837e-06,-4.47158923e-05,-4.90450930e+00,-1.18545452e-04,
  3.39735244e-03,-5.06656479e-04]


--- Step 1923 ---
qpos:
[ 0.01866971, 0.03003657,-0.00943038,-0.02526096,-0.00340741, 1.33586436,
 -0.0296611 , 0.94359179, 0.01158162, 0.02730777,-0.00830328, 0.02645571,
  1.38986154, 0.00765192, 1.27690723, 0.04457882,-0.08578704,-0.04751421,
  0.09280855, 0.70695516,-0.08183765,-0.69679442,-0.0894122 ]

qacc:
[-2.67469937e+00,-1.53742890e+00, 6.00186898e+00,-8.21641880e+00,
  8.38734768e-02,-2.05037973e+00,-8.37334637e-01, 2.31944691e+01,
 -5.76163589e-01,-1.36015856e+00, 2.74622670e+00, 1.36174061e+00,
 -3.22961742e-01, 4.65203603e-01, 1.11975219e+00,-3.48639947e+00,
  3.92743153e+00,-1.01555804e+00, 1.99117902e+00,-7.39157469e-01,
  1.31814579e+02, 4.03860990e+00]

qfrc_actuator:
[-6.08663192e-06, 9.67457101e-04, 1.25621571e-04, 1.49731551e-05,
  1.74729926e-05, 3.98666973e-02, 1.07442643e-02, 1.99851291e-03,
 -8.03748282e-05, 7.63270532e-04, 2.05258789e-04, 6.81462107e-05,
  5.97456960e-06,-1.50073933e-03, 0.00000000e+00,-1.19166353e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004547181056770294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.44156327e-14, -2.44156327e-14,  1.00000000e+00,  5.96123120e-28,
        1.00000000e+00,  2.44156327e-14, -1.00000000e+00,  0.00000000e+00,
        2.44156327e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13778784, -0.0345528 ,  0.06177085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.40953806e-05,-2.70065906e-04,-1.53295255e-05, 8.36869302e-05,
 -3.62962841e-06,-5.49846131e-05, 1.12974824e-05, 1.08987002e-05,
 -1.14460602e-05, 1.27903450e-05, 1.06798286e-05,-1.35290503e-05,
  1.47876412e-05, 7.45799345e-06,-4.90450519e+00, 1.21292028e-04,
  3.39645524e-03,-5.15611060e-04]


--- Step 1924 ---
qpos:
[ 0.01866907, 0.03003689,-0.0094301 ,-0.02526086,-0.00340732, 1.33596564,
 -0.02966363, 0.94359621, 0.0115814 , 0.02730652,-0.00830365, 0.02645607,
  1.38993173, 0.0076534 , 1.27703238, 0.04458177,-0.08580478,-0.04754706,
  0.09286376, 0.70679568,-0.08142805,-0.69695059,-0.08982882]

qacc:
[ 7.41450093e+00,-4.35865153e+00, 1.91605663e+01,-3.78584398e+01,
  1.13265676e-02,-3.18142600e+00, 8.17649278e+00,-9.85704267e+00,
 -4.45785547e-01, 2.10454347e+00,-8.72705325e+00, 1.31373073e+01,
  1.54079865e-01,-2.53947887e-01,-4.68796912e+00, 1.59683685e+01,
 -3.86024640e+00, 1.03513975e+00,-3.23627410e+00, 1.66361633e+00,
 -1.29616057e+02, 3.15878662e+00]

qfrc_actuator:
[ 3.87261142e-05, 9.03498207e-04, 1.37415971e-04,-4.18251911e-05,
  6.45695040e-06, 3.97907366e-02, 1.07499408e-02, 1.97936069e-03,
 -8.28420630e-05, 7.37362712e-04, 1.60009265e-04, 7.45690540e-05,
  0.00000000e+00,-1.51229624e-03, 0.00000000e+00,-1.11433891e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0044825395262978115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.85757931e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.85757931e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00568965, -0.07162251,  0.06177413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.20292510e-06,-2.26538273e-04,-4.65498631e-05,-2.56319046e-05,
 -2.59635996e-06,-5.38253043e-05,-5.48318655e-05, 4.67065978e-06,
 -8.76340087e-06,-1.04600336e-05,-1.75436475e-07, 7.71236023e-05,
  5.78640431e-06,-4.47806946e-05,-4.90453233e+00,-1.26537256e-04,
  3.39806255e-03,-5.35861828e-04]


--- Step 1925 ---
qpos:
[ 0.01866829, 0.03003687,-0.00942965,-0.02526107,-0.00340741, 1.33606514,
 -0.02966665, 0.94360004, 0.01158185, 0.02730537,-0.00830447, 0.02645608,
  1.39000208, 0.00765422, 1.27715785, 0.0445826 ,-0.08580681,-0.04758398,
  0.09292666, 0.70681924,-0.0810003 ,-0.69692027,-0.09026434]

qacc:
[-1.25317911e+00,-1.55292806e+00, 6.21222610e+00,-1.16339024e+01,
 -7.79589933e-02,-2.01938770e+00, 4.94136364e+00,-9.87770000e+00,
  5.62636319e+00, 6.57678998e-01,-7.48091909e-01,-4.43826374e+00,
  3.56593095e-01,-7.62141670e-01, 6.86496864e+00,-2.34054097e+01,
  3.92606448e+00,-1.01439756e+00, 1.92339569e+00,-1.09737400e+00,
  1.31274356e+02, 2.80717439e+00]

qfrc_actuator:
[ 2.98474597e-05, 8.82983323e-04, 1.44022415e-04,-5.75654004e-05,
 -1.79577267e-05, 3.96879902e-02, 1.07188083e-02, 1.94855294e-03,
 -4.87011910e-05, 7.75726426e-04, 1.51207091e-04, 6.04229077e-05,
  0.00000000e+00,-1.55526431e-03, 0.00000000e+00,-1.22977011e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0044286802844720405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25344680e-14, -2.50689360e-14,  1.00000000e+00,  3.14225775e-28,
        1.00000000e+00,  2.50689360e-14, -1.00000000e+00,  0.00000000e+00,
        1.25344680e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13796484, -0.03450265,  0.06177685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.25311049e-05,-2.38628394e-04,-8.16030747e-05,-3.94325118e-05,
  3.40438127e-05,-2.81474352e-06,-2.64945528e-05,-1.82562154e-05,
 -6.79247181e-06,-4.81830141e-05, 6.17908308e-06,-1.11701299e-04,
  1.24843403e-05, 6.51430643e-06,-4.90452846e+00, 1.06262427e-04,
  3.39773609e-03,-5.44648976e-04]


--- Step 1926 ---
qpos:
[ 0.01866706, 0.03003658,-0.00942915,-0.02526147,-0.00340773, 1.33616267,
 -0.02967002, 0.94360453, 0.01158236, 0.02730401,-0.00830505, 0.02645627,
  1.39007241, 0.00765479, 1.27728326, 0.04458272,-0.0858243 ,-0.04761676,
  0.09297651, 0.70666307,-0.0805968 ,-0.69707242,-0.09067243]

qacc:
[-3.80830215e+00,-9.19472518e-01, 3.53992134e+00,-6.67308853e+00,
 -9.62559438e-02,-5.08957490e-01,-2.77943825e+00, 1.11655905e+01,
  5.34053160e-01,-5.75390365e-01, 9.17626984e-01, 1.81192379e+00,
  9.09159236e-02,-2.77561648e-01, 2.03258321e+00,-7.27008330e+00,
 -3.86680896e+00, 1.03271097e+00,-3.26412708e+00, 1.94187732e+00,
 -1.29316317e+02, 2.64633794e+00]

qfrc_actuator:
[ 7.17073395e-06, 8.70881784e-04, 1.47707248e-04,-6.67381030e-05,
 -3.24587813e-05, 3.95876182e-02, 1.07016310e-02, 1.98213909e-03,
 -4.65443112e-05, 7.63638664e-04, 1.64268204e-04, 6.98832763e-05,
  0.00000000e+00,-1.56323532e-03, 0.00000000e+00,-1.26258033e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004359826578172139
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27324219e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.27324219e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00600454, -0.07170634,  0.06178028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.78146935e-05,-2.50202779e-04,-7.44051629e-05, 2.32462067e-05,
  3.15034223e-06,-1.98526463e-05, 8.60666093e-06, 8.07072367e-06,
 -1.51265853e-05,-2.36793529e-05,-1.28771007e-05,-3.90142337e-05,
  4.75405326e-06,-4.52234602e-05,-4.90454924e+00,-1.35224357e-04,
  3.39865164e-03,-5.64460632e-04]


--- Step 1927 ---
qpos:
[ 0.0186666 , 0.03003638,-0.00942878,-0.02526201,-0.00340811, 1.33625811,
 -0.02967292, 0.94360831, 0.0115822 , 0.0273023 ,-0.00830598, 0.02645697,
  1.39014266, 0.0076552 , 1.27740833, 0.04458443,-0.08582607,-0.04765362,
  0.0930339 , 0.70668945,-0.08017394,-0.69703855,-0.09110111]

qacc:
[ 6.61247516e+00, 2.02408957e-01, 3.68156415e-02,-2.31763297e+00,
 -2.43594376e-02,-5.22965268e+00, 1.51690083e+01,-1.99297427e+01,
 -5.69737107e+00, 1.55381707e+00,-8.34593828e+00, 1.79940605e+01,
  1.85555324e-01,-3.24680836e-01,-5.34147301e+00, 1.79037125e+01,
  3.93244649e+00,-1.01868566e+00, 1.88634916e+00,-1.40932078e+00,
  1.31056717e+02, 1.74711257e+00]

qfrc_actuator:
[ 4.75819585e-05, 8.99412512e-04, 1.49678281e-04,-7.19709101e-05,
 -2.31420453e-05, 3.94895560e-02, 1.07283918e-02, 1.94685016e-03,
 -8.09952214e-05, 7.21557561e-04, 1.36697826e-04, 9.31358731e-05,
  0.00000000e+00,-1.56808432e-03, 0.00000000e+00,-1.17537515e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004319715398384945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28506501e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.28506501e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13812754, -0.03445709,  0.06178236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.11795452e-06,-2.50988018e-04,-3.00693965e-05,-4.43146147e-05,
 -3.43711332e-05,-5.10005510e-05,-3.03090889e-05, 2.28606057e-05,
 -1.36363589e-05,-1.51938619e-05,-1.24995974e-05, 8.28608765e-05,
  1.04906900e-05, 5.61798838e-06,-4.90454599e+00, 9.27091605e-05,
  3.39879539e-03,-5.73110037e-04]


--- Step 1928 ---
qpos:
[ 0.01866559, 0.03003666,-0.0094286 ,-0.02526265,-0.00340848, 1.33635145,
 -0.02967522, 0.94361234, 0.01158197, 0.02730052,-0.00830732, 0.02645757,
  1.3902126 , 0.00765627, 1.27753327, 0.04458748,-0.08584336,-0.04768635,
  0.0930782 , 0.70653599,-0.07977462,-0.6971873 ,-0.09150284]

qacc:
[-4.70336310e+00, 9.82956702e-01,-2.12285890e+00, 2.52852313e-01,
  5.73557296e-03,-3.98243362e+00, 9.19292666e+00,-3.94937914e+00,
 -5.87977354e-01, 8.65945589e-01,-2.79640731e+00, 1.76709049e+00,
 -5.49226294e-01, 9.42865794e-01,-4.18727287e+00, 1.44975991e+01,
 -3.88234996e+00, 1.03114159e+00,-3.27335283e+00, 2.18280251e+00,
 -1.29356541e+02, 2.21634711e+00]

qfrc_actuator:
[ 1.82919427e-05, 9.52058946e-04, 1.50794342e-04,-7.48099494e-05,
 -1.73657082e-05, 3.93938031e-02, 1.07630757e-02, 1.96008550e-03,
 -8.34491825e-05, 7.32704224e-04, 1.20726905e-04, 8.87471727e-05,
  0.00000000e+00,-1.51781205e-03, 0.00000000e+00,-1.10693972e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004249305208238019
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.3063583e-14,  1.3063583e-14,  1.0000000e+00, -1.7065720e-28,
        1.0000000e+00, -1.3063583e-14, -1.0000000e+00,  0.0000000e+00,
        1.3063583e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00628844, -0.07178195,  0.06178583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.56410517e-06,-2.42457667e-04,-1.92352572e-05, 3.91669185e-06,
 -3.48435370e-06,-2.25956702e-05,-2.94175591e-05,-7.17238252e-06,
 -1.05179427e-05, 4.26184022e-05, 1.79371400e-06, 7.10553456e-05,
  3.85746227e-06,-4.59761385e-05,-4.90456123e+00,-1.44400267e-04,
  3.39915136e-03,-5.92604071e-04]


--- Step 1929 ---
qpos:
[ 0.0186639 , 0.03003707,-0.00942854,-0.02526397,-0.00340881, 1.33644288,
 -0.02967744, 0.94361719, 0.01158206, 0.02729833,-0.0083079 , 0.02645807,
  1.39028249, 0.00765762, 1.27765801, 0.04459266,-0.08584488,-0.04772319,
  0.09313   , 0.70656496,-0.0793548 ,-0.6971501 ,-0.09192665]

qacc:
[-5.90349524e+00,-9.08748475e-01, 6.37971926e+00,-1.80916450e+01,
  1.58755765e-02,-1.28349455e+00,-5.57882809e-01, 1.13410346e+01,
  2.73234998e+00,-2.84559536e+00, 9.77266970e+00,-1.23429288e+01,
 -5.65926392e-02, 2.23494139e-01,-6.71997859e+00, 2.31086899e+01,
  3.94490484e+00,-1.02719789e+00, 1.87456434e+00,-1.68750963e+00,
  1.31102028e+02, 8.13135409e-01]

qfrc_actuator:
[-1.63041289e-05, 9.29987310e-04, 1.33760928e-04,-1.11698145e-04,
 -1.37614559e-05, 3.93002702e-02, 1.07666880e-02, 2.00178351e-03,
 -6.70376197e-05, 7.22394897e-04, 1.65189127e-04, 8.59350437e-05,
  0.00000000e+00,-1.50621815e-03, 0.00000000e+00,-9.96890753e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004220782962661686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97277916e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.97277916e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13827518, -0.03441603,  0.06178736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.51938633e-06,-2.31934282e-04,-4.59881903e-05, 3.40699463e-05,
  1.62962242e-05,-2.92520850e-05, 3.59583001e-05,-4.93217447e-06,
  4.77539057e-06, 2.17191147e-05, 5.83319838e-06, 1.13579893e-04,
  8.75018693e-06, 4.75662440e-06,-4.90455877e+00, 8.04404582e-05,
  3.39970187e-03,-6.01143239e-04]


--- Step 1930 ---
qpos:
[ 0.01866352, 0.03003704,-0.00942815,-0.02526534,-0.00340895, 1.33653238,
 -0.02967983, 0.94362183, 0.01158235, 0.02729577,-0.00830792, 0.02645855,
  1.39035255, 0.00765863, 1.27778328, 0.04459476,-0.08583226,-0.04776373,
  0.09318427, 0.70675673,-0.07891645,-0.69694674,-0.09237076]

qacc:
[ 1.13593296e+01,-1.60570647e+00, 5.02034341e+00,-5.90558796e+00,
  7.88255935e-02,-2.45242769e+00, 5.36605829e+00,-5.88799919e+00,
  1.69613329e+00,-2.14713030e+00, 7.03495392e+00,-8.13094418e+00,
  9.73793870e-02,-2.71202997e-01, 1.00789964e+01,-3.41578764e+01,
  3.53357748e+00,-9.25938766e-01, 6.17852574e-01,-1.70444142e+00,
  1.17107603e+02, 4.51245345e-01]

qfrc_actuator:
[ 5.27914312e-05, 8.80995156e-04, 1.41334877e-04,-1.15139948e-04,
  6.26279435e-06, 3.91909737e-02, 1.07519480e-02, 1.98885673e-03,
 -5.74164930e-05, 6.99571401e-04, 1.91647934e-04, 8.41048191e-05,
  0.00000000e+00,-1.53548058e-03, 0.00000000e+00,-1.16499474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004154189645260702
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.68134534e-15,  1.33626907e-14,  1.00000000e+00, -8.92807510e-29,
        1.00000000e+00, -1.33626907e-14, -1.00000000e+00,  0.00000000e+00,
        6.68134534e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13837216, -0.03438981,  0.06179063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.26850221e-05,-2.46188755e-04,-6.44385632e-05,-2.03255425e-05,
  1.00795501e-05,-3.18743746e-05, 2.47053885e-05,-1.93119794e-06,
  7.70945817e-06,-2.18529915e-05, 1.28372598e-05,-1.61614389e-04,
  3.06722891e-06,-4.69917858e-05,-4.90456915e+00,-1.53926995e-04,
  3.39958443e-03,-6.20423141e-04]


--- Step 1931 ---
qpos:
[ 0.01866364, 0.03003671,-0.0094277 ,-0.02526639,-0.00340888, 1.33661977,
 -0.02968265, 0.94362769, 0.01158275, 0.02729302,-0.00830793, 0.02645866,
  1.39042263, 0.00765957, 1.27790857, 0.04459519,-0.08583705,-0.04779893,
  0.09322872, 0.70674887,-0.07851902,-0.69694745,-0.09276337]

qacc:
[ 4.17856935e+00, 7.44467067e-02,-2.21285789e+00, 7.85148871e+00,
  8.80137161e-02, 4.88064997e-01,-7.44826008e+00, 2.19756607e+01,
  9.68475491e-01,-1.02312017e+00, 4.80984847e+00,-1.08976354e+01,
 -7.95900200e-02, 5.89302103e-02, 5.08430892e+00,-1.77200988e+01,
 -4.35182438e+00, 1.33805247e+00,-2.45321495e+00, 5.03517558e+00,
 -1.45604872e+02, 1.51787647e+01]

qfrc_actuator:
[ 7.58517193e-05, 8.69626988e-04, 1.45526655e-04,-9.88803844e-05,
  1.82227979e-05, 3.90730068e-02, 1.07264072e-02, 2.05038136e-03,
 -5.18755908e-05, 6.87132122e-04, 1.89438701e-04, 6.50808333e-05,
  0.00000000e+00,-1.53548044e-03, 0.00000000e+00,-1.24709681e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004178519521954201
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.3284885e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.3284885e-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([ 0.00601824, -0.07407858,  0.06178982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.53488039e-05,-2.67975484e-04,-8.17213461e-05, 5.18919858e-05,
  5.81603237e-06,-2.51467048e-05,-5.78815724e-06,-1.95683448e-05,
 -1.77317046e-06,-4.48597771e-06,-1.59424892e-05,-9.03695200e-05,
  3.77145332e-05,-1.03403050e-04,-4.90443823e+00,-3.61050791e-04,
  3.40494805e-03,-6.39032937e-04]


--- Step 1932 ---
qpos:
[ 0.01866334, 0.03003639,-0.00942761,-0.0252676 ,-0.00340878, 1.33670492,
 -0.02968564, 0.94363287, 0.01158286, 0.0272899 ,-0.00830704, 0.02645851,
  1.39049277, 0.00766026, 1.27803309, 0.04459997,-0.08585729,-0.0478294 ,
  0.09325998, 0.70656446,-0.07815764,-0.69712875,-0.09311038]

qacc:
[-3.55763237e+00, 7.14758727e-01,-1.83551585e+00,-3.26311767e-01,
  1.49143036e-02,-3.64832231e+00, 9.77982365e+00,-1.50761836e+01,
 -2.36834225e+00,-3.53951987e+00, 1.30339777e+01,-1.87921693e+01,
  5.92206064e-01,-8.23910996e-01,-1.43452827e+01, 4.83829043e+01,
 -3.86243583e+00, 1.18045086e+00,-3.30131362e+00, 4.58910380e+00,
 -1.28799335e+02, 1.34007960e+01]

qfrc_actuator:
[ 5.38451985e-05, 8.80880567e-04, 1.30075804e-04,-1.06647926e-04,
  7.49542853e-06, 3.89507825e-02, 1.07124687e-02, 2.01320620e-03,
 -6.65309668e-05, 6.80875531e-04, 2.41363006e-04, 5.38348248e-05,
  0.00000000e+00,-1.55357580e-03, 0.00000000e+00,-1.01148839e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   4.19655527,   7.54822501,   4.19655527,
        73.47227085, -36.04654971,   7.54822501, -36.04654971,
        28.67701398,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004151461178502777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00609197, -0.07410027,  0.06179127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.23383297e-06,-2.85477542e-04,-7.42243768e-05,-4.62967970e-05,
 -1.45014341e-05,-2.22505292e-05, 4.53719438e-05,-1.28990443e-05,
 -2.69328417e-06,-1.95276599e-05,-1.96502217e-05, 2.27998142e-04,
 -3.50380590e-06,-3.22190965e-05,-4.90462549e+00,-1.07676167e-04,
  3.41600424e-03,-6.46182570e-04]


--- Step 1933 ---
qpos:
[ 0.01866312, 0.03003633,-0.0094276 ,-0.02526859,-0.00340886, 1.336788  ,
 -0.02968853, 0.9436365 , 0.01158315, 0.02728683,-0.00830597, 0.02645857,
  1.39056302, 0.00766048, 1.27815799, 0.04460313,-0.08589132,-0.04785568,
  0.09327514, 0.70622278,-0.07782824,-0.69747076,-0.09341675]

qacc:
[ 7.07139131e-01, 9.91031455e-01,-3.93220148e+00, 7.52169981e+00,
 -7.51349955e-02,-5.65778162e+00, 1.83449839e+01,-3.25566207e+01,
  1.43582702e+00,-5.96574553e-04,-8.02300218e-01, 4.10407141e+00,
  2.33553660e-01,-5.25808118e-01, 5.43689187e+00,-1.82634926e+01,
 -3.44867727e+00, 1.04787189e+00,-4.02221148e+00, 4.21004895e+00,
 -1.14667584e+02, 1.19041673e+01]

qfrc_actuator:
[ 5.87615617e-05, 9.23251630e-04, 1.38737348e-04,-9.29795948e-05,
 -1.67545800e-05, 3.88624780e-02, 1.07231575e-02, 1.93598681e-03,
 -5.74496516e-05, 6.96345003e-04, 2.53869958e-04, 6.50586221e-05,
  0.00000000e+00,-1.58230599e-03, 0.00000000e+00,-1.10542635e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004082407488952965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.35976507e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.35976507e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00625893, -0.0741483 ,  0.06179455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.29520980e-06, 3.20778793e-05, 3.61441726e-06, 1.23035431e-05,
 -2.17593038e-05,-2.62711341e-04,-5.50462786e-05,-8.89278027e-05,
  8.63857046e-06, 1.19443852e-05, 1.30799894e-05, 1.15950669e-05,
 -5.73874571e-06,-3.52678453e-05, 1.59850113e-05,-8.38640668e-05,
  8.36135317e-06, 1.67491765e-05,-4.90461957e+00, 9.60157858e-05,
  3.41934920e-03,-6.53862712e-04]


--- Step 1934 ---
qpos:
[ 0.01866366, 0.03003627,-0.00942742,-0.02526905,-0.00340916, 1.33686929,
 -0.02969143, 0.94363915, 0.01158423, 0.02728459,-0.00830539, 0.02645836,
  1.39063339, 0.00766009, 1.27828342, 0.04460148,-0.08590727,-0.04788646,
  0.09330403, 0.70608727,-0.07746981,-0.69760221,-0.09375688]

qacc:
[ 6.43993861e+00, 6.20199130e-01,-4.46855630e+00, 1.34180913e+01,
 -9.42975013e-02,-3.96003698e+00, 1.20924081e+01,-2.06455401e+01,
  6.75840831e+00, 1.88732694e+00,-4.00162827e+00,-4.90136186e-01,
  8.13210928e-02,-4.32752432e-01, 1.52999199e+01,-5.24236472e+01,
  4.52081957e+00,-1.12496780e+00, 3.43258611e+00,-3.33512059e+00,
  1.48914896e+02,-4.22278263e+00]

qfrc_actuator:
[ 9.72530920e-05, 9.13038254e-04, 1.43976312e-04,-6.67549153e-05,
 -3.11666444e-05, 3.87952647e-02, 1.07306627e-02, 1.88913230e-03,
 -1.67101504e-05, 7.77843276e-04, 2.43092386e-04, 5.38917529e-05,
  0.00000000e+00,-1.61710317e-03, 0.00000000e+00,-1.35735964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004032221723707034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.88344479e-15,  1.37668896e-14,  1.00000000e+00, -9.47636244e-29,
        1.00000000e+00, -1.37668896e-14, -1.00000000e+00,  0.00000000e+00,
        6.88344479e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13855922, -0.03434551,  0.0617969 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.72720436e-05,-2.26545086e-04,-5.28442035e-05,-5.83095191e-05,
  4.09870098e-05, 9.14791397e-05,-6.27468013e-06,-9.97271171e-06,
 -1.13227879e-05,-4.65395700e-05,-5.73132801e-06,-2.55436585e-04,
  5.68539261e-05, 4.91358066e-05,-4.90447873e+00, 2.61199826e-04,
  3.41599836e-03,-6.61882645e-04]


--- Step 1935 ---
qpos:
[ 0.01866499, 0.03003613,-0.00942737,-0.02526951,-0.00340952, 1.33694911,
 -0.02969435, 0.94364017, 0.01158544, 0.02728289,-0.0083043 , 0.02645764,
  1.39070367, 0.00765952, 1.27840837, 0.04460052,-0.08590715,-0.04792129,
  0.09334072, 0.70613483,-0.07708568,-0.69754678,-0.09412698]

qacc:
[ 6.88048684e+00, 2.13463651e-01,-9.74164202e-01, 1.33666702e+00,
 -2.32168989e-02,-4.70420654e+00, 1.63841002e+01,-3.23554335e+01,
  1.16291618e+00,-1.73815520e+00, 9.37012981e+00,-1.93518914e+01,
  1.35542366e-01,-2.91511229e-01,-2.79317820e+00, 8.69648282e+00,
  4.01927149e+00,-1.01334417e+00, 1.95065327e+00,-3.05514681e+00,
  1.32197965e+02,-3.72516006e+00]

qfrc_actuator:
[ 1.37436995e-04, 8.89178683e-04, 1.29195652e-04,-6.89068174e-05,
 -2.18069631e-05, 3.87412413e-02, 1.07363365e-02, 1.80728253e-03,
 -1.09281257e-05, 8.09379778e-04, 2.72186234e-04, 2.96849489e-05,
  0.00000000e+00,-1.61970702e-03, 0.00000000e+00,-1.30969868e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004018247774342065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.90738281e-15,  1.38147656e-14,  1.00000000e+00, -9.54238747e-29,
        1.00000000e+00, -1.38147656e-14, -1.00000000e+00,  0.00000000e+00,
        6.90738281e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13858293, -0.03434161,  0.06179768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.75517771e-06,-1.91985979e-04,-4.64513149e-05,-9.14473245e-05,
  7.00843412e-06, 8.10610761e-05, 4.68915311e-05,-2.06950858e-05,
 -1.76446302e-05,-1.85754252e-05,-3.45271006e-05, 3.18882581e-05,
 -1.96708702e-06, 6.22729125e-06,-4.90466586e+00, 3.17257822e-05,
  3.40773384e-03,-6.79296488e-04]


--- Step 1936 ---
qpos:
[ 0.01866646, 0.03003615,-0.00942757,-0.02527036,-0.00340971, 1.3370272 ,
 -0.02969693, 0.94364227, 0.01158637, 0.02728144,-0.00830301, 0.02645705,
  1.39077387, 0.00765886, 1.2785331 , 0.04460007,-0.08589262,-0.0479598 ,
  0.09338021, 0.70634599,-0.07667866,-0.69732414,-0.0945239 ]

qacc:
[ 1.07776747e+00, 1.48483918e-01, 1.42878543e+00,-7.86849261e+00,
  6.79616424e-02,-1.32019956e+00,-6.63815890e-01, 1.42825983e+01,
 -2.42332537e+00, 7.47056972e-03,-6.23014636e-02, 1.63186265e+00,
  3.81536154e-02,-1.21034213e-01,-1.88366334e+00, 6.11711025e+00,
  3.59994080e+00,-9.19578918e-01, 6.97008185e-01,-2.82874724e+00,
  1.18201921e+02,-3.30753145e+00]

qfrc_actuator:
[ 1.42778823e-04, 9.10479634e-04, 1.20375660e-04,-8.77702346e-05,
  1.73706423e-06, 3.86600360e-02, 1.07586730e-02, 1.86526999e-03,
 -2.57790569e-05, 7.93152386e-04, 2.71154664e-04, 3.35054531e-05,
  0.00000000e+00,-1.62093032e-03, 0.00000000e+00,-1.28112574e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003964377462383123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1386613 , -0.03432298,  0.0618003 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.95479219e-05,-1.99787146e-04,-2.32734998e-05, 4.88431789e-05,
 -1.46228546e-05, 3.79584419e-05, 2.07820672e-05, 8.51693934e-06,
 -1.38303808e-05,-1.05602169e-05,-1.31284424e-05, 2.57348812e-05,
 -3.73406522e-06,-4.54539160e-05,-4.90465362e+00,-1.76363779e-04,
  3.40603340e-03,-6.96380131e-04]


--- Step 1937 ---
qpos:
[ 0.01866728, 0.03003634,-0.00942792,-0.02527143,-0.00340985, 1.33710353,
 -0.02969951, 0.9436461 , 0.01158643, 0.02728047,-0.00830209, 0.02645651,
  1.39084401, 0.00765815, 1.27865778, 0.04459961,-0.08589586,-0.04799236,
  0.09341021, 0.70635638,-0.07632578,-0.69730794,-0.09485083]

qacc:
[-5.46663682e+00, 1.63950364e-01, 7.07610893e-01,-4.55144362e+00,
  2.75237224e-02, 6.62609228e-01,-8.52745526e+00, 2.86599004e+01,
 -7.48657851e+00, 1.80151530e+00,-5.70577147e+00, 6.91372241e+00,
 -1.83542806e-02,-2.74010264e-02,-3.68129153e-02, 1.06453057e-02,
 -4.44276097e+00, 1.48895788e+00,-2.36932858e+00, 7.33646838e+00,
 -1.48143412e+02, 2.61943905e+01]

qfrc_actuator:
[ 1.09817207e-04, 9.23151897e-04, 1.15322808e-04,-9.85151780e-05,
 -1.90685772e-06, 3.85633578e-02, 1.07551502e-02, 1.95182761e-03,
 -7.03969492e-05, 8.19358758e-04, 2.52147173e-04, 3.59649543e-05,
  0.00000000e+00,-1.62135008e-03, 0.00000000e+00,-1.28186533e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039754918558550095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.98167085e-15, -3.49083543e-15,  1.00000000e+00,  2.43718639e-29,
        1.00000000e+00,  3.49083543e-15, -1.00000000e+00,  0.00000000e+00,
        6.98167085e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00645117, -0.07617644,  0.06179999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.89438297e-06,-2.10809232e-04,-4.39022760e-05, 8.11108514e-05,
 -4.50375142e-05, 5.21276671e-05,-8.30734633e-06, 4.97350728e-06,
 -9.71351033e-06,-6.63819483e-06,-5.13381095e-06,-1.43903011e-06,
  3.49865916e-05,-1.02801628e-04,-4.90450069e+00,-3.65872354e-04,
  3.41018035e-03,-7.13180546e-04]


--- Step 1938 ---
qpos:
[ 0.01866771, 0.03003643,-0.00942795,-0.02527263,-0.00340996, 1.33717826,
 -0.02970218, 0.94365163, 0.01158561, 0.02728026,-0.00830185, 0.02645633,
  1.39091401, 0.00765767, 1.27878211, 0.04460147,-0.08591487,-0.04801965,
  0.09342732, 0.70618924,-0.07602055,-0.69747446,-0.09511584]

qacc:
[-3.43258386e+00,-1.25166027e+00, 4.79192405e+00,-7.29904745e+00,
  8.73950468e-03, 1.03648045e+00,-9.39003575e+00, 2.87614334e+01,
 -7.54959263e+00, 3.67517550e+00,-1.31713621e+01, 2.00157915e+01,
 -5.26852474e-02, 1.60243592e-01,-7.53887836e+00, 2.56514657e+01,
 -3.94115543e+00, 1.31602846e+00,-3.22414502e+00, 6.65046801e+00,
 -1.31057468e+02, 2.30879432e+01]

qfrc_actuator:
[ 9.00912683e-05, 9.12829984e-04, 1.30270293e-04,-1.04395377e-04,
 -4.07959014e-06, 3.84936278e-02, 1.07540697e-02, 2.03669038e-03,
 -1.14418129e-04, 8.70680414e-04, 2.22839680e-04, 5.53739753e-05,
  0.00000000e+00,-1.60353740e-03, 0.00000000e+00,-1.15784669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.66754572,   6.51657137,   5.66754572,
        55.58358547, -40.83060111,   6.51657137, -40.83060111,
        44.14726122,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003967358805790001
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.99598322e-15,  3.49799161e-15,  1.00000000e+00, -2.44718906e-29,
        1.00000000e+00, -3.49799161e-15, -1.00000000e+00,  0.00000000e+00,
        6.99598322e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00647765, -0.07618397,  0.06180051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.48230306e-06,-1.93009396e-04,-4.50126903e-05, 7.92279116e-05,
 -4.53240887e-05, 7.89788085e-05,-1.93873071e-05, 2.14554405e-05,
 -6.69434354e-06, 1.37015256e-05,-5.00357359e-06, 1.22710841e-04,
 -1.09254423e-05,-2.87864676e-05,-4.90472481e+00,-1.30054870e-04,
  3.42370558e-03,-7.18881697e-04]


--- Step 1939 ---
qpos:
[ 0.01866893, 0.03003651,-0.0094281 ,-0.02527387,-0.00341007, 1.33725116,
 -0.02970473, 0.94365814, 0.01158495, 0.02728068,-0.00830196, 0.02645639,
  1.39098377, 0.00765788, 1.27890643, 0.04460445,-0.08594795,-0.04804226,
  0.09342862, 0.70586394,-0.07575751,-0.69780363,-0.09532571]

qacc:
[ 6.80833988e+00, 2.08146691e-01,-6.02933392e-01, 8.53637973e-02,
  8.55395635e-04,-1.05501515e+00,-1.49552810e+00, 1.38957741e+01,
  1.40837424e+00, 2.27726836e+00,-7.87946938e+00, 1.19186090e+01,
 -5.36651429e-01, 9.71688216e-01,-3.34925989e+00, 1.18090403e+01,
 -3.51674721e+00, 1.17031812e+00,-3.95159796e+00, 6.05723241e+00,
 -1.16685333e+02, 2.04781341e+01]

qfrc_actuator:
[ 1.31584246e-04, 9.06658414e-04, 1.21308643e-04,-1.07374123e-04,
 -5.35120045e-06, 3.83873486e-02, 1.07545432e-02, 2.08438299e-03,
 -1.04467746e-04, 9.01101644e-04, 2.05567263e-04, 6.68687721e-05,
  0.00000000e+00,-1.55728859e-03, 0.00000000e+00,-1.10333008e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003915386998227688
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12665381e-14, -3.54442302e-15,  1.00000000e+00,  7.53776073e-29,
        1.00000000e+00,  3.54442302e-15, -1.00000000e+00,  0.00000000e+00,
        2.12665381e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00660222, -0.07622137,  0.06180295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.87536831e-07,-2.19972449e-04,-4.01541287e-05, 4.25164343e-05,
  8.64998148e-06, 7.14881223e-05,-2.60277298e-06, 1.46281375e-05,
 -3.75109341e-08, 4.87025128e-05, 9.38340475e-06, 6.02576969e-05,
 -5.67304873e-07, 1.97704212e-05,-4.90474167e+00, 4.17672705e-05,
  3.42794542e-03,-7.24989539e-04]


--- Step 1940 ---
qpos:
[ 0.01867029, 0.03003676,-0.00942873,-0.02527478,-0.00341033, 1.33732246,
 -0.02970725, 0.94366378, 0.01158442, 0.02728161,-0.00830167, 0.0264562 ,
  1.39105346, 0.00765862, 1.27903097, 0.04460639,-0.08596249,-0.04806922,
  0.09344436, 0.70574646,-0.0754588 ,-0.69792004,-0.0955799 ]

qacc:
[ 1.20920502e+00, 2.26152473e+00,-9.08785454e+00, 1.53114254e+01,
 -6.34538405e-02,-3.66240916e+00, 1.12009023e+01,-1.88370145e+01,
  1.06196603e+00,-9.58149474e-01, 5.41569162e+00,-1.06605087e+01,
 -4.92650764e-01, 8.69709393e-01, 3.52305809e+00,-1.17170435e+01,
  4.63368356e+00,-1.08787331e+00, 3.60753517e+00,-5.14508596e+00,
  1.50972043e+02,-1.01240114e+01]

qfrc_actuator:
[ 1.37763227e-04, 9.20680681e-04, 9.83061292e-05,-9.08885936e-05,
 -2.38241836e-05, 3.83132742e-02, 1.07557716e-02, 2.03879072e-03,
 -9.83354229e-05, 9.36561837e-04, 2.30963561e-04, 5.58548635e-05,
  0.00000000e+00,-1.53003529e-03, 0.00000000e+00,-1.16124516e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003892877867384348
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.85193387e-14, -1.42596694e-14,  1.00000000e+00,  4.06676340e-28,
        1.00000000e+00,  1.42596694e-14, -1.00000000e+00,  0.00000000e+00,
        2.85193387e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13877615, -0.03431405,  0.06180398])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.83700396e-05,-2.02822828e-04,-4.51942808e-05,-5.22883293e-05,
  6.41129463e-06, 7.55129491e-05, 4.03439998e-05,-7.75702563e-06,
  1.15171763e-05, 4.16296541e-05, 7.80348990e-06,-5.40886491e-05,
  4.87809453e-05, 4.95936192e-05,-4.90461334e+00, 1.65815223e-04,
  3.42432295e-03,-7.31248158e-04]


--- Step 1941 ---
qpos:
[ 0.01867034, 0.03003692,-0.00942927,-0.0252755 ,-0.00341091, 1.3373926 ,
 -0.02971024, 0.94366882, 0.01158431, 0.02728322,-0.00830146, 0.02645658,
  1.39112332, 0.00765922, 1.27915543, 0.04460831,-0.08596057,-0.04810013,
  0.09346852, 0.70581363,-0.07512892,-0.69784755,-0.09587265]

qacc:
[-1.12750472e+01, 2.46082369e-02,-1.08187438e+00, 4.40137722e+00,
 -1.36785028e-01,-1.31061763e+00, 3.67640262e+00,-9.44719176e+00,
  3.59231646e+00, 2.30079963e+00,-9.32290497e+00, 1.88510017e+01,
  2.30667309e-01,-2.98503101e-01,-3.90625631e-02,-6.80995437e-02,
  4.11560298e+00,-9.87559560e-01, 2.10827746e+00,-4.51165037e+00,
  1.34042406e+02,-8.53006744e+00]

qfrc_actuator:
[ 6.98292775e-05, 9.11134347e-04, 1.02805730e-04,-8.08245809e-05,
 -5.24667232e-05, 3.82767791e-02, 1.07397515e-02, 2.00970299e-03,
 -7.67648072e-05, 9.74916796e-04, 2.28091630e-04, 8.49748261e-05,
  0.00000000e+00,-1.54980264e-03, 0.00000000e+00,-1.16064323e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038907487851374337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.85349450e-14, -1.42674725e-14,  1.00000000e+00,  4.07121542e-28,
        1.00000000e+00,  1.42674725e-14, -1.00000000e+00,  0.00000000e+00,
        2.85349450e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13878319, -0.03431917,  0.06180416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.94997141e-05,-1.59583821e-04,-6.24421523e-05,-3.76176542e-05,
  2.17865932e-05, 8.85475788e-05, 1.74125316e-05, 3.35983084e-05,
  1.52348312e-05,-4.61838252e-06,-5.89704428e-06,-2.21085691e-06,
 -9.49798107e-06, 1.01924691e-05,-4.90478760e+00,-1.15710407e-05,
  3.41583494e-03,-7.44944391e-04]


--- Step 1942 ---
qpos:
[ 0.01866923, 0.03003689,-0.00942998,-0.02527606,-0.00341167, 1.33746148,
 -0.02971371, 0.94367383, 0.0115848 , 0.02728484,-0.00830125, 0.02645738,
  1.39119329, 0.00765966, 1.27927988, 0.04460986,-0.08594392,-0.04813466,
  0.09349605, 0.70604591,-0.07477158,-0.69760598,-0.09619919]

qacc:
[-9.94912452e+00, 5.79085155e-01,-3.02589527e+00, 6.07302408e+00,
 -7.73372292e-02,-3.66323111e-01,-7.23917291e-01, 1.05636459e+00,
  5.16356045e+00, 8.97729757e-01,-4.97696060e+00, 1.23524922e+01,
  1.67774733e-01,-2.63378102e-01, 1.03700515e+00,-3.70607039e+00,
  3.68237404e+00,-9.02480338e-01, 8.39009553e-01,-4.00609932e+00,
  1.19862548e+02,-7.24074287e+00]

qfrc_actuator:
[ 1.20860494e-05, 8.87652287e-04, 8.79090701e-05,-7.46194330e-05,
 -5.14726249e-05, 3.82097701e-02, 1.07138566e-02, 2.00834911e-03,
 -4.62792293e-05, 9.25869102e-04, 2.08582995e-04, 1.01952030e-04,
  0.00000000e+00,-1.56182136e-03, 0.00000000e+00,-1.17878267e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038476390577139863
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.88546563e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.88546563e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13884627, -0.03430805,  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:
[-5.97198922e-05,-2.71002446e-05,-1.58442897e-05, 6.17011303e-06,
 -2.23420957e-05,-1.69104179e-04,-6.53902756e-05,-8.75315998e-06,
  3.11577657e-05, 5.45118799e-06, 2.06635008e-06, 2.20223720e-05,
  6.19589733e-06,-9.70599239e-06,-5.01082010e-06,-1.95151668e-05,
 -9.26021889e-06,-3.96506850e-05,-4.90475915e+00,-1.82132214e-04,
  3.41388967e-03,-7.58883917e-04]


--- Step 1943 ---
qpos:
[ 0.01866812, 0.03003673,-0.0094306 ,-0.02527656,-0.00341225, 1.33752903,
 -0.02971655, 0.94367735, 0.01158532, 0.02728597,-0.00830096, 0.0264581 ,
  1.39126323, 0.00766022, 1.27940428, 0.04461118,-0.0859455 ,-0.04816324,
  0.09351464, 0.70607343,-0.07446997,-0.69757508,-0.09645489]

qacc:
[ 4.78428954e-02,-3.19943303e-01, 6.44501048e-01, 2.71850712e-01,
  8.10431139e-02,-6.01403953e+00, 2.05491747e+01,-3.42226562e+01,
  1.63013769e-01,-1.07769303e+00, 3.26000067e+00,-4.53110250e+00,
 -1.22555210e-01, 2.07631546e-01, 6.69237481e-01,-2.41100293e+00,
 -4.55767628e+00, 1.48408262e+00,-2.23161624e+00, 7.50914040e+00,
 -1.51119396e+02, 2.67200307e+01]

qfrc_actuator:
[ 1.40856971e-05, 8.91431988e-04, 9.71091160e-05,-7.07651995e-05,
 -1.49550812e-05, 3.81605127e-02, 1.07532633e-02, 1.93454197e-03,
 -4.63013879e-05, 8.60272496e-04, 1.96796254e-04, 9.38077263e-05,
  0.00000000e+00,-1.55135384e-03, 0.00000000e+00,-1.19007462e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038665034770228174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.17846907e-15, -7.17846907e-15,  1.00000000e+00,  5.15304182e-29,
        1.00000000e+00,  7.17846907e-15, -1.00000000e+00,  0.00000000e+00,
        7.17846907e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0067341 , -0.07625463,  0.06180551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.33150544e-05,-1.56318214e-04,-1.43773015e-06,-8.09122332e-05,
  8.96758675e-07,-6.12283334e-05,-9.66818675e-06,-7.41769487e-06,
  4.61671425e-07, 9.17229920e-06,-6.77274726e-06,-1.35681052e-05,
  3.24447708e-05,-9.63282581e-05,-4.90458801e+00,-3.44164225e-04,
  3.41785571e-03,-7.72965501e-04]


--- Step 1944 ---
qpos:
[ 0.0186667 , 0.03003698,-0.00943136,-0.02527707,-0.00341267, 1.33759544,
 -0.0297187 , 0.94367959, 0.01158548, 0.02728655,-0.00830071, 0.02645839,
  1.39133306, 0.00766114, 1.27952854, 0.04461301,-0.08596324,-0.04818657,
  0.09352082, 0.70591993,-0.0742172 ,-0.69773062,-0.09664802]

qacc:
[-2.69788220e+00, 9.47324664e-01,-2.56267708e+00, 2.40585142e+00,
  6.27441714e-02,-5.56116530e+00, 1.89744042e+01,-3.05755596e+01,
 -2.96653997e+00,-1.50154360e+00, 6.10283669e+00,-1.30680330e+01,
 -2.65959474e-01, 5.00061392e-01,-1.72294504e+00, 5.79436428e+00,
 -4.03949512e+00, 1.31388543e+00,-3.10323091e+00, 6.83600821e+00,
 -1.33642892e+02, 2.34531054e+01]

qfrc_actuator:
[-2.02745335e-06, 9.47103572e-04, 1.02821606e-04,-6.82840110e-05,
 -1.06820067e-05, 3.81224989e-02, 1.07954169e-02, 1.87198810e-03,
 -6.42830786e-05, 8.20757550e-04, 1.89553210e-04, 7.09322953e-05,
  0.00000000e+00,-1.52761993e-03, 0.00000000e+00,-1.16172716e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.89930625,   5.1948388 ,   6.89930625,
        35.67393278, -35.90880812,   5.1948388 , -35.90880812,
        56.32713397,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038710990998761033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43398941e-14,  1.43398941e-14,  1.00000000e+00, -2.05632563e-28,
        1.00000000e+00, -1.43398941e-14, -1.00000000e+00,  0.00000000e+00,
        1.43398941e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00672861, -0.07625066,  0.06180539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.80393418e-05,-1.27652405e-04, 8.97035233e-06,-6.90753298e-05,
 -1.79720422e-05,-7.61133512e-05,-2.13559483e-05,-2.59829295e-05,
  2.01206191e-06, 2.67084456e-05,-7.03879062e-06, 2.61604358e-05,
 -1.44892842e-05,-2.41687193e-05,-4.90481552e+00,-1.41824284e-04,
  3.42864606e-03,-7.77357770e-04]


--- Step 1945 ---
qpos:
[ 0.0186651 , 0.03003792,-0.00943252,-0.02527722,-0.00341299, 1.33766037,
 -0.02972048, 0.94368181, 0.01158543, 0.02728674,-0.00830065, 0.02645874,
  1.39140278, 0.0076626 , 1.27965282, 0.04461447,-0.08599538,-0.04820522,
  0.09351162, 0.70560524,-0.07400751,-0.69805207,-0.09678551]

qacc:
[-1.58825385e+00, 2.77450362e+00,-1.00833845e+01, 1.64326074e+01,
  4.62832624e-02,-2.95772184e+00, 7.36761141e+00,-5.77392352e+00,
 -1.85176337e+00, 1.56853295e-01,-1.51336424e+00, 3.06039473e+00,
 -4.53218573e-01, 8.11185783e-01, 1.17063555e+00,-3.93593432e+00,
 -3.60089232e+00, 1.17009126e+00,-3.84559855e+00, 6.24506329e+00,
 -1.18938159e+02, 2.07194922e+01]

qfrc_actuator:
[-1.09395239e-05, 9.97913003e-04, 8.88899036e-05,-4.88361113e-05,
 -8.03615952e-06, 3.80205495e-02, 1.08033944e-02, 1.86983052e-03,
 -7.49287411e-05, 8.14908522e-04, 1.85131607e-04, 7.51012191e-05,
  0.00000000e+00,-1.49621661e-03, 0.00000000e+00,-1.18126102e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.82801038,   5.28819923,   6.82801038,
        39.35627985, -39.66490248,   5.28819923, -39.66490248,
        59.85084215,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003830269202184086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.24637725e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.24637725e-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([ 0.00682528, -0.07627797,  0.06180727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.32969708e-05,-1.73333383e-04,-1.80676190e-05,-7.24026168e-06,
 -1.11944653e-05,-5.39670532e-05,-2.36827747e-05,-3.39155841e-07,
  7.00848333e-06, 3.98910465e-05,-2.63475132e-06,-1.95140660e-05,
 -3.18119732e-06, 2.11515700e-05,-4.90482797e+00,-1.03174836e-06,
  3.43029613e-03,-7.82083908e-04]


--- Step 1946 ---
qpos:
[ 0.01866409, 0.03003914,-0.00943317,-0.0252768 ,-0.00341309, 1.33772407,
 -0.02972278, 0.94368401, 0.01158559, 0.02728658,-0.00830042, 0.02645945,
  1.39147249, 0.00766443, 1.27977727, 0.04461401,-0.08600862,-0.04822822,
  0.09351763, 0.70550069,-0.0737578 ,-0.69815803,-0.09697383]

qacc:
[ 5.11646513e+00, 6.57935956e-02,-2.10060345e+00, 1.08781535e+01,
  9.44794306e-02,-2.70828338e-01,-1.05391806e+00, 1.51607059e+00,
  1.86516250e+00,-1.92589527e-01,-1.54542196e+00, 7.85731846e+00,
 -4.09929145e-01, 7.00717463e-01, 6.12347025e+00,-2.09504512e+01,
  4.72555111e+00,-1.08753352e+00, 3.80053672e+00,-6.27658320e+00,
  1.53184350e+02,-1.37500221e+01]

qfrc_actuator:
[ 1.99688052e-05, 1.00985826e-03, 1.16742712e-04,-1.95708859e-05,
  1.13656675e-05, 3.79520424e-02, 1.07731710e-02, 1.86766533e-03,
 -6.34122326e-05, 8.11547741e-04, 2.00322376e-04, 9.51830455e-05,
  0.00000000e+00,-1.47827172e-03, 0.00000000e+00,-1.28211404e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038163857264256265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13890353, -0.03432622,  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:
[ 3.06602785e-05, 5.59859755e-05, 4.43717250e-05, 3.29244458e-05,
  2.72500512e-05,-1.68581663e-04,-6.64663667e-05,-7.98146708e-06,
  1.11715610e-05,-3.84586807e-05, 1.11098257e-06, 1.69421882e-05,
  1.25129555e-05, 3.15432685e-05,-6.17574713e-06,-1.02921455e-04,
  4.84740077e-05, 4.70074383e-05,-4.90469010e+00, 9.44882509e-05,
  3.42421150e-03,-7.86892202e-04]


--- Step 1947 ---
qpos:
[ 0.01866381, 0.03004063,-0.00943341,-0.02527603,-0.0034131 , 1.33778697,
 -0.02972596, 0.94368684, 0.01158555, 0.02728606,-0.00829999, 0.02646005,
  1.39154247, 0.00766577, 1.27990153, 0.04461334,-0.08600508,-0.04825518,
  0.09353273, 0.70558286,-0.0734733 ,-0.6980727 ,-0.097206  ]

qacc:
[ 6.21077408e+00,-3.10171154e-02,-9.15365067e-01, 6.31076842e+00,
  3.41973119e-02, 2.43026045e+00,-1.04725530e+01, 1.68741554e+01,
 -1.76333534e+00,-1.25791048e+00, 4.29340845e+00,-6.32808924e+00,
  5.36310500e-01,-8.40664982e-01, 3.06001840e-01,-1.59471761e+00,
  4.19331034e+00,-9.90001709e-01, 2.27637834e+00,-5.42750244e+00,
  1.35961331e+02,-1.15104803e+01]

qfrc_actuator:
[ 5.63123107e-05, 1.01636835e-03, 1.33396228e-04,-2.51896794e-06,
  5.15801709e-06, 3.79394635e-02, 1.07385108e-02, 1.90100043e-03,
 -7.44510412e-05, 7.92058976e-04, 2.09246004e-04, 8.89764873e-05,
  0.00000000e+00,-1.52172443e-03, 0.00000000e+00,-1.28802744e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003823243495684768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90387736e-14, -1.45193868e-14,  1.00000000e+00,  4.21625187e-28,
        1.00000000e+00,  1.45193868e-14, -1.00000000e+00,  0.00000000e+00,
        2.90387736e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1388977 , -0.03433722,  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:
[ 3.72500449e-05, 4.83669807e-05, 3.48125527e-05, 2.16219403e-05,
  9.88281112e-06,-1.19505478e-04,-7.55015665e-05, 2.62224796e-05,
 -1.07259323e-05,-4.00334970e-05, 1.69986894e-06,-7.48866424e-06,
  1.29806020e-05,-3.09061896e-05,-1.71597142e-05,-1.31016104e-05,
 -1.08871058e-05, 1.19387909e-05,-4.90486279e+00,-4.28328383e-05,
  3.41699270e-03,-7.97701434e-04]


--- Step 1948 ---
qpos:
[ 0.01866362, 0.03004235,-0.00943337,-0.02527539,-0.00341324, 1.33784857,
 -0.02972832, 0.94369173, 0.01158537, 0.0272851 ,-0.00829995, 0.02646062,
  1.39161276, 0.00766616, 1.28002534, 0.04461525,-0.08598656,-0.04828577,
  0.09355178, 0.70583196,-0.07315832,-0.69781622,-0.09747634]

qacc:
[ 8.06823907e-01,-7.50441936e-01, 3.69974160e+00,-6.65999995e+00,
 -5.41248757e-02,-3.99071318e-01,-5.01361059e+00, 2.90916634e+01,
 -1.12935638e+00, 4.52679093e-01,-2.35387119e+00, 2.85596592e+00,
  1.06331604e+00,-1.71423609e+00,-8.59354557e+00, 2.88141896e+01,
  3.74812937e+00,-9.06842818e-01, 9.85262829e-01,-4.75067464e+00,
  1.21531438e+02,-9.70596942e+00]

qfrc_actuator:
[ 6.00456640e-05, 1.01952263e-03, 1.43248861e-04,-1.05659813e-05,
 -1.63623919e-05, 3.78894741e-02, 1.07905292e-02, 2.00825583e-03,
 -8.09321440e-05, 7.45279309e-04, 1.78803702e-04, 8.50819333e-05,
  0.00000000e+00,-1.58353651e-03, 0.00000000e+00,-1.14916108e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037879712988671405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.93091720e-14, -1.46545860e-14,  1.00000000e+00,  4.29513783e-28,
        1.00000000e+00,  1.46545860e-14, -1.00000000e+00,  0.00000000e+00,
        2.93091720e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13894946, -0.03433092,  0.06180926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.56868644e-05,-1.30499913e-04, 2.07551400e-05, 1.02144182e-04,
 -6.81002635e-06,-6.91279515e-05,-3.87614456e-05,-5.69777140e-06,
 -1.30268895e-06,-6.77573624e-05,-1.06774588e-05, 1.35604884e-04,
 -9.91715747e-06,-3.52891393e-05,-4.90482709e+00,-1.83320286e-04,
  3.41598708e-03,-8.09129214e-04]


--- Step 1949 ---
qpos:
[ 0.01866313, 0.03004393,-0.00943301,-0.0252748 ,-0.00341356, 1.33790867,
 -0.02972994, 0.94369893, 0.01158512, 0.02728382,-0.00829977, 0.02646074,
  1.39168306, 0.00766607, 1.28014935, 0.04461644,-0.08598666,-0.04831044,
  0.09356244, 0.70587259,-0.07290064,-0.69777431,-0.09767498]

qacc:
[-2.54336584e+00,-1.20028937e+00, 4.25619394e+00,-5.63883897e+00,
 -7.61600968e-02,-2.27047131e-02,-7.03944845e+00, 3.37882466e+01,
 -6.45454947e-01,-1.74818038e+00, 7.53531124e+00,-1.53323999e+01,
  2.46985466e-01,-5.70751147e-01, 2.45535624e+00,-8.23800906e+00,
 -4.65805605e+00, 1.47862403e+00,-2.09718228e+00, 7.62102118e+00,
 -1.53880169e+02, 2.72924426e+01]

qfrc_actuator:
[ 4.45532145e-05, 9.85078001e-04, 1.48977557e-04,-1.55691832e-05,
 -2.91409244e-05, 3.78001217e-02, 1.08221944e-02, 2.12267341e-03,
 -8.46716346e-05, 7.53367907e-04, 1.96262811e-04, 6.47793823e-05,
  0.00000000e+00,-1.60246148e-03, 0.00000000e+00,-1.19242246e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003821918111970926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.26221096e-15, -3.63110548e-15,  1.00000000e+00,  2.63698540e-29,
        1.00000000e+00,  3.63110548e-15, -1.00000000e+00,  0.00000000e+00,
        7.26221096e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00685549, -0.07627388,  0.0618078 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.20497002e-05,-1.54822567e-04, 1.14362730e-05, 1.13561572e-04,
 -3.96412921e-06,-3.87889752e-05,-1.78205138e-06,-2.47159952e-05,
 -1.64655269e-05,-3.94191934e-05, 9.31120428e-06,-3.73086996e-05,
  3.37143624e-05,-9.05477720e-05,-4.90464505e+00,-3.22328006e-04,
  3.42071231e-03,-8.20981067e-04]


--- Step 1950 ---
qpos:
[ 0.0186628 , 0.03004504,-0.00943269,-0.02527352,-0.00341405, 1.3379672 ,
 -0.02973118, 0.94370436, 0.01158483, 0.02728281,-0.00829938, 0.02646019,
  1.39175333, 0.00766569, 1.28027388, 0.04461309,-0.08600326,-0.04832987,
  0.09356115, 0.70572903,-0.072693  ,-0.6979222 ,-0.09781038]

qacc:
[ 1.40610798e+00, 8.96730333e-01,-7.05522492e+00, 1.95071275e+01,
 -7.06234717e-02,-6.10470229e+00, 2.10598303e+01,-3.77552262e+01,
 -3.70142732e-01,-1.60912206e+00, 9.07208784e+00,-2.11889449e+01,
 -2.22568734e-01, 6.20443575e-02, 1.45071253e+01,-4.95712350e+01,
 -4.12401698e+00, 1.31053002e+00,-2.98788148e+00, 6.96243962e+00,
 -1.35993056e+02, 2.38619112e+01]

qfrc_actuator:
[ 5.33845390e-05, 9.28354919e-04, 1.34322552e-04, 1.67332637e-05,
 -3.65709417e-05, 3.76878627e-02, 1.08236441e-02, 2.02728887e-03,
 -8.67685052e-05, 8.12176868e-04, 2.24329905e-04, 3.50668547e-05,
  0.00000000e+00,-1.61349663e-03, 0.00000000e+00,-1.43144967e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.57998054,   4.13892158,   7.57998054,
        24.01636666, -28.16678729,   4.13892158, -28.16678729,
        60.22074271,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038352620830623962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.23694366e-15,  3.61847183e-15,  1.00000000e+00, -2.61866768e-29,
        1.00000000e+00, -3.61847183e-15, -1.00000000e+00,  0.00000000e+00,
        7.23694366e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00682814, -0.07626173,  0.06180724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.04607027e-05,-1.92651436e-04,-2.42584821e-05,-9.69778750e-05,
 -2.22921488e-06, 3.57321654e-05, 1.89923683e-05,-3.19151880e-05,
 -1.75933182e-05,-2.65510094e-05,-3.15077752e-06,-2.40672765e-04,
 -1.42773391e-05,-2.07358380e-05,-4.90487515e+00,-1.48278654e-04,
  3.42925436e-03,-8.24314258e-04]


--- Step 1951 ---
qpos:
[ 0.01866224, 0.03004602,-0.00943292,-0.02527222,-0.00341468, 1.33802425,
 -0.02973204, 0.94370722, 0.01158451, 0.02728213,-0.00829903, 0.02645965,
  1.39182354, 0.00766512, 1.28039835, 0.04460725,-0.08603455,-0.04834463,
  0.09354487, 0.70542158,-0.07252932,-0.69823886,-0.09788964]

qacc:
[-2.04593468e+00, 1.43112437e+00,-5.42968131e+00, 6.78740345e+00,
 -5.60462585e-02,-7.37158666e+00, 2.69740782e+01,-5.22772684e+01,
 -2.02605305e-01, 5.36971687e-01,-1.30162200e+00, 1.15413418e+00,
 -1.16554842e-01, 3.70572989e-03, 7.47125145e+00,-2.62398578e+01,
 -3.67189081e+00, 1.16819549e+00,-3.74697850e+00, 6.37615848e+00,
 -1.20939492e+02, 2.10004897e+01]

qfrc_actuator:
[ 4.09630890e-05, 9.29672681e-04, 1.07667974e-04, 1.74315630e-05,
 -4.07327197e-05, 3.76157880e-02, 1.08425343e-02, 1.89793372e-03,
 -8.78822921e-05, 8.29955573e-04, 2.23136661e-04, 3.56131215e-05,
  0.00000000e+00,-1.61978556e-03, 0.00000000e+00,-1.55305552e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.54247201,   4.20688636,   7.54247201,
        26.19769757, -31.48548789,   4.20688636, -31.48548789,
        65.08628661,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038017154759137084
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.30080296e-15,  7.30080296e-15,  1.00000000e+00, -5.33017239e-29,
        1.00000000e+00, -7.30080296e-15, -1.00000000e+00,  0.00000000e+00,
        7.30080296e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00690652, -0.07628209,  0.06180876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.62544809e-05,-1.86697866e-04,-2.44572829e-05,-1.38017618e-04,
 -1.16896269e-06, 4.03473619e-05, 7.43101403e-06, 2.11620476e-06,
 -1.59890431e-05,-1.78479107e-05,-3.19956130e-05,-1.36275420e-04,
 -2.15932300e-06, 2.09842196e-05,-4.90488297e+00,-3.40067922e-05,
  3.42875074e-03,-8.27922033e-04]


--- Step 1952 ---
qpos:
[ 0.01866153, 0.03004737,-0.00943426,-0.02527163,-0.00341554, 1.33808007,
 -0.02973314, 0.94370956, 0.01158418, 0.02728175,-0.00829901, 0.02645982,
  1.39189376, 0.00766419, 1.28052235, 0.04460229,-0.08604666,-0.04836379,
  0.09354448, 0.70532646,-0.07232266,-0.69833754,-0.09802396]

qacc:
[-1.28389503e+00, 2.12968582e+00,-3.84258988e+00,-7.07731294e+00,
 -1.02176883e-01,-1.86233663e+00, 5.23302892e+00,-9.89119555e+00,
 -1.07909386e-01, 2.83502435e+00,-1.25597641e+01, 2.53774039e+01,
  3.36626985e-01,-6.02700776e-01,-3.42160438e+00, 1.08560622e+01,
  4.79457440e+00,-1.09978384e+00, 3.97285276e+00,-7.02995925e+00,
  1.55116363e+02,-1.61259954e+01]

qfrc_actuator:
[ 3.38771746e-05, 9.65651925e-04, 5.65926680e-05,-1.81901041e-05,
 -6.06536687e-05, 3.75683727e-02, 1.08362341e-02, 1.87397569e-03,
 -8.84093841e-05, 8.40703913e-04, 2.04549566e-04, 7.16637300e-05,
  0.00000000e+00,-1.64097345e-03, 0.00000000e+00,-1.49791644e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037849206408775496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.46663977e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.46663977e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13896597, -0.03436638,  0.06180945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.95287287e-05,-1.60011256e-04,-4.97118872e-05,-3.34040409e-05,
 -5.49572987e-07, 3.49570984e-05,-9.25940486e-06, 3.80799130e-05,
 -1.33077435e-05,-2.97067920e-05,-3.16143312e-05, 4.30567919e-05,
  5.15366143e-05, 4.26099891e-05,-4.90473585e+00, 3.69529612e-05,
  3.42060298e-03,-8.31553978e-04]


--- Step 1953 ---
qpos:
[ 0.01866144, 0.03004875,-0.0094359 ,-0.02527114,-0.00341664, 1.33813462,
 -0.02973372, 0.94371086, 0.01158316, 0.02728129,-0.00829903, 0.02646046,
  1.39196397, 0.00766299, 1.28064648, 0.0445953 ,-0.08604177,-0.04838695,
  0.09355379, 0.70541995,-0.0720787 ,-0.6982428 ,-0.09820561]

qacc:
[ 5.22298142e+00, 6.60668430e-01,-1.90779086e+00, 6.89096756e-01,
 -9.99167907e-02,-4.84068944e+00, 1.58797333e+01,-2.49117862e+01,
 -5.91351559e+00, 9.49297047e-01,-5.49385242e+00, 1.36092076e+01,
 -9.03605067e-03,-1.63002504e-01, 6.35555765e+00,-2.19537357e+01,
  4.25108815e+00,-1.00155228e+00, 2.42373050e+00,-6.03852316e+00,
  1.37606468e+02,-1.34782026e+01]

qfrc_actuator:
[ 6.55006918e-05, 9.68719896e-04, 4.49039015e-05,-2.16141163e-05,
 -7.21156502e-05, 3.75183219e-02, 1.08685397e-02, 1.82347814e-03,
 -1.24092615e-04, 8.11608889e-04, 1.93589239e-04, 9.27895230e-05,
  0.00000000e+00,-1.65310026e-03, 0.00000000e+00,-1.60540286e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.48416502,  -1.61422449,  -8.48416502,
        11.48731187, -14.98423259,  -1.61422449, -14.98423259,
        87.39164368,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003797843210669845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.92329873e-14, -2.92329873e-14,  1.00000000e+00,  8.54567548e-28,
        1.00000000e+00,  2.92329873e-14, -1.00000000e+00,  0.00000000e+00,
        2.92329873e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13895141, -0.03438106,  0.06180886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.89105752e-05,-1.49671902e-04,-5.69016054e-06,-5.74594569e-05,
 -3.56894810e-05,-9.81589326e-06,-3.55888298e-06, 2.30449168e-05,
 -1.41773864e-05,-2.37999519e-05,-1.04486261e-05,-1.09297653e-04,
 -9.40011657e-06, 1.24937340e-05,-4.90491202e+00,-6.65869530e-05,
  3.41505561e-03,-8.39940161e-04]


--- Step 1954 ---
qpos:
[ 0.01866172, 0.03004968,-0.0094369 ,-0.02527105,-0.00341779, 1.33818846,
 -0.02973474, 0.9437119 , 0.01158137, 0.0272809 ,-0.00829893, 0.02646097,
  1.39203395, 0.00766212, 1.28077042, 0.04458806,-0.08602169,-0.04841378,
  0.09356754, 0.705682  ,-0.07180215,-0.69797509,-0.09842831]

qacc:
[ 3.28756343e+00,-3.19537861e+00, 1.21597916e+01,-1.96193837e+01,
 -1.94617015e-02,-2.05238407e-01, 9.90064684e-02,-2.76796924e+00,
 -6.52659280e+00,-4.75423945e-01, 2.41974204e+00,-4.93524312e+00,
 -3.81668255e-01, 5.74596852e-01, 4.85944929e-01,-2.01412431e+00,
  3.79642041e+00,-9.17591638e-01, 1.11093117e+00,-5.24794829e+00,
  1.22933315e+02,-1.13467787e+01]

qfrc_actuator:
[ 8.41477389e-05, 9.34486662e-04, 7.42315155e-05,-4.15575999e-05,
 -6.06580360e-05, 3.75027464e-02, 1.08523385e-02, 1.81102768e-03,
 -1.62430629e-04, 8.29897987e-04, 2.04795550e-04, 8.71789537e-05,
  0.00000000e+00,-1.62422762e-03, 0.00000000e+00,-1.61261715e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.42590682,  -1.89495941,  -8.42590682,
        12.75569126, -18.31652461,  -1.89495941, -18.31652461,
        90.08049824,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003767635123072266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.94673711e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.94673711e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13899579, -0.03437771,  0.06181028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.62559566e-06,-1.01581645e-04,-4.78706407e-05,-1.83708067e-05,
 -3.93888412e-05, 1.30523579e-05, 9.54233531e-06,-5.70492998e-06,
 -1.33507426e-05, 1.88132311e-05,-1.96180954e-05,-1.52331813e-05,
 -8.33868380e-06,-3.14091779e-05,-4.90487402e+00,-1.80805551e-04,
  3.41533653e-03,-8.49212587e-04]


--- Step 1955 ---
qpos:
[ 0.01866188, 0.03005021,-0.00943753,-0.02527118,-0.00341876, 1.33824168,
 -0.02973665, 0.94371383, 0.01157948, 0.02728064,-0.00829874, 0.02646175,
  1.39210381, 0.00766154, 1.28089381, 0.04458411,-0.08602055,-0.04843473,
  0.09357335, 0.70573264,-0.07158413,-0.69792507,-0.09857866]

qacc:
[-1.03804178e+00,-2.02457487e+00, 7.45210880e+00,-1.17508775e+01,
  7.54013101e-02, 3.13492246e+00,-1.30454890e+01, 2.20926691e+01,
 -8.66452671e-01, 4.76565437e-01,-2.60519930e+00, 7.05642982e+00,
 -5.41646093e-03, 1.53258441e-01,-1.07422430e+01, 3.64011094e+01,
 -4.73432348e+00, 1.47157971e+00,-1.98682136e+00, 7.71794271e+00,
 -1.56065254e+02, 2.77362396e+01]

qfrc_actuator:
[ 7.72421660e-05, 9.13851211e-04, 9.18490130e-05,-5.33257808e-05,
 -3.55446106e-05, 3.74722920e-02, 1.08077846e-02, 1.85656295e-03,
 -1.66507137e-04, 8.40976684e-04, 2.11409177e-04, 1.01439197e-04,
  0.00000000e+00,-1.60674752e-03, 0.00000000e+00,-1.43638168e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038185990308439513
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.26852319e-15,  1.09027848e-14,  1.00000000e+00, -7.92471441e-29,
        1.00000000e+00, -1.09027848e-14, -1.00000000e+00,  0.00000000e+00,
        7.26852319e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00687354, -0.07625361,  0.06180802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.17867947e-05,-9.69280715e-05,-7.04690583e-05, 4.07272104e-05,
 -5.22668479e-06, 2.00965213e-05, 1.02896721e-05, 1.50395241e-05,
 -2.82676441e-06, 2.02215838e-05,-1.27181317e-05, 1.72443478e-04,
  3.64672891e-05,-8.44807770e-05,-4.90468599e+00,-2.98959813e-04,
  3.42110761e-03,-8.59112646e-04]


--- Step 1956 ---
qpos:
[ 0.01866126, 0.0300503 ,-0.00943789,-0.02527144,-0.00341949, 1.33829346,
 -0.02973792, 0.94371628, 0.01157825, 0.02728041,-0.00829872, 0.02646307,
  1.39217379, 0.00766068, 1.28101711, 0.04458193,-0.08603616,-0.04845046,
  0.09356757, 0.70559661,-0.07141705,-0.69806746,-0.09866528]

qacc:
[-6.61752255e+00,-1.60467570e+00, 5.40009436e+00,-7.67688451e+00,
  9.79707599e-02,-2.73258097e+00, 5.54921572e+00, 2.18501701e+00,
  5.58433957e+00, 1.62324260e+00,-8.01596706e+00, 1.76161190e+01,
  4.15972271e-01,-6.20224881e-01,-5.51836069e+00, 1.90200157e+01,
 -4.18739521e+00, 1.30532028e+00,-2.89462449e+00, 7.06568830e+00,
 -1.37826134e+02, 2.41748031e+01]

qfrc_actuator:
[ 3.76034964e-05, 8.83733481e-04, 1.02448800e-04,-6.01941346e-05,
 -2.01963134e-05, 3.73798416e-02, 1.08356117e-02, 1.88257464e-03,
 -1.32631395e-04, 8.29903190e-04, 1.97497954e-04, 1.27273519e-04,
  0.00000000e+00,-1.63171455e-03, 0.00000000e+00,-1.34878250e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.90915369,   3.46872669,   7.90915369,
        18.54402619, -22.59077549,   3.46872669, -22.59077549,
        60.14630703,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00383711974080906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.23344005e-15,  1.80836001e-14,  1.00000000e+00, -1.30806637e-28,
        1.00000000e+00, -1.80836001e-14, -1.00000000e+00,  0.00000000e+00,
        7.23344005e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00683333, -0.07623637,  0.06180721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.82150281e-05,-1.58986375e-04, 1.98692258e-06, 2.20499807e-05,
  3.37281452e-05, 2.93238373e-06,-7.97480559e-06, 2.73425438e-05,
  3.44623170e-06,-1.96712247e-05, 1.20890379e-05, 9.53057973e-05,
 -1.22927197e-05,-1.78410406e-05,-4.90491633e+00,-1.50806342e-04,
  3.42773679e-03,-8.61559288e-04]


--- Step 1957 ---
qpos:
[ 0.01866087, 0.03005001,-0.00943813,-0.02527178,-0.00342002, 1.33834395,
 -0.02973945, 0.94371976, 0.01157812, 0.02728086,-0.00829944, 0.02646465,
  1.3922439 , 0.0076593 , 1.28114048, 0.04458049,-0.08606666,-0.04846152,
  0.09354712, 0.70529461,-0.0712946 ,-0.69838084,-0.09869542]

qacc:
[ 1.88739201e+00,-1.01639747e+00, 3.21611858e+00,-4.48546618e+00,
  9.02444975e-02, 7.49078908e-01,-6.58330431e+00, 1.83430866e+01,
  9.39610544e+00, 3.42810840e+00,-1.20505962e+01, 1.71860540e+01,
  4.87771621e-01,-8.31525367e-01,-2.19828528e+00, 7.69408065e+00,
 -3.72430823e+00, 1.16429574e+00,-3.66862274e+00, 6.47878965e+00,
 -1.22473839e+02, 2.12108174e+01]

qfrc_actuator:
[ 5.00348594e-05, 8.65899488e-04, 1.08788232e-04,-6.41365624e-05,
 -1.08311094e-05, 3.73045243e-02, 1.08169238e-02, 1.93238943e-03,
 -7.67000591e-05, 8.94339495e-04, 1.71494885e-04, 1.41922768e-04,
  0.00000000e+00,-1.66392926e-03, 0.00000000e+00,-1.31416403e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.88870468,   3.5149844 ,   7.88870468,
        19.92282462, -25.33028529,   3.5149844 , -25.33028529,
        65.48530448,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003807595660010675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45790562e-14,  1.09342922e-14,  1.00000000e+00, -1.59411660e-28,
        1.00000000e+00, -1.09342922e-14, -1.00000000e+00,  0.00000000e+00,
        1.45790562e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00690156, -0.07625254,  0.06180852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.60271985e-05,-1.62560707e-04,-4.89679920e-05, 4.56797835e-05,
  5.69188675e-05, 6.56134921e-05,-2.54366129e-05, 1.50269946e-05,
 -2.59112745e-06,-3.73965687e-05, 1.36177567e-05, 4.08931368e-05,
  5.56665268e-07, 1.98356341e-05,-4.90491887e+00,-6.06104389e-05,
  3.42539553e-03,-8.64224329e-04]


--- Step 1958 ---
qpos:
[ 0.01866132, 0.03004954,-0.00943841,-0.02527149,-0.00342022, 1.33839371,
 -0.02974223, 0.94372277, 0.01157797, 0.02728194,-0.0083005 , 0.02646602,
  1.39231399, 0.0076578 , 1.28126422, 0.04457681,-0.0860778 ,-0.04847705,
  0.0935431 , 0.70520666,-0.07112711,-0.69847429,-0.09878343]

qacc:
[ 7.21663382e+00, 1.20794132e+00,-7.31527838e+00, 1.84563420e+01,
  1.34394891e-01, 1.62603588e+00,-5.51619281e+00,-1.09192318e-01,
 -1.69448465e-01, 1.41485961e+00,-2.94837253e+00,-5.07939098e-01,
 -1.41929469e-01, 7.15750528e-02, 7.33491655e+00,-2.48323385e+01,
  4.84176246e+00,-1.11382234e+00, 4.10732593e+00,-7.54738041e+00,
  1.56588548e+02,-1.77357142e+01]

qfrc_actuator:
[ 9.30255039e-05, 8.73299184e-04, 1.12611761e-04,-3.08141050e-05,
  1.26223563e-05, 3.72754157e-02, 1.07532195e-02, 1.90701918e-03,
 -7.92575866e-05, 9.32421979e-04, 1.56614319e-04, 1.32175781e-04,
  0.00000000e+00,-1.66465014e-03, 0.00000000e+00,-1.43527988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003782011957060169
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.93553547e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.93553547e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13898705, -0.03442349,  0.06180959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.88230360e-05,-1.27576337e-04,-9.97861654e-05,-3.05599465e-05,
 -8.66325187e-07, 7.01718655e-05,-3.94301954e-06,-7.52817009e-06,
 -9.88855820e-06,-1.25155324e-05, 7.94096071e-06,-1.17755748e-04,
  5.59384178e-05, 3.70445883e-05,-4.90476312e+00,-1.18007839e-05,
  3.41548823e-03,-8.66859516e-04]


--- Step 1959 ---
qpos:
[ 0.01866193, 0.03004911,-0.00943846,-0.02527119,-0.00342013, 1.33844234,
 -0.02974563, 0.94372443, 0.01157814, 0.02728315,-0.00830126, 0.02646728,
  1.39238387, 0.00765674, 1.28138848, 0.0445677 ,-0.08607178,-0.04849663,
  0.09354923, 0.70530877,-0.07092058,-0.6983727 ,-0.09892111]

qacc:
[ 1.44125138e+00,-6.20249260e-01, 2.25446453e+00,-2.58575131e+00,
  1.27856275e-01,-2.13779920e+00, 7.97813679e+00,-2.19742604e+01,
  2.70559863e+00,-9.21772304e-01, 3.96591329e+00,-6.38730991e+00,
 -8.94299386e-01, 1.24302773e+00, 1.72823156e+01,-5.91005702e+01,
  4.29013035e+00,-1.01375356e+00, 2.53712518e+00,-6.45693808e+00,
  1.38842108e+02,-1.48174618e+01]

qfrc_actuator:
[ 1.00384109e-04, 8.95780537e-04, 1.32805455e-04,-2.90687507e-05,
  2.65861899e-05, 3.72029799e-02, 1.07168597e-02, 1.83761102e-03,
 -6.29704747e-05, 9.18947683e-04, 1.66077228e-04, 1.25902396e-04,
  0.00000000e+00,-1.62889630e-03, 0.00000000e+00,-1.71816427e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.53268717,  -1.33417636,  -8.53268717,
        10.47296859, -11.745955  ,  -1.33417636, -11.745955  ,
        83.7572866 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037985085333980886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13896736, -0.03444031,  0.06180882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.68942074e-05,-1.63777252e-04,-7.36164549e-05,-7.68080467e-05,
  1.62892849e-05, 2.45985748e-05, 2.32084005e-05,-3.55227132e-06,
 -8.29259299e-06, 2.99303600e-05,-1.31437459e-05,-2.89261542e-04,
 -6.57960345e-06, 1.22521641e-05,-4.90494480e+00,-8.53868761e-05,
  3.41166691e-03,-8.73115855e-04]


--- Step 1960 ---
qpos:
[ 0.01866297, 0.03004884,-0.0094383 ,-0.02527158,-0.00341979, 1.33848909,
 -0.02974863, 0.94372594, 0.0115785 , 0.02728406,-0.00830168, 0.02646886,
  1.39245364, 0.00765608, 1.28151239, 0.04455761,-0.08605044,-0.04851992,
  0.09356018, 0.70558066,-0.07067999,-0.69809678,-0.09910175]

qacc:
[ 3.67963557e+00,-1.80138499e+00, 9.63275141e+00,-2.19813985e+01,
  1.03995667e-01,-3.77638171e+00, 9.62771879e+00,-8.77938847e+00,
  1.67488676e+00,-6.85205025e-01, 5.45434166e-01, 4.56771930e+00,
 -3.82734659e-01, 6.51170606e-01, 2.47483438e+00,-9.33141476e+00,
  3.82860792e+00,-9.28143200e-01, 1.20613186e+00,-5.58680078e+00,
  1.23968953e+02,-1.24689590e+01]

qfrc_actuator:
[ 1.22206154e-04, 9.09421535e-04, 1.44796731e-04,-6.36478563e-05,
  3.47448733e-05, 3.70874857e-02, 1.07322797e-02, 1.83162510e-03,
 -5.34556906e-05, 8.74800236e-04, 1.71873443e-04, 1.39449567e-04,
  0.00000000e+00,-1.60729065e-03, 0.00000000e+00,-1.75672928e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.48585686,  -1.60530688,  -8.48585686,
        11.4371975 , -14.805565  ,  -1.60530688, -14.805565  ,
        86.90046825,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037711099498589223
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.47201095e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.47201095e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13900765, -0.0344386 ,  0.0618101 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.99486203e-05,-2.23125920e-04,-2.72961721e-05,-1.47827123e-05,
  1.00029247e-05,-2.57814315e-05, 1.36045127e-05, 1.53307482e-05,
  1.54103655e-06, 2.91915075e-05,-4.19715917e-05,-5.71875273e-05,
 -5.77135470e-06,-2.77867513e-05,-4.90490746e+00,-1.75609168e-04,
  3.41330076e-03,-8.80459503e-04]


--- Step 1961 ---
qpos:
[ 0.01866358, 0.03004842,-0.00943785,-0.025272  ,-0.00341941, 1.33853428,
 -0.02975091, 0.94372629, 0.01157863, 0.02728441,-0.0083021 , 0.0264703 ,
  1.39252338, 0.00765571, 1.28163554, 0.04455109,-0.08604825,-0.04853736,
  0.09356351, 0.70563909,-0.07049875,-0.69804072,-0.09920965]

qacc:
[-3.72506803e+00,-1.02660933e+00, 3.48664432e+00,-4.30183458e+00,
  1.60283489e-02,-5.99302372e+00, 1.94542071e+01,-2.93854203e+01,
 -1.97858605e+00,-1.03352864e+00, 3.18825878e+00,-5.15313273e+00,
  1.07314780e-01, 4.10109219e-02,-1.19014982e+01, 4.00072985e+01,
 -4.78573441e+00, 1.46254932e+00,-1.90739020e+00, 7.79599968e+00,
 -1.57583724e+02, 2.80345549e+01]

qfrc_actuator:
[ 9.91201797e-05, 8.82104329e-04, 1.51795943e-04,-6.60730372e-05,
  2.16038069e-05, 3.70361203e-02, 1.07779986e-02, 1.77425270e-03,
 -6.57616845e-05, 8.12619941e-04, 1.57567231e-04, 1.29006394e-04,
  0.00000000e+00,-1.59429922e-03, 0.00000000e+00,-1.56221372e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038374280574710734
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.23285888e-15,  3.61642944e-15,  1.00000000e+00, -2.61571238e-29,
        1.00000000e+00, -3.61642944e-15, -1.00000000e+00,  0.00000000e+00,
        7.23285888e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00683627, -0.07621027,  0.06180713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.54353259e-06,-1.80890475e-04,-1.51451012e-06,-6.51583033e-05,
 -1.20204545e-05,-7.31571748e-05,-1.74348727e-05,-1.07838734e-05,
  6.50829091e-06, 2.25412310e-05,-2.65158616e-05, 1.85780249e-04,
  3.96333840e-05,-7.80242945e-05,-4.90471696e+00,-2.74152892e-04,
  3.42017735e-03,-8.88585302e-04]


--- Step 1962 ---
qpos:
[ 0.01866356, 0.03004766,-0.0094372 ,-0.02527242,-0.00341936, 1.33857878,
 -0.0297536 , 0.94372628, 0.01157862, 0.02728425,-0.00830238, 0.02647124,
  1.39259311, 0.00765552, 1.28175859, 0.04454622,-0.08606297,-0.04854961,
  0.09355552, 0.70550915,-0.07036907,-0.69817889,-0.09925355]

qacc:
[-5.35664350e+00,-1.02290380e+00, 2.98587770e+00,-3.02070050e+00,
 -1.41579281e-01,-4.23427021e-01, 1.05517148e+00,-4.72449031e+00,
 -1.25543970e+00,-2.08469423e+00, 8.56180070e+00,-1.70224624e+01,
  1.55830445e-02, 9.88235686e-02,-5.15843233e+00, 1.78092369e+01,
 -4.22952706e+00, 1.29813661e+00,-2.82842646e+00, 7.14363703e+00,
 -1.39082278e+02, 2.43790016e+01]

qfrc_actuator:
[ 6.75346200e-05, 8.48224185e-04, 1.55653922e-04,-6.73436742e-05,
 -2.19598853e-05, 3.70414293e-02, 1.07704058e-02, 1.75813906e-03,
 -7.30579905e-05, 7.93263403e-04, 1.66901579e-04, 1.04493742e-04,
  0.00000000e+00,-1.58652697e-03, 0.00000000e+00,-1.48054097e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.07114938,   3.07299929,   8.07114938,
        15.9622408 , -19.24121792,   3.07299929, -19.24121792,
        59.17290126,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038583820847805234
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43871576e-14,  1.43871576e-14,  1.00000000e+00, -2.06990305e-28,
        1.00000000e+00, -1.43871576e-14, -1.00000000e+00,  0.00000000e+00,
        1.43871576e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0067901 , -0.07619034,  0.0618062 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.08856484e-05,-9.73154963e-05,-4.51084876e-05,-2.30449053e-05,
 -7.67174039e-06,-6.43447644e-05,-8.29967729e-06,-2.84633953e-05,
  8.44583360e-06, 1.60307346e-05, 8.17996748e-06, 8.85713748e-05,
 -9.50906997e-06,-1.53231225e-05,-4.90494516e+00,-1.50518172e-04,
  3.42511641e-03,-8.90266333e-04]


--- Step 1963 ---
qpos:
[ 0.01866385, 0.03004702,-0.00943725,-0.02527284,-0.00341958, 1.33862276,
 -0.02975679, 0.94372641, 0.01157851, 0.02728378,-0.00830237, 0.02647185,
  1.39266304, 0.00765496, 1.28188192, 0.04454002,-0.08609273,-0.04855722,
  0.09353307, 0.70521183,-0.07028444,-0.69848954,-0.0992408 ]

qacc:
[ 2.63940623e+00, 2.09693924e+00,-7.20030311e+00, 8.06698752e+00,
 -1.12087704e-01, 9.43067568e-01,-4.19504402e+00, 5.63434598e+00,
 -7.34911022e-01,-1.90210423e+00, 7.63156528e+00,-1.37281401e+01,
  2.75322567e-01,-4.91630240e-01, 4.40554058e+00,-1.48669075e+01,
 -3.75857141e+00, 1.15849525e+00,-3.61390190e+00, 6.55225843e+00,
 -1.23507482e+02, 2.13413073e+01]

qfrc_actuator:
[ 8.44717122e-05, 8.63915557e-04, 1.22078047e-04,-6.79418771e-05,
 -3.01623063e-05, 3.70272214e-02, 1.07494153e-02, 1.76644795e-03,
 -7.73396894e-05, 7.99771483e-04, 1.90282657e-04, 8.97073022e-05,
  0.00000000e+00,-1.61740851e-03, 0.00000000e+00,-1.55484893e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.05772988,   3.10801641,   8.05772988,
        16.96090691, -21.581907  ,   3.10801641, -21.581907  ,
        64.58882786,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038304932343341605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.17378603e-14,  3.62297672e-15,  1.00000000e+00, -7.87557618e-29,
        1.00000000e+00, -3.62297672e-15, -1.00000000e+00,  0.00000000e+00,
        2.17378603e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00685417, -0.07620437,  0.06180742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.23593957e-05,-7.78585067e-05,-4.58827679e-05, 3.58512317e-06,
 -4.52790032e-06,-3.24038897e-05, 8.08593234e-06,-1.83858011e-05,
  8.16269305e-06,-2.42398449e-05, 1.10652894e-05,-6.88942289e-05,
  3.99750677e-06, 1.79631859e-05,-4.90494201e+00,-8.27795414e-05,
  3.42116468e-03,-8.92108854e-04]


--- Step 1964 ---
qpos:
[ 0.01866503, 0.03004664,-0.00943781,-0.02527365,-0.00341985, 1.33866577,
 -0.0297598 , 0.94372699, 0.0115787 , 0.02728295,-0.00830179, 0.02647226,
  1.39273299, 0.00765432, 1.28200558, 0.04453066,-0.08610301,-0.04856934,
  0.09352743, 0.70512972,-0.07015338,-0.69857893,-0.09928779]

qacc:
[ 7.61354181e+00, 9.65609785e-01,-1.35888262e+00,-4.57585895e+00,
 -2.07964152e-02,-1.02552422e+00, 8.80959158e-01, 5.05093591e+00,
  2.53362723e+00,-2.50336800e+00, 9.03661464e+00,-1.30491165e+01,
 -2.01308037e-01, 1.90478742e-01, 1.00883763e+01,-3.45432522e+01,
  4.87053544e+00,-1.12512140e+00, 4.20083440e+00,-7.90281399e+00,
  1.57582198e+02,-1.88270988e+01]

qfrc_actuator:
[ 1.29836511e-04, 8.91262438e-04, 1.02371226e-04,-8.58776561e-05,
 -1.70839122e-05, 3.69659089e-02, 1.07561590e-02, 1.78904744e-03,
 -6.20614173e-05, 7.86291244e-04, 2.21887365e-04, 8.07965950e-05,
  0.00000000e+00,-1.61773189e-03, 0.00000000e+00,-1.72042791e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037945107742448775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.92586605e-14, -1.46293302e-14,  1.00000000e+00,  4.28034607e-28,
        1.00000000e+00,  1.46293302e-14, -1.00000000e+00,  0.00000000e+00,
        2.92586605e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1389859 , -0.03448984,  0.06180895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.04112403e-06,-1.13546005e-04,-1.36481109e-05, 1.90538868e-05,
  1.51334662e-05,-3.07049217e-05, 2.52750394e-05,-1.03775497e-05,
 -1.84399320e-06,-5.52852529e-06,-5.77379520e-06,-1.68725464e-04,
  6.06738308e-05, 3.06814582e-05,-4.90477855e+00,-5.44012088e-05,
  3.40972980e-03,-8.93868774e-04]


--- Step 1965 ---
qpos:
[ 0.01866675, 0.03004627,-0.00943826,-0.02527467,-0.00342009, 1.33870782,
 -0.02976248, 0.94372955, 0.01157942, 0.02728219,-0.00830101, 0.02647287,
  1.39280285, 0.00765392, 1.2821289 , 0.04452173,-0.08609603,-0.04858555,
  0.09353224, 0.70523863,-0.06998212,-0.69847219,-0.09938596]

qacc:
[ 4.59367509e+00,-7.53367022e-01, 3.57949801e+00,-7.48091604e+00,
  1.53965150e-02, 1.24588274e+00,-9.66883397e+00, 3.20232747e+01,
  4.49491234e+00,-1.92639471e-02,-6.89980552e-01, 3.92685477e+00,
 -1.74189660e-01, 3.17017070e-01,-1.77557120e+00, 5.53904553e+00,
  4.31359393e+00,-1.02314299e+00, 2.61490555e+00,-6.74158109e+00,
  1.39664060e+02,-1.57261162e+01]

qfrc_actuator:
[ 1.56049118e-04, 8.89909468e-04, 1.08825361e-04,-9.60886138e-05,
 -9.09917317e-06, 3.69302533e-02, 1.07790457e-02, 1.89086957e-03,
 -3.53938068e-05, 8.14260258e-04, 2.40269370e-04, 9.31556004e-05,
  0.00000000e+00,-1.59987289e-03, 0.00000000e+00,-1.68985941e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.55392993,  -1.19040311,  -8.55392993,
        10.04986401, -10.15704936,  -1.19040311, -10.15704936,
        81.62230253,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038127106965364296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.45594973e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.45594973e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13896379, -0.03450773,  0.0618081 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.41180248e-06,-1.00852370e-04,-3.62514737e-07, 9.85075701e-05,
  2.70975797e-05, 1.56029839e-05, 1.47950355e-05, 1.17147854e-05,
 -3.04115993e-06, 1.61587915e-05,-2.45483465e-05, 1.97373964e-05,
 -3.19763797e-06, 1.13747568e-05,-4.90496625e+00,-1.00692462e-04,
  3.40757540e-03,-8.98196489e-04]


--- Step 1966 ---
qpos:
[ 0.01866773, 0.03004625,-0.00943909,-0.02527548,-0.00341997, 1.33874888,
 -0.0297648 , 0.94373332, 0.01158045, 0.02728197,-0.00830111, 0.02647399,
  1.39287289, 0.00765298, 1.28225168, 0.04451619,-0.08607366,-0.0486055 ,
  0.09354214, 0.70551813,-0.06977578,-0.69819024,-0.09952835]

qacc:
[ -6.3056948 ,  2.02975633, -7.43092662, 11.51904548,  0.14895655,
  -0.19268633, -3.42553031, 17.55671069,  2.6460108 ,  4.16295619,
 -15.91194354, 25.54208448,  0.78845946, -1.18072694,-11.18553279,
  37.74997439,  3.84762145, -0.93587991,  1.27040926, -5.81425881,
 124.64603986,-13.23091864]

qfrc_actuator:
[ 1.17511315e-04, 9.24755708e-04, 9.50620776e-05,-8.39231496e-05,
  3.12688340e-05, 3.68748620e-02, 1.07936499e-02, 1.94974592e-03,
 -1.99947991e-05, 8.49060199e-04, 1.97619318e-04, 1.17953482e-04,
  0.00000000e+00,-1.64239775e-03, 0.00000000e+00,-1.50842872e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.51222917,  -1.45901729,  -8.51222917,
        10.87879501, -13.08283998,  -1.45901729, -13.08283998,
        84.9645422 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00378649565522083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.93205942e-14, -1.46602971e-14,  1.00000000e+00,  4.29848621e-28,
        1.00000000e+00,  1.46602971e-14, -1.00000000e+00,  0.00000000e+00,
        2.93205942e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13900237, -0.03450677,  0.06180931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.29705173e-05,-1.08569561e-04,-2.31602722e-06, 5.81768891e-05,
  1.61954519e-05, 4.71123493e-05,-3.72012200e-05, 2.62040607e-05,
  1.71316942e-06,-3.81763564e-05,-1.04428570e-05, 1.79101379e-04,
 -2.79428948e-06,-2.44353248e-05,-4.90493126e+00,-1.68478569e-04,
  3.41053371e-03,-9.03766397e-04]


--- Step 1967 ---
qpos:
[ 0.0186679 , 0.03004674,-0.0094402 ,-0.02527616,-0.00341945, 1.33878915,
 -0.02976714, 0.943735  , 0.01158131, 0.02728188,-0.00830155, 0.02647507,
  1.39294301, 0.00765157, 1.28237456, 0.04451117,-0.08607056,-0.04861964,
  0.09354461, 0.70558293,-0.06962933,-0.69812948,-0.09959783]

qacc:
[  -7.00200128,   1.66728128,  -5.49603747,   7.69856019,   0.17101538,
   -4.57414663,  17.95821953, -39.26016721,  -1.44232028,   1.07138541,
   -3.41782012,   3.22896683,   0.38994032,  -0.70749818,  -1.43283912,
    5.12303978,  -4.81604505,   1.45208816,  -1.85737404,   7.8458493 ,
 -158.49991326,  28.2211797 ]

qfrc_actuator:
[ 7.66824825e-05, 9.63202143e-04, 8.73727798e-05,-7.64322847e-05,
  5.52314873e-05, 3.68258025e-02, 1.07853806e-02, 1.84082175e-03,
 -2.91080757e-05, 8.34194068e-04, 1.72585211e-04, 1.14333855e-04,
  0.00000000e+00,-1.66721185e-03, 0.00000000e+00,-1.48816083e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003864662489548837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15456659e-14,  3.59094432e-15,  1.00000000e+00, -7.73692866e-29,
        1.00000000e+00, -3.59094432e-15, -1.00000000e+00,  0.00000000e+00,
        2.15456659e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0067782 , -0.07615588,  0.06180581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.93447138e-05,-1.08091786e-04,-2.81021208e-05,-1.10847281e-04,
 -8.62270058e-06, 4.93328162e-06,-1.89762239e-05,-2.38016168e-06,
 -7.89355535e-06,-3.58657153e-05, 1.43405028e-05, 2.87277588e-05,
  4.28060789e-05,-7.13429516e-05,-4.90474072e+00,-2.48238839e-04,
  3.41849833e-03,-9.10238678e-04]


--- Step 1968 ---
qpos:
[ 0.01866792, 0.03004749,-0.00944133,-0.02527638,-0.00341872, 1.33882904,
 -0.02976976, 0.94373535, 0.0115824 , 0.02728159,-0.00830126, 0.02647502,
  1.39301288, 0.0076506 , 1.28249744, 0.04450677,-0.08608447,-0.04862863,
  0.09353593, 0.70545834,-0.06953479,-0.69826402,-0.09960321]

qacc:
[-1.26086750e+00, 1.37859671e+00,-6.30550804e+00, 1.39910209e+01,
  8.77244379e-02,-2.02420298e+00, 8.76242619e+00,-2.29004254e+01,
  1.97943457e+00,-4.62342612e+00, 2.08388730e+01,-4.12732526e+01,
 -4.26329484e-01, 6.81593965e-01,-1.86162806e+00, 6.63494792e+00,
 -4.25390279e+00, 1.28960681e+00,-2.78741985e+00, 7.19024322e+00,
 -1.39826989e+02, 2.45023444e+01]

qfrc_actuator:
[ 7.03588036e-05, 9.68024958e-04, 8.33582450e-05,-5.39887852e-05,
  5.14054396e-05, 3.68339918e-02, 1.07813597e-02, 1.77604432e-03,
 -1.70675522e-05, 8.25237442e-04, 2.11211004e-04, 5.84957944e-05,
  0.00000000e+00,-1.62800231e-03, 0.00000000e+00,-1.45654198e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.15220424,   2.85102488,   8.15220424,
        14.70327064, -17.34767921,   2.85102488, -17.34767921,
        58.24021845,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003886206091549868
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.14207506e-15,  2.49972627e-14,  1.00000000e+00, -1.78532327e-28,
        1.00000000e+00, -2.49972627e-14, -1.00000000e+00,  0.00000000e+00,
        7.14207506e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00673067, -0.07613488,  0.06180484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.53225663e-05,-6.07011129e-05,-3.16546223e-05,-7.13653508e-05,
  1.17900399e-05,-1.02138228e-05, 3.72302811e-05,-5.63302437e-05,
 -1.21885607e-05, 2.66307003e-05, 6.74459555e-06, 3.43709321e-05,
 -6.39296448e-06,-1.31731965e-05,-4.90496495e+00,-1.48127338e-04,
  3.42190179e-03,-9.11236379e-04]


--- Step 1969 ---
qpos:
[ 0.01866821, 0.03004796,-0.00944223,-0.02527628,-0.00341775, 1.33886811,
 -0.02977208, 0.94373665, 0.01158362, 0.02728132,-0.0083006 , 0.02647465,
  1.39308253, 0.00765028, 1.28262037, 0.04450246,-0.08611349,-0.048633  ,
  0.09351293, 0.70516554,-0.06948557,-0.69857193,-0.09955191]

qacc:
[ 2.31756323e+00,-3.71877318e-01,-6.02990406e-01, 6.06229821e+00,
  1.04007017e-01,-2.43740608e-01,-2.46374145e+00, 1.37466860e+01,
  1.16880411e+00,-1.66509505e+00, 7.35974022e+00,-1.36114605e+01,
 -5.81663567e-01, 1.00390713e+00,-1.20215760e-01, 6.58633382e-01,
 -3.77793272e+00, 1.15146790e+00,-3.58067450e+00, 6.59302309e+00,
 -1.24106795e+02, 2.14151715e+01]

qfrc_actuator:
[ 8.43960265e-05, 9.17198135e-04, 8.14214055e-05,-4.07043654e-05,
  6.64465038e-05, 3.67876693e-02, 1.07979161e-02, 1.82660680e-03,
 -1.04168030e-05, 8.37849199e-04, 2.33829848e-04, 4.34362126e-05,
  0.00000000e+00,-1.58659495e-03, 0.00000000e+00,-1.45394721e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.14093263,   2.88305268,   8.14093263,
        15.52989249, -19.46539318,   2.88305268, -19.46539318,
        63.60117768,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038584285423855016
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.1934922e-15,  3.5967461e-15,  1.0000000e+00, -2.5873165e-29,
        1.0000000e+00, -3.5967461e-15, -1.0000000e+00,  0.0000000e+00,
        7.1934922e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00679441, -0.07614814,  0.06180606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.99994399e-05,-8.85048343e-05,-1.05426193e-06, 4.62072388e-05,
  6.99269794e-06, 1.21913351e-05, 2.31463380e-05,-1.53055505e-05,
  1.81866118e-07, 4.64851446e-05, 3.74694603e-06, 4.67614859e-06,
  7.66896457e-06, 1.54993125e-05,-4.90495605e+00,-1.01627555e-04,
  3.41650863e-03,-9.12337105e-04]


--- Step 1970 ---
qpos:
[ 0.01866867, 0.03004777,-0.00944287,-0.02527667,-0.00341685, 1.33890627,
 -0.02977349, 0.94373749, 0.01158492, 0.0272811 ,-0.00830029, 0.02647519,
  1.39315211, 0.00765045, 1.28274311, 0.04449956,-0.08612297,-0.04864191,
  0.09350696, 0.70508862,-0.06938903,-0.69865779,-0.0995615 ]

qacc:
[ 1.44506616e+00,-2.58168490e+00, 9.99023593e+00,-1.83003680e+01,
 -3.19684682e-02,-4.43138249e+00, 1.39589707e+01,-1.69033749e+01,
  5.90663158e-01, 2.87708845e+00,-1.40047887e+01, 3.01971533e+01,
 -2.51026159e-01, 5.67551751e-01,-4.48501277e+00, 1.53701579e+01,
  4.88545653e+00,-1.13209160e+00, 4.25817127e+00,-8.13928295e+00,
  1.58165503e+02,-1.95403335e+01]

qfrc_actuator:
[ 9.25406270e-05, 8.51183887e-04, 8.04782508e-05,-6.84732566e-05,
  3.94287250e-05, 3.67447341e-02, 1.08441020e-02, 1.80259213e-03,
 -6.99822780e-06, 8.27754406e-04, 2.11413570e-04, 8.80025884e-05,
  0.00000000e+00,-1.56201422e-03, 0.00000000e+00,-1.37970404e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038130898008734773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.45580498e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.45580498e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13897613, -0.0345603 ,  0.06180801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.29767625e-06,-9.09713108e-05, 3.00694155e-05,-2.55814180e-05,
  3.62708609e-06, 8.57034409e-07,-1.75794165e-05, 4.55917350e-05,
  1.08341923e-05, 3.85235426e-05,-8.77922115e-07, 7.42953576e-05,
  6.52564866e-05, 2.37381629e-05,-4.90478597e+00,-9.23701562e-05,
  3.40372649e-03,-9.13302880e-04]


--- Step 1971 ---
qpos:
[ 0.01866957, 0.03004707,-0.00944354,-0.02527739,-0.00341642, 1.33894355,
 -0.02977457, 0.94373772, 0.0115859 , 0.02728077,-0.00830044, 0.02647628,
  1.39322186, 0.00765046, 1.28286572, 0.04449822,-0.08611515,-0.04865493,
  0.09351163, 0.70520328,-0.06925155,-0.69854689,-0.09962323]

qacc:
[  3.77275308, -1.27173647,  4.93211401,-10.16804051, -0.19906159,
  -3.10892774,  9.99552824,-15.20082524, -2.68842203,  2.31641174,
 -10.82449587, 21.31767822,  0.36973682, -0.47486247, -4.98191843,
  17.04776271,  4.32549516, -1.02857777,  2.66179084, -6.92689962,
 140.13745641,-16.31663853]

qfrc_actuator:
[ 1.14897237e-04, 8.29795381e-04, 8.00159247e-05,-8.46887629e-05,
 -1.26009807e-05, 3.66865051e-02, 1.08540842e-02, 1.77037310e-03,
 -2.32606164e-05, 8.04009557e-04, 1.80291903e-04, 1.13985152e-04,
  0.00000000e+00,-1.58313539e-03, 0.00000000e+00,-1.29933247e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.5644478 , -1.11220987, -8.5644478 ,  9.84346052,
       -9.29511462, -1.11220987, -9.29511462, 80.21235469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003831743390042379
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89743574e-14, -2.89743574e-14,  1.00000000e+00,  8.39513387e-28,
        1.00000000e+00,  2.89743574e-14, -1.00000000e+00,  0.00000000e+00,
        2.89743574e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13895343, -0.03457857,  0.06180713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.75258225e-05,-1.03695875e-04,-5.18107726e-06,-3.46120865e-05,
 -1.61573334e-05,-2.49344865e-05,-3.15334434e-05, 2.62970291e-05,
  1.44104762e-05,-7.13088849e-06, 5.57861183e-06, 8.38857783e-05,
  3.56808225e-07, 9.94264504e-06,-4.90497937e+00,-1.13320180e-04,
  3.40314830e-03,-9.15842447e-04]


--- Step 1972 ---
qpos:
[ 0.01867141, 0.03004596,-0.00944375,-0.02527764,-0.00341638, 1.33897999,
 -0.02977581, 0.94373792, 0.01158599, 0.02728032,-0.00830123, 0.02647734,
  1.3932918 , 0.00765003, 1.28298852, 0.04449618,-0.08612462,-0.04866277,
  0.09350557, 0.70512519,-0.06916762,-0.69863454,-0.09961968]

qacc:
[   8.17607709,  -0.92829288,   0.54565352,   6.95195067,  -0.16387844,
   -0.69360208,   0.96985017,  -0.53121886,  -7.63142799,   1.58224912,
   -5.69155229,   6.22356766,   0.36146538,  -0.62561077,   2.37653448,
   -7.99039121,  -4.32302267,   1.29508546,  -2.6862274 ,   7.1336872 ,
 -142.25733377,  25.24244997]

qfrc_actuator:
[ 1.63194561e-04, 8.35296356e-04, 1.15529564e-04,-5.84302654e-05,
 -2.59548465e-05, 3.66371888e-02, 1.08425522e-02, 1.76906989e-03,
 -6.87284416e-05, 7.89963925e-04, 1.44209170e-04, 1.11049226e-04,
  0.00000000e+00,-1.61346556e-03, 0.00000000e+00,-1.34027814e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038092021922769004
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45729075e-14, -7.28645375e-15,  1.00000000e+00,  1.06184817e-28,
        1.00000000e+00,  7.28645375e-15, -1.00000000e+00,  0.00000000e+00,
        1.45729075e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00690775, -0.07616262,  0.06180818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.73433313e-05,-1.08986152e-04,-3.34609592e-05,-5.32329552e-06,
 -4.59505363e-05,-3.33669372e-05,-4.42024442e-05,-4.58425100e-06,
  5.64998548e-06,-2.91691151e-05, 9.73378769e-06,-3.60632572e-05,
  3.40151563e-07,-2.14058921e-05,-4.90494756e+00,-1.59792912e-04,
  3.40737588e-03,-9.19744668e-04]


--- Step 1973 ---
qpos:
[ 0.01867314, 0.03004467,-0.00944362,-0.02527796,-0.00341663, 1.33901602,
 -0.02977794, 0.94373777, 0.01158554, 0.02727947,-0.00830207, 0.02647836,
  1.39336164, 0.00764978, 1.2831109 , 0.04449736,-0.08611678,-0.04867473,
  0.09351017, 0.70523878,-0.06904251,-0.69852528,-0.09966861]

qacc:
[-1.05548863e+00,-1.28707183e+00, 4.49016276e+00,-5.84098130e+00,
 -1.23937772e-01, 1.23546040e+00,-3.91406895e+00,-5.68721470e-01,
 -4.65530284e+00,-4.84413464e-01, 1.15552018e+00,-1.57858057e+00,
  8.73237047e-02,-2.42486521e-02,-1.03853080e+01, 3.53951508e+01,
  4.32761341e+00,-1.02797809e+00, 2.66749590e+00,-6.99237562e+00,
  1.40241838e+02,-1.65294205e+01]

qfrc_actuator:
[ 1.55358623e-04, 8.39298343e-04, 1.36643655e-04,-6.05986789e-05,
 -3.37508937e-05, 3.66290340e-02, 1.08007232e-02, 1.75046329e-03,
 -9.55104696e-05, 7.64025305e-04, 1.41008324e-04, 1.08880921e-04,
  0.00000000e+00,-1.59572635e-03, 0.00000000e+00,-1.16832706e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003824986783635499
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90255388e-14,  1.45127694e-14,  1.00000000e+00, -4.21240953e-28,
        1.00000000e+00, -1.45127694e-14, -1.00000000e+00,  0.00000000e+00,
        2.90255388e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13896821, -0.03459649,  0.06180743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.57701417e-05,-7.53967014e-05,-6.71510464e-05,-2.29374479e-05,
 -2.81394190e-05,-5.39176067e-05,-1.56823370e-05,-5.21456710e-06,
 -4.16727769e-06, 1.04299995e-05,-2.50813190e-06, 1.70499842e-04,
  2.03269532e-06, 9.60017543e-06,-4.90498135e+00,-1.16779578e-04,
  3.40300693e-03,-9.20414220e-04]


--- Step 1974 ---
qpos:
[ 0.01867372, 0.0300434 ,-0.00944359,-0.02527829,-0.00341709, 1.33905167,
 -0.02978089, 0.94373704, 0.01158511, 0.02727834,-0.00830219, 0.02647962,
  1.39343141, 0.0076497 , 1.28323326, 0.04450023,-0.08612624,-0.04868151,
  0.09350404, 0.70515963,-0.06897083,-0.69861458,-0.09965236]

qacc:
[-9.79231614e+00, 2.93283415e-01,-8.93386822e-01, 6.91109230e-01,
 -8.84881902e-02, 7.51537118e-01,-1.91100819e+00,-4.69004982e+00,
  2.51335375e-01,-1.89073073e+00, 5.17207575e+00,-1.92468622e+00,
 -3.27538670e-02, 1.29259670e-01,-5.15344488e+00, 1.79901058e+01,
 -4.32414899e+00, 1.29314475e+00,-2.68345328e+00, 7.16729510e+00,
 -1.42242290e+02, 2.51836106e+01]

qfrc_actuator:
[ 9.67849727e-05, 8.42317954e-04, 1.31302413e-04,-6.17427738e-05,
 -3.81519885e-05, 3.66099640e-02, 1.07592523e-02, 1.72182674e-03,
 -9.33175820e-05, 7.84550286e-04, 1.92710048e-04, 1.24952589e-04,
  0.00000000e+00,-1.58508249e-03, 0.00000000e+00,-1.08531435e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038251331405727354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00687403, -0.07613818,  0.06180745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.55365954e-05,-7.48467322e-05,-6.45722318e-05,-3.33567640e-05,
  1.34748965e-06,-1.30620008e-05, 3.84703473e-05, 1.31195478e-05,
  6.54161829e-07, 1.26351206e-05, 1.60668127e-05, 9.17873965e-05,
  1.09040685e-06,-1.97950739e-05,-4.90495362e+00,-1.55609403e-04,
  3.40757946e-03,-9.23731334e-04]


--- Step 1975 ---
qpos:
[ 0.0186729 , 0.03004197,-0.00944358,-0.02527792,-0.00341784, 1.33908659,
 -0.02978376, 0.94373769, 0.01158506, 0.02727768,-0.00830254, 0.02648034,
  1.39350126, 0.0076495 , 1.2833557 , 0.04450375,-0.08611838,-0.0486924 ,
  0.0935086 , 0.70527225,-0.06885777,-0.69850683,-0.09968886]

qacc:
[-1.19748890e+01, 1.31529120e+00,-7.89904363e+00, 2.00797904e+01,
 -1.21731594e-01, 1.16483623e+00,-7.76086861e+00, 2.30839603e+01,
  3.17261182e+00, 1.41416112e-01, 2.66848210e+00,-1.19947132e+01,
  1.73276105e-01,-2.54156930e-01,-1.86316816e+00, 6.65705840e+00,
  4.33006983e+00,-1.02768545e+00, 2.67368802e+00,-7.04454278e+00,
  1.40343718e+02,-1.66968426e+01]

qfrc_actuator:
[ 2.65875653e-05, 8.26870154e-04, 1.28145565e-04,-2.67813580e-05,
 -5.82354187e-05, 3.65845029e-02, 1.07715570e-02, 1.79403877e-03,
 -7.40936068e-05, 8.32995241e-04, 1.87841422e-04, 9.84413551e-05,
  0.00000000e+00,-1.59652565e-03, 0.00000000e+00,-1.05542547e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003819434432873317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.45338668e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.45338668e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13898137, -0.03461506,  0.06180768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.51729641e-05,-8.07392274e-05,-1.07004685e-05, 6.73398739e-05,
  1.92533227e-05, 4.96881628e-05,-2.36309169e-06,-2.54847146e-05,
  3.63074520e-06,-7.69986380e-06, 1.45222349e-05, 3.63507782e-05,
  3.66698576e-06, 9.14684594e-06,-4.90498252e+00,-1.20186139e-04,
  3.40268485e-03,-9.24170828e-04]


--- Step 1976 ---
qpos:
[ 0.0186716 , 0.03004072,-0.00944373,-0.02527751,-0.00341886, 1.33912069,
 -0.02978642, 0.9437392 , 0.01158558, 0.02727756,-0.0083033 , 0.02648074,
  1.39357121, 0.00764894, 1.28347802, 0.04450896,-0.08612781,-0.04869813,
  0.09350243, 0.7051922 ,-0.06879806,-0.69859761,-0.09966027]

qacc:
[-4.22361056e+00, 7.59156603e-01,-2.50474154e+00, 3.23757176e+00,
 -1.11956943e-01,-1.83561363e-01,-2.46945039e+00, 1.26573072e+01,
  4.89099797e+00, 1.21719712e+00,-1.95646541e+00,-3.30639937e+00,
  4.57229196e-01,-7.11932209e-01,-5.33015427e+00, 1.82616741e+01,
 -4.32394257e+00, 1.29079509e+00,-2.68270841e+00, 7.18737927e+00,
 -1.42198236e+02, 2.51407228e+01]

qfrc_actuator:
[ 3.38526819e-06, 8.53774942e-04, 1.26263005e-04,-2.41234711e-05,
 -6.98131965e-05, 3.65379367e-02, 1.07800360e-02, 1.83628513e-03,
 -4.50086228e-05, 8.62046199e-04, 1.67443999e-04, 8.25714687e-05,
  0.00000000e+00,-1.62099160e-03, 0.00000000e+00,-9.68282581e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003839127786056079
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44593132e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.44593132e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00684486, -0.07611504,  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:
[-2.53004028e-05, 1.81678882e-05,-4.63413577e-06, 2.48014662e-06,
 -3.23612900e-05,-9.15323552e-05,-6.59191913e-06, 4.11128215e-05,
  2.96650015e-05, 5.52897029e-05,-1.12970705e-05,-1.43184475e-05,
  1.55135609e-07,-2.59946380e-05, 7.64652326e-06, 9.03066423e-05,
  1.84976536e-06,-1.83356517e-05,-4.90495872e+00,-1.51573791e-04,
  3.40759788e-03,-9.26918130e-04]


--- Step 1977 ---
qpos:
[ 0.0186714 , 0.03003996,-0.00944376,-0.02527783,-0.00341979, 1.33915398,
 -0.02978911, 0.94373915, 0.01158644, 0.02727739,-0.00830351, 0.02648095,
  1.39364121, 0.0076481 , 1.28360047, 0.04451417,-0.0861526 ,-0.04869924,
  0.09348231, 0.70494112,-0.06878481,-0.69886455,-0.09957416]

qacc:
[ 9.51680706e+00,-1.20203154e+00, 8.22636258e+00,-2.12200309e+01,
  3.47411935e-02,-3.63879290e+00, 1.37917241e+01,-2.95777352e+01,
  2.96473607e+00,-1.98512210e+00, 7.75635911e+00,-1.17772798e+01,
  2.00888776e-01,-3.90092263e-01, 1.67642282e-01,-3.65751414e-01,
 -3.83859065e+00, 1.15380172e+00,-3.48883909e+00, 6.60069478e+00,
 -1.26153008e+02, 2.19296849e+01]

qfrc_actuator:
[ 6.12916875e-05, 9.05816986e-04, 1.43041290e-04,-5.82176966e-05,
 -4.06902231e-05, 3.64790924e-02, 1.07683018e-02, 1.75399644e-03,
 -2.81111314e-05, 8.43691039e-04, 1.91266351e-04, 7.30823059e-05,
  0.00000000e+00,-1.63522991e-03, 0.00000000e+00,-9.72349691e-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,   8.22873043,   2.6219787 ,   8.22873043,
        13.88423941, -16.46975814,   2.6219787 , -16.46975814,
        60.32450283,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038202672686489525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.26534917e-15, -3.63267458e-15,  1.00000000e+00,  2.63926493e-29,
        1.00000000e+00,  3.63267458e-15, -1.00000000e+00,  0.00000000e+00,
        7.26534917e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00688893, -0.07612151,  0.06180763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.00002212e-05,-1.09759209e-04,-2.92162909e-05,-8.42338119e-05,
  1.77855160e-05, 9.64034859e-06, 3.33651174e-05,-7.78937937e-06,
 -5.79669273e-06,-2.20528498e-05, 1.12063107e-05, 1.37488120e-06,
  5.25799525e-06, 8.58454143e-06,-4.90498298e+00,-1.23540355e-04,
  3.40219069e-03,-9.27132700e-04]


--- Step 1978 ---
qpos:
[ 0.01867156, 0.03003931,-0.00944373,-0.0252785 ,-0.00342052, 1.33918638,
 -0.02979191, 0.94373846, 0.01158716, 0.02727733,-0.00830344, 0.02648071,
  1.39371112, 0.00764732, 1.28372299, 0.04451897,-0.0861581 ,-0.04870486,
  0.09347864, 0.70490343,-0.06872474,-0.69891217,-0.09954816]

qacc:
[ 3.01294269e+00,-7.42372620e-01, 4.36487336e+00,-1.06739148e+01,
  8.21710960e-02,-1.95714670e+00, 6.25452785e+00,-1.21411844e+01,
 -1.26143061e+00,-1.61208466e+00, 7.89692915e+00,-1.64202180e+01,
 -1.47151592e-01, 1.81147075e-01, 1.37201629e+00,-4.59561891e+00,
  4.82072904e+00,-1.12613360e+00, 4.11444690e+00,-8.08300418e+00,
  1.56271055e+02,-1.93818287e+01]

qfrc_actuator:
[ 7.76955155e-05, 8.83798053e-04, 1.35294553e-04,-7.81142821e-05,
 -2.28928300e-05, 3.64309596e-02, 1.07623615e-02, 1.72333491e-03,
 -3.62787028e-05, 8.50524105e-04, 2.05314657e-04, 4.96608334e-05,
  0.00000000e+00,-1.62551545e-03, 0.00000000e+00,-9.94626220e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00388007019570457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.60950813e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.60950813e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13890652, -0.03467234,  0.06180482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.37021660e-05,-1.17319193e-04,-3.32403359e-05,-3.67276420e-05,
 -7.64505526e-06, 1.87991677e-05, 1.98838327e-05,-2.20056848e-05,
 -8.05343338e-06, 1.78803159e-06, 2.17333937e-06,-2.15050069e-05,
  5.47791216e-05, 1.43204927e-05,-4.90483688e+00,-1.32049892e-04,
  3.38937531e-03,-9.27172230e-04]


--- Step 1979 ---
qpos:
[ 0.01867156, 0.03003834,-0.00944356,-0.02527935,-0.0034212 , 1.33921772,
 -0.02979418, 0.94373809, 0.01158743, 0.02727775,-0.00830366, 0.02648052,
  1.39378098, 0.00764663, 1.28384571, 0.0445218 ,-0.08614653,-0.04871456,
  0.09348511, 0.70505515,-0.06862414,-0.69876538,-0.09957363]

qacc:
[-1.26180077e+00,-1.21650782e+00, 4.45829538e+00,-7.55336142e+00,
  2.47820758e-02,-2.28315837e+00, 5.15428164e+00,-2.33313506e-01,
 -3.84328276e+00, 1.58166025e+00,-4.94757454e+00, 6.04920278e+00,
 -2.59066141e-01, 3.31502004e-01, 6.30052857e+00,-2.15549857e+01,
  4.26978948e+00,-1.02198439e+00, 2.53450733e+00,-6.87095387e+00,
  1.38494000e+02,-1.61908889e+01]

qfrc_actuator:
[ 6.95124536e-05, 8.35265451e-04, 1.30598927e-04,-8.95704083e-05,
 -2.97883180e-05, 3.63896605e-02, 1.07954881e-02, 1.74109230e-03,
 -5.91296076e-05, 8.90092457e-04, 1.95790065e-04, 5.37362102e-05,
  0.00000000e+00,-1.61941279e-03, 0.00000000e+00,-1.09842905e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.55692363, -1.16868934, -8.55692363,  9.98330637,
       -9.86206142, -1.16868934, -9.86206142, 80.84452313,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003890714425833844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42675985e-14,  1.42675985e-14,  1.00000000e+00, -2.03564366e-28,
        1.00000000e+00, -1.42675985e-14, -1.00000000e+00,  0.00000000e+00,
        1.42675985e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13889483, -0.03468719,  0.06180432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.10422827e-06,-1.14021002e-04, 5.28338823e-06, 1.24452062e-05,
 -2.30682992e-05, 5.32467810e-05,-3.95220944e-06, 5.14171085e-06,
 -3.82427000e-06, 4.85954107e-06,-4.38875575e-06,-1.05424551e-04,
  1.01600688e-06, 4.26285204e-06,-4.90499572e+00,-1.27999934e-04,
  3.39136969e-03,-9.27795236e-04]


--- Step 1980 ---
qpos:
[ 0.01867251, 0.0300368 ,-0.00944276,-0.02527999,-0.00342203, 1.33924841,
 -0.02979647, 0.94373793, 0.01158777, 0.02727808,-0.00830347, 0.02648006,
  1.39385082, 0.00764599, 1.28396885, 0.04451966,-0.08611972,-0.048728  ,
  0.09349637, 0.70537596,-0.06848821,-0.69844491,-0.09964351]

qacc:
[ 8.06168110e+00,-2.06261413e+00, 5.36220340e+00,-2.26037597e+00,
 -6.03909276e-02,-4.48644185e-01,-3.88567939e-03, 2.84503564e+00,
  6.02085279e-01,-1.83991369e+00, 7.52591943e+00,-1.28029904e+01,
 -4.57903824e-01, 5.57893743e-01, 1.56513936e+01,-5.37341533e+01,
  3.80884836e+00,-9.32936241e-01, 1.19543501e+00,-5.90115425e+00,
  1.23593208e+02,-1.36241355e+01]

qfrc_actuator:
[ 1.17946760e-04, 8.06736130e-04, 1.63128612e-04,-7.82431350e-05,
 -5.14413251e-05, 3.63707235e-02, 1.07981994e-02, 1.75171070e-03,
 -5.49261583e-05, 8.60118824e-04, 2.08091612e-04, 3.84696647e-05,
  0.00000000e+00,-1.61552206e-03, 0.00000000e+00,-1.35593160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.51368606,  -1.45049179,  -8.51368606,
        10.8330319 , -12.89338141,  -1.45049179, -12.89338141,
        84.31428338,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003857549939204931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.87805224e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.87805224e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13894283, -0.03468351,  0.06180585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.74597333e-05,-8.08139889e-05,-1.86593540e-05, 7.67501703e-06,
  3.54744146e-06,-8.13103983e-07, 2.29908502e-05,-1.30204003e-05,
 -1.37743179e-06, 4.72301751e-06,-1.67725225e-05,-2.64645299e-04,
  9.40541342e-06,-2.34717764e-05,-4.90493774e+00,-1.51603578e-04,
  3.39790529e-03,-9.29823658e-04]


--- Step 1981 ---
qpos:
[ 0.01867402, 0.03003547,-0.00944245,-0.02528017,-0.00342304, 1.3392789 ,
 -0.02979921, 0.94373822, 0.0115885 , 0.02727803,-0.00830211, 0.0264794 ,
  1.39392056, 0.00764566, 1.2840915 , 0.0445178 ,-0.08611248,-0.04873565,
  0.09350069, 0.70547862,-0.06841344,-0.69834911,-0.0996396 ]

qacc:
[ 4.89710300e+00, 2.59568214e+00,-1.08464089e+01, 1.95497363e+01,
 -7.93246533e-02, 1.73912547e+00,-6.94197980e+00, 1.14571790e+01,
  3.39111588e+00,-4.15088717e+00, 1.48826381e+01,-1.98026973e+01,
 -2.18624633e-01, 4.09666965e-01,-1.52133244e+00, 4.31448518e+00,
 -4.89284685e+00, 1.44554088e+00,-1.73304901e+00, 7.91904880e+00,
 -1.61001690e+02, 2.88185308e+01]

qfrc_actuator:
[ 1.46068332e-04, 8.43826275e-04, 1.46447154e-04,-5.35649520e-05,
 -6.40184570e-05, 3.63829819e-02, 1.07829999e-02, 1.77577403e-03,
 -3.48279155e-05, 8.42057809e-04, 2.68402835e-04, 2.96558952e-05,
  0.00000000e+00,-1.59521888e-03, 0.00000000e+00,-1.32908295e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038829791036384884
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.14801055e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.14801055e-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([ 0.0067496 , -0.07604952,  0.06180475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.28955603e-05,-3.60719398e-05,-3.29378813e-05, 2.13045170e-05,
  2.02026181e-05,-1.43354422e-05, 6.25196295e-05,-8.30673655e-06,
 -9.00340164e-07, 2.19905044e-05,-4.02830988e-05, 9.23524429e-06,
  6.14241962e-05,-6.32169983e-05,-4.90472879e+00,-1.92221923e-04,
  3.40900729e-03,-9.32888775e-04]


--- Step 1982 ---
qpos:
[ 0.01867483, 0.03003511,-0.00944302,-0.02528046,-0.00342407, 1.33930913,
 -0.02980182, 0.94373809, 0.01158877, 0.0272779 ,-0.00830067, 0.02647903,
  1.39399017, 0.00764583, 1.28421361, 0.04451855,-0.08612251,-0.04873817,
  0.09349428, 0.70538901,-0.0683916 ,-0.69845155,-0.09957092]

qacc:
[-6.12407120e+00, 3.48315443e+00,-1.00144753e+01, 8.54834386e+00,
 -9.66225331e-03,-1.42699589e+00, 5.12936397e+00,-9.27880132e+00,
 -3.87164833e+00, 2.46986406e-01,-2.21220222e+00, 6.99684334e+00,
 -1.85401078e-01, 4.77869614e-01,-8.65860469e+00, 2.92066902e+01,
 -4.31778455e+00, 1.28503120e+00,-2.68242901e+00, 7.24632376e+00,
 -1.41914725e+02, 2.49738274e+01]

qfrc_actuator:
[ 1.08733232e-04, 9.37504807e-04, 1.18860084e-04,-5.67200936e-05,
 -5.32957890e-05, 3.63782663e-02, 1.07930030e-02, 1.75431488e-03,
 -5.88017241e-05, 8.31467443e-04, 2.67844666e-04, 4.24979555e-05,
  0.00000000e+00,-1.56533755e-03, 0.00000000e+00,-1.18812163e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.19720574,   2.71893267,   8.19720574,
        13.95001046, -16.01990987,   2.71893267, -16.01990987,
        56.93417503,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003909853183865969
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41977585e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.41977585e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00669043, -0.07602416,  0.06180355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.80588974e-06,-3.06762383e-05,-2.06894922e-07,-2.29763933e-05,
 -2.33882137e-05,-6.05175636e-06, 3.87986042e-06, 1.42271394e-05,
  3.84047429e-06, 3.66136221e-05,-1.80986860e-05, 1.36171571e-04,
  3.44554179e-06,-1.34229944e-05,-4.90497368e+00,-1.38379165e-04,
  3.41037696e-03,-9.32422867e-04]


--- Step 1983 ---
qpos:
[ 0.01867484, 0.03003536,-0.00944384,-0.02528114,-0.00342491, 1.33933885,
 -0.0298039 , 0.94373735, 0.01158841, 0.02727777,-0.00829953, 0.02647883,
  1.39405974, 0.00764637, 1.28433564, 0.04452061,-0.08614787,-0.04873609,
  0.0934739 , 0.70512878,-0.0684159 ,-0.69872981,-0.09944501]

qacc:
[-6.86571569e+00, 7.72801839e-01, 5.13619932e-02,-6.66775318e+00,
  7.96181808e-02,-3.12837672e+00, 1.06458429e+01,-1.58844378e+01,
 -5.42191609e+00, 1.21926746e+00,-5.06427195e+00, 8.54070898e+00,
 -1.55786775e-01, 3.91716999e-01,-4.07337522e+00, 1.40908216e+01,
 -3.83105767e+00, 1.14841930e+00,-3.49238465e+00, 6.63029669e+00,
 -1.25845708e+02, 2.17850235e+01]

qfrc_actuator:
[ 6.86819282e-05, 9.57767600e-04, 1.03057709e-04,-7.61734328e-05,
 -2.86827019e-05, 3.63457495e-02, 1.08177247e-02, 1.72399952e-03,
 -9.07767061e-05, 8.25214265e-04, 2.49131139e-04, 5.01830768e-05,
  0.00000000e+00,-1.54777481e-03, 0.00000000e+00,-1.12316401e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.17755927,   2.77746311,   8.17755927,
        14.78304181, -18.09738712,   2.77746311, -18.09738712,
        61.91968375,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003886086319108896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.14268856e-14, -3.57114759e-15,  1.00000000e+00,  7.65185708e-29,
        1.00000000e+00,  3.57114759e-15, -1.00000000e+00,  0.00000000e+00,
        2.14268856e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00674567, -0.07603394,  0.0618046 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.29542969e-05,-5.04191846e-05, 1.79928252e-05,-3.17380252e-05,
 -3.26618040e-05,-8.24479504e-06,-1.90067128e-05, 7.83584479e-06,
  1.03860408e-05, 2.94038155e-05, 5.66361924e-06, 6.99549274e-05,
  1.14662477e-05, 6.67027124e-06,-4.90497664e+00,-1.34202437e-04,
  3.40306002e-03,-9.31946684e-04]


--- Step 1984 ---
qpos:
[ 0.0186754 , 0.03003559,-0.00944455,-0.02528233,-0.00342538, 1.33936824,
 -0.02980606, 0.94373765, 0.01158802, 0.02727816,-0.00829859, 0.02647831,
  1.39412948, 0.00764666, 1.28445728, 0.04452644,-0.08615386,-0.04873849,
  0.09347015, 0.70508266,-0.06839285,-0.69878784,-0.09938014]

qacc:
[  4.75667631, -1.4354302 ,  7.2168927 ,-16.26905241,  0.16034627,
   1.54894566, -7.72720781, 18.99956848, -0.32777325,  0.55164718,
   0.41910471, -6.16634302,  0.6115146 , -0.80230096,-12.05073497,
  41.18111877,  4.84044561, -1.12075646,  4.15740364, -8.25533483,
 156.88573468,-19.87947437]

qfrc_actuator:
[ 9.83842555e-05, 9.16192662e-04, 9.40608505e-05,-1.05100426e-04,
  4.06299693e-06, 3.63324033e-02, 1.08153155e-02, 1.77747569e-03,
 -9.16854768e-05, 8.92525732e-04, 2.55384267e-04, 3.70164362e-05,
  0.00000000e+00,-1.57317722e-03, 0.00000000e+00,-9.26021947e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003859152250955955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87685728e-14, -1.43842864e-14,  1.00000000e+00,  4.13815390e-28,
        1.00000000e+00,  1.43842864e-14, -1.00000000e+00,  0.00000000e+00,
        2.87685728e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13895123, -0.03472736,  0.06180572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.63061093e-05,-3.88703529e-05,-1.11868696e-05, 5.17899370e-05,
 -1.86704027e-06, 5.90899977e-05, 2.46976112e-06,-1.40256224e-05,
  1.21431257e-05,-1.42762969e-05, 7.78991552e-06, 2.01162472e-04,
  6.49771816e-05, 6.51534763e-06,-4.90481258e+00,-1.63508795e-04,
  3.38848245e-03,-9.31231406e-04]


--- Step 1985 ---
qpos:
[ 0.01867666, 0.03003585,-0.00944509,-0.02528352,-0.00342546, 1.33939749,
 -0.0298086 , 0.94373894, 0.01158831, 0.02727938,-0.00829804, 0.02647726,
  1.39419933, 0.00764669, 1.28457928, 0.04453156,-0.08614271,-0.04874497,
  0.0934767 , 0.70522657,-0.06832886,-0.69865068,-0.09936743]

qacc:
[  5.97612327, -0.44812549,  1.63352528, -1.92483873,  0.16256109,
   2.54278983,-10.5489739 , 20.65420539,  5.78677396,  1.11318226,
  -0.18437231, -8.85767472,  0.16339292, -0.30938481,  2.65119906,
  -8.53356976,  4.28700213, -1.01720506,  2.57275011, -6.99454315,
 139.03013273,-16.57397593]

qfrc_actuator:
[ 1.33400658e-04, 9.26678118e-04, 1.06627944e-04,-1.03918494e-04,
  2.36693924e-05, 3.63305931e-02, 1.07970251e-02, 1.82656700e-03,
 -5.65456539e-05, 9.50194939e-04, 2.41120407e-04, 1.17704628e-05,
  0.00000000e+00,-1.58838330e-03, 0.00000000e+00,-9.72107735e-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, -8.57298361, -1.04437966, -8.57298361,  9.66720793,
       -8.46187599, -1.04437966, -8.46187599, 78.0972376 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038723962443844365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86701813e-14, -1.43350907e-14,  1.00000000e+00,  4.10989648e-28,
        1.00000000e+00,  1.43350907e-14, -1.00000000e+00,  0.00000000e+00,
        2.86701813e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13893611, -0.03474356,  0.0618051 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.69640448e-05,-2.41383809e-05,-2.56778267e-05, 4.88337696e-05,
  3.51083303e-05, 9.05958974e-05,-2.25383524e-06,-2.29030423e-05,
  3.25218376e-06,-1.69033820e-05, 2.42836551e-05,-3.42995524e-05,
  6.01740851e-06, 3.45858039e-06,-4.90499226e+00,-1.33251751e-04,
  3.39164497e-03,-9.30036441e-04]


--- Step 1986 ---
qpos:
[ 0.0186773 , 0.0300363 ,-0.00944559,-0.02528402,-0.00342537, 1.33942628,
 -0.02981056, 0.94373872, 0.01158901, 0.02728075,-0.00829769, 0.02647599,
  1.39426914, 0.0076468 , 1.2847016 , 0.04453446,-0.08614903,-0.04874628,
  0.0934728 , 0.70517571,-0.06831917,-0.69871412,-0.09928893]

qacc:
[-5.35456245e+00, 1.61402191e+00,-8.30910940e+00, 2.01973373e+01,
  7.48050292e-02,-4.74984210e+00, 1.78951073e+01,-3.28264271e+01,
  3.57473733e+00, 2.74646585e-01, 2.27263234e-01,-3.83896400e+00,
 -2.65523936e-01, 3.35395909e-01, 7.24005087e+00,-2.45789622e+01,
 -4.36821890e+00, 1.29037037e+00,-2.60900344e+00, 7.14781217e+00,
 -1.43722372e+02, 2.56346193e+01]

qfrc_actuator:
[ 1.00231356e-04, 9.50604428e-04, 1.14283930e-04,-6.72260416e-05,
  1.74826179e-05, 3.63001431e-02, 1.08228073e-02, 1.74840038e-03,
 -3.59848900e-05, 9.12801911e-04, 2.14829617e-04,-2.64171852e-06,
  0.00000000e+00,-1.57961939e-03, 0.00000000e+00,-1.09015050e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003845226398489693
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.16545707e-14, -1.08272853e-14,  1.00000000e+00,  2.34460216e-28,
        1.00000000e+00,  1.08272853e-14, -1.00000000e+00,  0.00000000e+00,
        2.16545707e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00684174, -0.076041  ,  0.06180637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.15602798e-05,-4.75494209e-05, 1.95426844e-05,-7.84743310e-05,
  2.16257963e-05, 1.17867313e-05,-8.66637566e-06,-1.10564974e-05,
 -2.24300504e-06, 4.41820034e-06, 3.46380104e-06,-1.17756043e-04,
  1.04516166e-05,-1.82784275e-05,-4.90495082e+00,-1.34496957e-04,
  3.39905132e-03,-9.30353023e-04]


--- Step 1987 ---
qpos:
[ 0.01867718, 0.0300367 ,-0.00944585,-0.02528474,-0.0034252 , 1.3394543 ,
 -0.02981146, 0.94373721, 0.01158962, 0.02728198,-0.00829809, 0.02647532,
  1.39433901, 0.00764675, 1.28482376, 0.04453727,-0.08613818,-0.04875165,
  0.09347923, 0.70531506,-0.06826843,-0.69858212,-0.09926282]

qacc:
[-6.39889970e+00,-1.23004339e+00, 5.28258800e+00,-9.65393868e+00,
  3.09999163e-02,-6.07096799e+00, 2.12110776e+01,-3.27236380e+01,
 -8.97909142e-01, 3.16425415e+00,-1.40983321e+01, 2.58700464e+01,
  1.48822881e-01,-2.53955864e-01, 1.10015768e-02,-4.29100713e-01,
  4.29215774e+00,-1.01410267e+00, 2.58030307e+00,-7.03460540e+00,
  1.39192802e+02,-1.66969256e+01]

qfrc_actuator:
[ 6.26974041e-05, 9.29155638e-04, 1.19057609e-04,-8.09394038e-05,
  1.36267148e-05, 3.62528766e-02, 1.08742210e-02, 1.68474832e-03,
 -4.19353740e-05, 8.71976823e-04, 1.63524288e-04, 2.48574292e-05,
  0.00000000e+00,-1.59219809e-03, 0.00000000e+00,-1.08978735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003856111872569519
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87912556e-14, -2.87912556e-14,  1.00000000e+00,  8.28936398e-28,
        1.00000000e+00,  2.87912556e-14, -1.00000000e+00,  0.00000000e+00,
        2.87912556e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13896423, -0.03475792,  0.06180586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.88130620e-06,-7.22978927e-05, 4.20046708e-05,-6.62906234e-05,
 -5.30777790e-06,-3.65388958e-05,-5.03380519e-05, 2.74874488e-05,
 -6.00786280e-07,-1.15667111e-05,-1.49746116e-05,-6.56040329e-06,
  8.00806033e-06, 2.96808539e-06,-4.90498880e+00,-1.35555707e-04,
  3.39252696e-03,-9.29479420e-04]


--- Step 1988 ---
qpos:
[ 0.018678  , 0.03003708,-0.00944574,-0.02528563,-0.00342501, 1.3394814 ,
 -0.02981224, 0.94373606, 0.01158945, 0.02728256,-0.00829835, 0.02647568,
  1.39440873, 0.00764705, 1.2849459 , 0.04453937,-0.08614478,-0.04875186,
  0.09347519, 0.70526004,-0.06827178,-0.69865037,-0.09917109]

qacc:
[ 7.98413566e+00,-1.39825940e+00, 5.62615546e+00,-9.07524034e+00,
  9.87973112e-03,-9.51251107e-01, 9.36560094e-01, 3.80237542e+00,
 -6.51285047e+00, 9.03215293e-01,-8.79459424e+00, 2.68736062e+01,
 -3.96194459e-01, 6.31668005e-01, 2.18095237e+00,-7.56092145e+00,
 -4.36113657e+00, 1.28852825e+00,-2.61849667e+00, 7.15162601e+00,
 -1.43439806e+02, 2.55573965e+01]

qfrc_actuator:
[ 1.11680300e-04, 9.33907443e-04, 1.39624846e-04,-8.87401032e-05,
  1.12024864e-05, 3.61782656e-02, 1.08692839e-02, 1.70118219e-03,
 -8.11905785e-05, 8.29319606e-04, 1.68855791e-04, 7.67656293e-05,
  0.00000000e+00,-1.56412073e-03, 0.00000000e+00,-1.12614461e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038645337917687095
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.43642556e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.43642556e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0068015 , -0.07601355,  0.0618055 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.82084405e-06,-1.08570904e-04,-1.62757435e-05, 1.39914800e-05,
 -3.94191417e-05,-7.23484746e-05,-7.47261479e-06, 4.91355406e-05,
 -3.48110871e-06, 2.46877383e-05,-9.38283963e-06,-3.90703244e-05,
  1.06027677e-05,-1.64020064e-05,-4.90495493e+00,-1.28812289e-04,
  3.40017602e-03,-9.29192558e-04]


--- Step 1989 ---
qpos:
[ 0.0186794 , 0.03003754,-0.00944573,-0.0252859 ,-0.00342511, 1.33950761,
 -0.02981386, 0.94373481, 0.01158813, 0.0272824 ,-0.0082976 , 0.02647593,
  1.39447839, 0.00764766, 1.2850681 , 0.04453999,-0.08616685,-0.04874746,
  0.0934574 , 0.70503257,-0.06832224,-0.69889621,-0.0990214 ]

qacc:
[ 4.97671715e+00, 1.64882900e+00,-8.37655108e+00, 1.92693186e+01,
 -1.22535733e-01, 9.81749934e-01,-4.44979497e+00, 3.41290709e+00,
 -9.84906590e+00,-4.05651761e+00, 1.35800701e+01,-1.67859841e+01,
 -3.60187635e-01, 5.80273593e-01, 4.57409867e+00,-1.57891802e+01,
 -3.86924857e+00, 1.15250682e+00,-3.43529916e+00, 6.55046172e+00,
 -1.27176808e+02, 2.22770745e+01]

qfrc_actuator:
[ 1.40185396e-04, 9.36620002e-04, 1.33954387e-04,-5.74571625e-05,
 -2.58475258e-05, 3.61054531e-02, 1.08132954e-02, 1.69354318e-03,
 -1.39725547e-04, 8.03881915e-04, 2.25337711e-04, 7.16411193e-05,
  0.00000000e+00,-1.54761218e-03, 0.00000000e+00,-1.20162607e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.20464597,   2.69639784,   8.20464597,
        14.17412099, -16.85038384,   2.69639784, -16.85038384,
        59.90900299,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038474780389014945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.21396596e-15,  3.60698298e-15,  1.00000000e+00,  2.60206525e-29,
        1.00000000e+00, -3.60698298e-15, -1.00000000e+00,  0.00000000e+00,
       -7.21396596e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.006842  , -0.07601847,  0.06180626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.53871321e-05,-1.35819396e-04,-7.86991665e-05,-1.10199718e-05,
 -5.97147397e-05,-6.53664096e-05, 4.23139070e-05,-7.52714582e-06,
  3.55421924e-06, 2.32646588e-05,-1.12180235e-05,-7.94521094e-05,
  9.94953845e-06, 2.27455755e-06,-4.90498460e+00,-1.38032307e-04,
  3.39301095e-03,-9.28092558e-04]


--- Step 1990 ---
qpos:
[ 0.0186801 , 0.03003776,-0.00944615,-0.02528642,-0.0034257 , 1.33953289,
 -0.02981588, 0.94373347, 0.01158681, 0.02728225,-0.00829698, 0.0264754 ,
  1.3945482 , 0.00764798, 1.28519025, 0.04453935,-0.08616979,-0.0487475 ,
  0.09345568, 0.70501695,-0.0683264 ,-0.69892431,-0.09893135]

qacc:
[-6.03598179e+00, 3.90877800e-01,-7.66401510e-01,-2.72334707e+00,
 -2.10050103e-01,-3.34773793e-01,-1.72899010e-01,-4.47855296e-01,
 -3.21509396e-02,-1.18971630e+00, 7.53067538e+00,-2.06877452e+01,
  2.14907943e-01,-3.75772499e-01, 3.73301312e+00,-1.31987126e+01,
  4.78387393e+00,-1.10743915e+00, 4.01595881e+00,-8.05891992e+00,
  1.55116181e+02,-1.92709995e+01]

qfrc_actuator:
[ 1.03122956e-04, 8.84762664e-04, 9.51028777e-05,-7.44592747e-05,
 -6.56169997e-05, 3.60695752e-02, 1.07986204e-02, 1.68950945e-03,
 -1.38117864e-04, 8.24636139e-04, 2.22809762e-04, 3.30363432e-05,
  0.00000000e+00,-1.57363983e-03, 0.00000000e+00,-1.26403322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003902820770124861
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.42233411e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.42233411e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13890897, -0.03480975,  0.06180366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.06823489e-05,-1.26915731e-04,-5.05515658e-05,-1.06466636e-05,
 -1.65038635e-07,-7.40959324e-06,-1.10853730e-05,-4.00880190e-05,
  6.55850319e-06,-1.79841640e-05,-1.65292107e-05,-6.88580785e-05,
  5.66745339e-05, 2.58189992e-07,-4.90484060e+00,-1.80377256e-04,
  3.37857795e-03,-9.26722055e-04]


--- Step 1991 ---
qpos:
[ 0.01868   , 0.03003768,-0.0094467 ,-0.02528749,-0.00342678, 1.33955726,
 -0.02981783, 0.94373171, 0.01158552, 0.02728219,-0.00829647, 0.0264744 ,
  1.39461801, 0.00764829, 1.2853121 , 0.04453962,-0.08615577,-0.04875155,
  0.09346375, 0.70518942,-0.06829053,-0.69875934,-0.09889225]

qacc:
[-6.81268593e+00,-1.18077296e+00, 5.99397477e+00,-1.52054820e+01,
 -2.04795853e-01,-2.10292961e+00, 6.27717931e+00,-9.64316594e+00,
  2.41657629e-01,-5.60496510e-01, 4.14080875e+00,-1.21602387e+01,
  9.22792271e-02,-1.15232216e-01,-3.20945981e+00, 1.05388596e+01,
  4.23882287e+00,-1.00445174e+00, 2.44936096e+00,-6.81975122e+00,
  1.37510872e+02,-1.60562607e+01]

qfrc_actuator:
[ 6.32760170e-05, 8.71452486e-04, 8.99720322e-05,-1.02055582e-04,
 -8.89427334e-05, 3.60384959e-02, 1.08086125e-02, 1.66993583e-03,
 -1.36621960e-04, 8.37138891e-04, 2.21127551e-04, 1.05482538e-05,
  0.00000000e+00,-1.57146043e-03, 0.00000000e+00,-1.21170197e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.56575616, -1.10208815, -8.56575616,  9.79888717,
       -9.03547789, -1.10208815, -9.03547789, 78.86277909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003909533040085046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13890283, -0.0348231 ,  0.06180335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.91840622e-05,-1.11668661e-04,-2.09271755e-05,-2.50867122e-05,
  1.49065871e-06, 4.34653647e-06,-5.97089805e-06,-2.39694850e-05,
 -1.64585573e-06,-1.35948851e-06,-1.70787627e-05, 4.59408327e-05,
  6.73294167e-06,-2.45743533e-07,-4.90499240e+00,-1.33131705e-04,
  3.38346928e-03,-9.24153511e-04]


--- Step 1992 ---
qpos:
[ 0.01867977, 0.03003745,-0.00944747,-0.02528787,-0.00342811, 1.33958089,
 -0.02981969, 0.94372903, 0.01158425, 0.02728212,-0.00829571, 0.02647347,
  1.39468773, 0.00764886, 1.28543412, 0.04453813,-0.08612662,-0.04875926,
  0.09347631, 0.70552987,-0.06821975,-0.69842182,-0.09889705]

qacc:
[-1.14252510e+00, 1.83919650e+00,-9.79227611e+00, 2.23381912e+01,
 -1.05467580e-01,-2.76514611e+00, 9.74538496e+00,-1.87206881e+01,
  2.46650786e-01,-5.43776544e-01, 1.63892567e+00,-8.19387712e-01,
 -3.84039210e-01, 5.71104778e-01, 5.59861026e+00,-1.91184475e+01,
  3.78283587e+00,-9.16373282e-01, 1.12185512e+00,-5.82737526e+00,
  1.22754233e+02,-1.34745590e+01]

qfrc_actuator:
[ 5.76363555e-05, 8.81433246e-04, 8.71884046e-05,-6.45920495e-05,
 -8.44632538e-05, 3.60106387e-02, 1.08153357e-02, 1.62363512e-03,
 -1.35223926e-04, 8.44616141e-04, 2.37729865e-04, 1.54891794e-05,
  0.00000000e+00,-1.55251660e-03, 0.00000000e+00,-1.30522238e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.52400224,  -1.38858297,  -8.52400224,
        10.59572008, -12.02777153,  -1.38858297, -12.02777153,
        82.47044745,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003873013915568338
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86656090e-14, -1.43328045e-14,  1.00000000e+00,  4.10858569e-28,
        1.00000000e+00,  1.43328045e-14, -1.00000000e+00,  0.00000000e+00,
        2.86656090e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13895557, -0.03481825,  0.06180505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.04932032e-05,-9.46455610e-05,-1.82654336e-05,-5.08232828e-05,
  1.44456558e-06, 7.64228927e-06, 1.59309662e-05, 4.45502182e-06,
 -1.48288506e-06, 1.82895764e-05,-4.20910039e-06,-9.34962416e-05,
  1.78277215e-05,-1.91584193e-05,-4.90493058e+00,-1.17949593e-04,
  3.39249063e-03,-9.23084730e-04]


--- Step 1993 ---
qpos:
[ 0.01867981, 0.03003731,-0.0094484 ,-0.02528783,-0.00342941, 1.33960394,
 -0.02982183, 0.94372582, 0.0115837 , 0.02728231,-0.00829572, 0.02647299,
  1.39475733, 0.00764989, 1.28555651, 0.04453218,-0.08611714,-0.04876121,
  0.09348212, 0.70565107,-0.06821081,-0.69831008,-0.09882754]

qacc:
[ 2.38091564e+00, 1.45404765e+00,-6.75457637e+00, 1.41454833e+01,
  1.07754967e-02,-9.26064025e-01, 3.17486605e+00,-8.51730263e+00,
  6.08361341e+00, 3.39616613e+00,-1.35369574e+01, 2.23687850e+01,
 -7.40879556e-01, 1.09303100e+00, 1.41348430e+01,-4.84418838e+01,
 -4.91723132e+00, 1.44356850e+00,-1.68766328e+00, 7.82183217e+00,
 -1.61807643e+02, 2.92699376e+01]

qfrc_actuator:
[ 7.21773019e-05, 9.05358756e-04, 8.59507275e-05,-4.23840973e-05,
 -6.33417195e-05, 3.59849179e-02, 1.08023168e-02, 1.59748228e-03,
 -9.83900267e-05, 8.49130473e-04, 1.93983999e-04, 3.65359296e-05,
  0.00000000e+00,-1.52378180e-03, 0.00000000e+00,-1.53721475e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003914249713274545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.0909057e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -7.0909057e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00669545, -0.07594324,  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:
[ 1.43348508e-05, 1.02130496e-05,-6.39471575e-06, 2.14168923e-05,
  3.10145684e-06,-8.33403615e-05,-3.51299514e-05,-3.06847656e-05,
  3.68784215e-05, 1.22617700e-05,-4.00582216e-05, 2.20124061e-05,
  2.96824595e-06, 3.40827157e-05,-1.53434339e-05,-2.38424596e-04,
  7.17805449e-05,-5.07127294e-05,-4.90471997e+00,-1.23492648e-04,
  3.40575508e-03,-9.23130473e-04]


--- Step 1994 ---
qpos:
[ 0.01867969, 0.0300375 ,-0.00944945,-0.0252879 ,-0.00343045, 1.33962607,
 -0.02982386, 0.94372544, 0.01158359, 0.02728264,-0.00829567, 0.02647238,
  1.3948269 , 0.00765126, 1.28567849, 0.04452617,-0.08612501,-0.04875801,
  0.09347735, 0.70557912,-0.06825542,-0.69839748,-0.09869281]

qacc:
[-1.47609415e+00, 5.37095591e-01,-8.09026634e-01,-1.19614948e+00,
  1.13494592e-01, 3.35001594e+00,-1.81786031e+01, 4.91407963e+01,
  3.80621616e+00,-2.67762577e-01, 1.78257028e+00,-4.28026643e+00,
 -2.23682777e-01, 4.58256032e-01,-3.87016777e-01, 5.23015907e-01,
 -4.33736465e+00, 1.28394646e+00,-2.64524509e+00, 7.13358853e+00,
 -1.42565174e+02, 2.53680924e+01]

qfrc_actuator:
[ 6.29634170e-05, 9.37461965e-04, 8.56819027e-05,-4.70778123e-05,
 -3.24100616e-05, 3.59428690e-02, 1.08132825e-02, 1.74316544e-03,
 -7.64989355e-05, 8.69363855e-04, 2.03707562e-04, 3.13338643e-05,
  0.00000000e+00,-1.50722381e-03, 0.00000000e+00,-1.52933411e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.13489096,   2.90005621,   8.13489096,
        14.84869845, -17.4260989 ,   2.90005621, -17.4260989 ,
        57.51797287,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003941488744970349
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40838031e-14,  1.05628523e-14,  1.00000000e+00, -1.48765131e-28,
        1.00000000e+00, -1.05628523e-14, -1.00000000e+00,  0.00000000e+00,
        1.40838031e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00663593, -0.07591762,  0.06180203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.27614161e-05,-9.61035536e-05,-1.02623918e-05, 1.41461244e-04,
  2.29765967e-05, 1.97644750e-05, 8.08104815e-06,-5.63521332e-06,
  8.22726246e-06, 2.79498091e-05,-3.67745327e-05,-8.08277664e-06,
  1.09514708e-05,-1.14450618e-05,-4.90496368e+00,-1.13387113e-04,
  3.40485103e-03,-9.21444531e-04]


--- Step 1995 ---
qpos:
[ 0.01867911, 0.03003775,-0.00945016,-0.02528733,-0.00343117, 1.33964709,
 -0.02982473, 0.94372608, 0.01158375, 0.02728277,-0.00829452, 0.02647168,
  1.39489672, 0.00765212, 1.2857997 , 0.04452459,-0.08614826,-0.04875023,
  0.09345874, 0.70533585,-0.06834669,-0.69866138,-0.0985005 ]

qacc:
[  -3.88463441,   0.45530168,  -4.17674197,  14.58910344,   0.13239847,
   -2.86308763,   5.46463366,   7.8129623 ,   2.28903528,  -3.5080841 ,
   12.46701658, -15.52497442,   0.90999103,  -1.28098258, -14.63739109,
   49.31877222,  -3.84664536,   1.14803345,  -3.46223212,   6.50349519,
 -126.36503797,  22.13028906]

qfrc_actuator:
[ 3.98345800e-05, 9.38699261e-04, 1.03765687e-04,-1.42923126e-05,
 -1.35978570e-05, 3.58915736e-02, 1.08738658e-02, 1.79352658e-03,
 -6.35899459e-05, 8.63530560e-04, 2.62740427e-04, 2.85375187e-05,
  0.00000000e+00,-1.55130446e-03, 0.00000000e+00,-1.29137633e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.10501172,   2.98254285,   8.10501172,
        15.91716643, -19.78546325,   2.98254285, -19.78546325,
        62.40303848,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003917655837144589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00669172, -0.07592731,  0.06180308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.81656405e-05,-1.02360733e-04, 4.47424076e-05, 5.04788885e-05,
  1.35896859e-05, 6.64326536e-06, 6.39116938e-05,-1.77988714e-06,
  9.77016041e-06,-3.34626404e-05,-1.85474339e-05, 2.32633322e-04,
  1.71149940e-05,-9.47047970e-07,-4.90496356e+00,-1.48613936e-04,
  3.39546301e-03,-9.19629229e-04]


--- Step 1996 ---
qpos:
[ 0.01867861, 0.03003793,-0.00945   ,-0.0252864 ,-0.00343191, 1.33966745,
 -0.02982453, 0.94372348, 0.01158372, 0.02728292,-0.00829352, 0.02647067,
  1.39496665, 0.00765252, 1.28592067, 0.04452649,-0.08615226,-0.04874682,
  0.09345643, 0.70530555,-0.06839147,-0.69870619,-0.09836845]

qacc:
[ 6.44483265e-01,-1.78417179e+00, 4.66995934e+00, 3.50406676e-01,
 -5.16359847e-03,-9.29855467e+00, 3.59500664e+01,-6.83151242e+01,
 -1.63385050e+00,-2.28253385e-01, 2.18438548e+00,-7.44179172e+00,
  6.64392060e-01,-1.00717004e+00,-1.09544167e+01, 3.76457667e+01,
  4.81567912e+00,-1.09562138e+00, 4.07724501e+00,-8.16428439e+00,
  1.56016638e+02,-1.95167332e+01]

qfrc_actuator:
[ 4.42133634e-05, 9.39304351e-04, 1.50203458e-04, 4.77071751e-06,
 -3.77140702e-05, 3.58708134e-02, 1.09276173e-02, 1.62759581e-03,
 -7.38191240e-05, 8.42348613e-04, 2.43786879e-04, 9.43697435e-06,
  0.00000000e+00,-1.57779081e-03, 0.00000000e+00,-1.11512071e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00386323720803821
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.43690766e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.43690766e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13898019, -0.03485807,  0.06180546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.56955028e-06,-6.72537660e-05, 4.02791050e-05,-1.66495869e-04,
 -9.82991871e-06,-4.35266357e-06,-9.78461032e-06,-1.66409191e-05,
 -2.75230395e-06,-3.43307049e-05, 1.73809024e-05, 1.86824860e-04,
  6.94395731e-05,-9.78104434e-06,-4.90479539e+00,-2.13481012e-04,
  3.37901135e-03,-9.17469512e-04]


--- Step 1997 ---
qpos:
[ 0.0186785 , 0.03003807,-0.0094495 ,-0.02528521,-0.00343277, 1.33968787,
 -0.02982463, 0.943721  , 0.01158357, 0.02728326,-0.00829339, 0.02646981,
  1.39503654, 0.00765284, 1.28604236, 0.04452514,-0.08613918,-0.0487474 ,
  0.09346414, 0.70546436,-0.06839609,-0.69855674,-0.09828779]

qacc:
[ 3.45120742e+00,-4.83614387e-01, 5.48369858e-01, 3.37414693e+00,
 -5.23164558e-02, 1.09208946e+00,-3.71432930e+00, 4.51109323e+00,
 -1.07398735e+00, 3.03476056e+00,-1.10813734e+01, 1.49836201e+01,
 -2.74619589e-01, 2.45945429e-01, 1.09082957e+01,-3.65695867e+01,
  4.26674307e+00,-9.94106137e-01, 2.50466539e+00,-6.88035025e+00,
  1.38303038e+02,-1.62060746e+01]

qfrc_actuator:
[ 6.47525475e-05, 9.21885886e-04, 1.59723548e-04, 1.56145465e-05,
 -5.18818387e-05, 3.59038661e-02, 1.09236355e-02, 1.63753342e-03,
 -7.98294362e-05, 8.47323934e-04, 1.96592969e-04, 1.63241328e-05,
  0.00000000e+00,-1.57581417e-03, 0.00000000e+00,-1.29625868e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.58315946, -0.9571575 , -8.58315946,  9.47142972,
       -7.48832386, -0.9571575 , -7.48832386, 75.78673131,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003874174973234737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86570181e-14, -1.43285091e-14,  1.00000000e+00,  4.10612344e-28,
        1.00000000e+00,  1.43285091e-14, -1.00000000e+00,  0.00000000e+00,
        2.86570181e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13896838, -0.03487346,  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:
[ 2.06499902e-05, 6.09285363e-06, 2.12056070e-05, 1.40327543e-05,
 -1.50969828e-05,-1.41764863e-06,-1.74634947e-05, 5.26234913e-06,
 -6.29733758e-06,-2.11292430e-07,-4.98848030e-05, 6.03831024e-06,
 -8.71310926e-06,-9.25904498e-06, 2.64565280e-05,-1.69047440e-04,
  1.22439969e-05,-2.26812303e-06,-4.90497568e+00,-1.38021474e-04,
  3.38489063e-03,-9.12949981e-04]


--- Step 1998 ---
qpos:
[ 0.0186783 , 0.03003827,-0.00944946,-0.02528351,-0.00343362, 1.33970879,
 -0.02982562, 0.94371933, 0.01158369, 0.02728357,-0.00829354, 0.02646972,
  1.3951064 , 0.00765312, 1.28616438, 0.04452   ,-0.08614362,-0.04874281,
  0.0934615 , 0.70542795,-0.06845559,-0.69860833,-0.09814091]

qacc:
[-8.52260804e-01, 2.42759149e+00,-1.06615964e+01, 2.01227718e+01,
  2.40485154e-03, 4.49704680e+00,-1.55391747e+01, 2.26451159e+01,
  2.32989029e+00, 2.30980699e+00,-1.15482566e+01, 2.53170907e+01,
 -3.24498420e-01, 3.44076942e-01, 1.19800859e+01,-4.11069825e+01,
 -4.37844293e+00, 1.29044695e+00,-2.58683106e+00, 6.97998948e+00,
 -1.44066140e+02, 2.60533183e+01]

qfrc_actuator:
[ 5.91248512e-05, 9.11408854e-04, 1.29528411e-04, 3.92449186e-05,
 -4.22120595e-05, 3.59510062e-02, 1.08859654e-02, 1.67992608e-03,
 -6.55480046e-05, 8.50051718e-04, 1.86505599e-04, 5.62139232e-05,
  0.00000000e+00,-1.57469872e-03, 0.00000000e+00,-1.49121437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003875387451764245
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43240262e-14,  7.16201308e-15,  1.00000000e+00, -1.02588863e-28,
        1.00000000e+00, -7.16201308e-15, -1.00000000e+00,  0.00000000e+00,
        1.43240262e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00679212, -0.07593523,  0.06180494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.49504600e-07, 4.29565374e-05,-3.98061714e-05, 4.19846125e-05,
  1.40997405e-05,-7.45076696e-06,-1.60698948e-05, 3.82732947e-05,
 -6.78064085e-06,-3.58021284e-06,-1.15560582e-05,-2.02099527e-04,
  1.78152005e-05,-1.41354811e-05,-4.90493651e+00,-9.83639873e-05,
  3.39462479e-03,-9.10022674e-04]


--- Step 1999 ---
qpos:
[ 0.01867803, 0.03003855,-0.00944948,-0.02528227,-0.00343427, 1.33972998,
 -0.02982697, 0.9437168 , 0.01158363, 0.02728348,-0.00829391, 0.0264698 ,
  1.39517613, 0.00765366, 1.28628566, 0.04451792,-0.0861636 ,-0.0487336 ,
  0.09344522, 0.70521838,-0.06856288,-0.69883817,-0.09793558]

qacc:
[-5.67918728e-01,-6.52540027e-01, 4.38532553e+00,-1.21407337e+01,
  8.41952231e-02,-2.17243244e-01, 2.90475105e+00,-1.27381110e+01,
 -1.48571125e+00, 4.41277067e-01,-3.09611387e+00, 6.80993639e+00,
  2.36019797e-02, 8.99280275e-02,-1.03156167e+01, 3.45107334e+01,
 -3.88355637e+00, 1.15481133e+00,-3.40878122e+00, 6.37575387e+00,
 -1.27695159e+02, 2.27167251e+01]

qfrc_actuator:
[ 5.58878138e-05, 9.22754665e-04, 1.29426148e-04, 1.69346634e-05,
 -1.83199760e-05, 3.59528581e-02, 1.08643017e-02, 1.63452657e-03,
 -7.49439723e-05, 7.98324737e-04, 1.62927520e-04, 6.19711782e-05,
  0.00000000e+00,-1.55637513e-03, 0.00000000e+00,-1.31982055e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.13878132,   2.88912019,   8.13878132,
        15.14469824, -18.33427083,   2.88912019, -18.33427083,
        60.28482786,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038594144837211727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.19165452e-15,  1.43833090e-14,  1.00000000e+00, -1.03439789e-28,
        1.00000000e+00, -1.43833090e-14, -1.00000000e+00,  0.00000000e+00,
        7.19165452e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00683046, -0.07593936,  0.06180565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.43363587e-05, 1.89479526e-05,-1.65835870e-05,-4.42772645e-05,
 -8.98575665e-06,-5.75768578e-05,-2.57743130e-05, 5.62607272e-06,
 -5.23646554e-06, 1.61184433e-05,-3.08722863e-05, 1.57960148e-04,
  1.43755990e-05,-3.40835579e-06,-4.90496726e+00,-1.40830295e-04,
  3.38589584e-03,-9.07786588e-04]


--- Step 2000 ---
qpos:
[ 0.01867772, 0.03003888,-0.00944919,-0.02528201,-0.00343484, 1.33975099,
 -0.02982811, 0.94371376, 0.01158347, 0.02728267,-0.00829467, 0.02647001,
  1.39524579, 0.00765439, 1.28640687, 0.04451683,-0.08616453,-0.04872872,
  0.09344471, 0.70521962,-0.068625  ,-0.69885139,-0.09778873]

qacc:
[-3.07584492e-01,-2.85157140e+00, 1.44116192e+01,-3.20263918e+01,
  3.85017996e-02,-1.64887979e+00, 6.14459275e+00,-1.11559295e+01,
 -9.54243224e-01, 3.84037335e-01,-3.26397366e+00, 6.52486772e+00,
 -9.13733859e-02, 2.07916256e-01,-3.14126664e+00, 1.08273798e+01,
  4.76046376e+00,-1.08142124e+00, 3.93913995e+00,-7.88656123e+00,
  1.54255304e+02,-1.86588052e+01]

qfrc_actuator:
[ 5.40924152e-05, 9.29398466e-04, 1.47161227e-04,-3.21848086e-05,
 -2.15952287e-05, 3.59275849e-02, 1.08697977e-02, 1.60881962e-03,
 -8.04553971e-05, 7.32064080e-04, 1.31306541e-04, 6.52848874e-05,
  0.00000000e+00,-1.54574525e-03, 0.00000000e+00,-1.27124002e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003911585770977041
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1389262 , -0.03492164,  0.06180321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.11051126e-05,-1.95103241e-05, 5.99113231e-06,-2.66265610e-05,
 -5.79451219e-06,-1.03536793e-04,-4.64887533e-05, 6.51922758e-08,
  9.41662642e-07, 1.42998227e-05, 3.03771527e-06, 5.33494919e-05,
  5.90618010e-05,-1.26475979e-05,-4.90482276e+00,-2.13449164e-04,
  3.37005980e-03,-9.05190235e-04]


--- Step 2001 ---
qpos:
[ 0.0186774 , 0.03003955,-0.00944941,-0.02528198,-0.00343551, 1.33977147,
 -0.02982873, 0.94371044, 0.01158324, 0.02728174,-0.00829553, 0.02647016,
  1.39531546, 0.00765525, 1.28652859, 0.04451198,-0.08614858,-0.04872776,
  0.09345372, 0.70540806,-0.0686481 ,-0.69867247,-0.09769176]

qacc:
[-1.87678788e-01, 1.41789837e+00,-3.42343478e+00, 3.83178497e-02,
 -4.48266683e-02,-2.55174999e+00, 8.05399209e+00,-9.79486384e+00,
 -5.60545053e-01, 8.84308368e-03, 1.27523526e-02,-8.19739585e-01,
 -4.00594253e-01, 5.32401073e-01, 1.22043065e+01,-4.14696193e+01,
  4.21950682e+00,-9.80564961e-01, 2.38361193e+00,-6.64014425e+00,
  1.36785104e+02,-1.54796773e+01]

qfrc_actuator:
[ 5.31593466e-05, 9.50981227e-04, 1.21993660e-04,-4.34136780e-05,
 -4.11422927e-05, 3.58863748e-02, 1.08911859e-02, 1.59492016e-03,
 -8.36287244e-05, 7.81828842e-04, 1.48374465e-04, 6.71167903e-05,
  0.00000000e+00,-1.53977954e-03, 0.00000000e+00,-1.47304210e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.57412721, -1.03494903, -8.57412721,  9.63527512,
       -8.27557093, -1.03494903, -8.27557093, 77.19606619,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039157332651634374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13892368, -0.03493405,  0.06180302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.29860120e-05,-5.17754155e-05, 1.74465179e-05,-1.49042133e-05,
 -3.38056488e-06,-1.76985488e-05,-1.00249123e-05,-4.20909946e-06,
  3.82376391e-06, 1.04213712e-05, 4.77890007e-06,-1.99021208e-04,
  1.18262208e-05,-4.54702397e-06,-4.90497089e+00,-1.28569364e-04,
  3.37718019e-03,-8.99799627e-04]


--- Step 2002 ---
qpos:
[ 0.01867672, 0.03004024,-0.00944956,-0.02528174,-0.00343633, 1.33979166,
 -0.02982981, 0.94370909, 0.01158262, 0.02728137,-0.00829626, 0.02646988,
  1.39538513, 0.00765619, 1.28665004, 0.04450712,-0.08611757,-0.04873038,
  0.093467  , 0.70576377,-0.0686372 ,-0.69832179,-0.09763768]

qacc:
[-3.02848377e+00, 2.68764702e-01,-1.82600777e+00, 5.39111676e+00,
 -6.60862682e-02, 4.18903799e+00,-1.81813914e+01, 3.87380135e+01,
 -3.26353888e+00,-5.04326463e-01, 4.66714732e+00,-1.26879100e+01,
 -2.86087039e-02, 8.69508183e-02,-3.41365519e-01, 6.17121172e-01,
  3.76696894e+00,-8.94257784e-01, 1.06567150e+00,-5.64147675e+00,
  1.22141966e+02,-1.29323993e+01]

qfrc_actuator:
[ 3.49883043e-05, 9.45697990e-04, 1.25039367e-04,-3.22733604e-05,
 -5.25390606e-05, 3.58715208e-02, 1.08684501e-02, 1.69458409e-03,
 -1.03153393e-04, 8.65382138e-04, 1.76770336e-04, 5.04407278e-05,
  0.00000000e+00,-1.53661666e-03, 0.00000000e+00,-1.46565634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.53441667,  -1.32306803,  -8.53441667,
        10.37386108, -11.2076831 ,  -1.32306803, -11.2076831 ,
        80.93123844,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038770919613665966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86354576e-14, -2.86354576e-14,  1.00000000e+00,  8.19989432e-28,
        1.00000000e+00,  2.86354576e-14, -1.00000000e+00,  0.00000000e+00,
        2.86354576e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13897945, -0.03492857,  0.06180481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.90715874e-05,-4.06730698e-05,-3.13420280e-05, 9.82969377e-05,
 -1.96330421e-05, 7.14462375e-05, 2.33799713e-05,-1.78595619e-05,
  3.58306637e-06, 7.48013034e-06,-2.37938934e-05,-3.95920399e-06,
  2.48584599e-05,-1.52157619e-05,-4.90490765e+00,-7.88067318e-05,
  3.38815810e-03,-8.95951192e-04]


--- Step 2003 ---
qpos:
[ 0.01867687, 0.03004055,-0.00944918,-0.02528169,-0.0034373 , 1.33981124,
 -0.02983133, 0.94370966, 0.01158178, 0.0272819 ,-0.00829717, 0.02646972,
  1.3954549 , 0.00765693, 1.28677129, 0.04450266,-0.08610627,-0.0487272 ,
  0.09347362, 0.70589968,-0.06868894,-0.69819735,-0.09750858]

qacc:
[ 7.07267099e+00,-2.40765814e+00, 8.63976290e+00,-1.25395685e+01,
 -6.12499857e-02, 3.70647902e+00,-1.70013309e+01, 3.74335033e+01,
 -1.98140008e+00, 1.95413854e+00,-5.73308868e+00, 7.44131228e+00,
  2.43407948e-01,-3.71374827e-01,-1.58601168e+00, 5.05373535e+00,
 -4.92797009e+00, 1.44856171e+00,-1.66530903e+00, 7.59238852e+00,
 -1.62207951e+02, 2.98450927e+01]

qfrc_actuator:
[ 7.78266241e-05, 9.06740586e-04, 1.44638109e-04,-4.35673131e-05,
 -5.89533654e-05, 3.58192092e-02, 1.08377588e-02, 1.78925017e-03,
 -1.14393890e-04, 9.33087989e-04, 1.76270663e-04, 5.85565564e-05,
  0.00000000e+00,-1.55289851e-03, 0.00000000e+00,-1.44151336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003928768800783161
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41294014e-14, -1.41294014e-14,  1.00000000e+00,  1.99639983e-28,
        1.00000000e+00,  1.41294014e-14, -1.00000000e+00,  0.00000000e+00,
        1.41294014e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00667903, -0.0758628 ,  0.06180253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.76848713e-05,-7.81251748e-05,-3.93542532e-05, 9.48281232e-05,
 -1.17927700e-05, 1.11737180e-04, 1.65340635e-05, 1.16427684e-05,
  2.91026227e-06,-1.29612227e-05,-1.26985759e-05, 2.05759313e-05,
  8.02306072e-05,-3.88915821e-05,-4.90469708e+00,-5.24511216e-05,
  3.40315478e-03,-8.93252990e-04]


--- Step 2004 ---
qpos:
[ 0.01867787, 0.03004092,-0.00944932,-0.02528107,-0.00343838, 1.33982967,
 -0.02983203, 0.94370997, 0.01158115, 0.02728354,-0.00829878, 0.02647001,
  1.39552479, 0.00765725, 1.28689232, 0.04449951,-0.08611235,-0.04871887,
  0.09346973, 0.70584203,-0.06879495,-0.69827239,-0.09731366]

qacc:
[ 7.33400770e+00, 2.69327478e+00,-1.18929050e+01, 2.25369804e+01,
 -4.76244398e-02,-4.19259596e+00, 1.23915336e+01,-1.31183348e+01,
  1.80535757e+00, 4.36380385e+00,-1.53527092e+01, 2.35169281e+01,
  4.76839217e-01,-7.66580568e-01,-4.32369582e+00, 1.45177735e+01,
 -4.34589131e+00, 1.28881748e+00,-2.62693472e+00, 6.89915135e+00,
 -1.42888488e+02, 2.58919526e+01]

qfrc_actuator:
[ 1.20731622e-04, 9.18981602e-04, 1.20421421e-04,-1.47410858e-05,
 -6.23271576e-05, 3.57448444e-02, 1.08734798e-02, 1.77365702e-03,
 -1.02910542e-04, 9.90707745e-04, 1.40937075e-04, 8.11698132e-05,
  0.00000000e+00,-1.58059992e-03, 0.00000000e+00,-1.37223948e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.02106284,   3.20145712,   8.02106284,
        16.59060748, -19.92889092,   3.20145712, -19.92889092,
        58.56702969,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003956291078966528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40311090e-14, -3.50777724e-15,  1.00000000e+00,  4.92180047e-29,
        1.00000000e+00,  3.50777724e-15, -1.00000000e+00,  0.00000000e+00,
        1.40311090e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00661906, -0.07583716,  0.06180132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.38263085e-05,-1.22560907e-04, 1.87220476e-05,-1.68709074e-05,
  1.11764979e-05, 1.24003233e-04,-9.80889677e-06, 2.82018542e-05,
 -1.93553327e-06,-3.07668385e-05,-5.17802175e-06, 6.84205599e-05,
  1.74160946e-05,-9.98038749e-06,-4.90493645e+00,-8.24505793e-05,
  3.40021042e-03,-8.90461347e-04]


--- Step 2005 ---
qpos:
[ 0.01867834, 0.03004174,-0.00945023,-0.02528014,-0.00343969, 1.33984742,
 -0.0298324 , 0.94370903, 0.01158067, 0.02728588,-0.00830066, 0.02647059,
  1.39559463, 0.0076575 , 1.28701315, 0.04449821,-0.08613384,-0.04870593,
  0.09345206, 0.70561271,-0.06894833,-0.6985242 ,-0.09706064]

qacc:
[-4.55567544e+00, 3.41377785e+00,-1.25933955e+01, 1.88296361e+01,
 -9.48894299e-02,-3.91147198e+00, 1.42446689e+01,-2.63391279e+01,
  1.19929830e+00, 2.27437858e+00,-7.99511584e+00, 1.29486079e+01,
  1.60421021e-01,-2.43767819e-01,-5.86422800e+00, 2.00709902e+01,
 -3.85332962e+00, 1.15278937e+00,-3.44739463e+00, 6.26503616e+00,
 -1.26623356e+02, 2.26080346e+01]

qfrc_actuator:
[ 9.23023550e-05, 9.61641502e-04, 8.85027973e-05, 1.96559651e-06,
 -8.16030137e-05, 3.57290558e-02, 1.08947005e-02, 1.71108145e-03,
 -9.58994757e-05, 1.00620522e-03, 1.20804378e-04, 9.43479812e-05,
  0.00000000e+00,-1.57934475e-03, 0.00000000e+00,-1.27693863e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.97761337,   3.30824149,   7.97761337,
        18.0498757 , -22.70008405,   3.30824149, -22.70008405,
        63.37616872,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003932518129477765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.82318603e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.82318603e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00667488, -0.07584692,  0.06180237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.74497330e-05,-8.05561238e-05,-1.13742599e-06,-6.60761151e-05,
  7.38443813e-06, 8.39840604e-05, 5.24756020e-06, 1.87003636e-05,
 -8.22281643e-06,-8.38625183e-06, 3.50594518e-06, 9.80504617e-05,
  2.21997818e-05,-8.65978159e-06,-4.90493137e+00,-1.53978907e-04,
  3.38900499e-03,-8.87427160e-04]


--- Step 2006 ---
qpos:
[ 0.01867985, 0.03004274,-0.00945117,-0.02527939,-0.00344093, 1.33986472,
 -0.0298329 , 0.94370736, 0.01157993, 0.02728767,-0.0083019 , 0.02647143,
  1.39566435, 0.00765797, 1.28713422, 0.04449604,-0.08616908,-0.04868884,
  0.09341779, 0.70523003,-0.06914336,-0.69893353,-0.09675601]

qacc:
[ 8.87406869e+00,-6.03876185e-02, 1.24014846e+00,-4.23186069e+00,
  2.90399058e-02,-1.48571762e+00, 5.65162263e+00,-1.31778927e+01,
 -2.15350275e+00,-1.99336665e+00, 4.98379959e+00,-1.21982704e+00,
 -3.21588945e-01, 4.67265473e-01, 2.98322758e+00,-9.86371520e+00,
 -3.43567606e+00, 1.03666586e+00,-4.14577970e+00, 5.68967828e+00,
 -1.12934286e+02, 1.98812673e+01]

qfrc_actuator:
[ 1.46382384e-04, 9.68885865e-04, 8.79357759e-05,-6.31958407e-06,
 -5.70054884e-05, 3.57128882e-02, 1.08896275e-02, 1.67465599e-03,
 -1.09337527e-04, 9.07629225e-04, 1.27390431e-04, 1.01846120e-04,
  0.00000000e+00,-1.56089254e-03, 0.00000000e+00,-1.32685574e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.00210882,   3.24854295,   8.00210882,
        19.01302422, -25.56074171,   3.24854295, -25.56074171,
        71.59992609,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003867756521927071
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43522869e-14,  3.58807172e-15,  1.00000000e+00, -5.14970348e-29,
        1.00000000e+00, -3.58807172e-15, -1.00000000e+00,  0.00000000e+00,
        1.43522869e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00682229, -0.07588465,  0.06180523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.37554068e-06,-6.30602926e-05,-2.29189798e-05,-4.03890115e-05,
 -1.31878901e-05,-4.97892797e-05, 2.52200769e-05, 1.16399680e-05,
 -5.87439693e-06, 1.39246914e-05, 1.02024950e-05,-4.45314789e-05,
  7.35542633e-05,-2.56269947e-05,-4.90475803e+00,-2.51787167e-04,
  3.37094253e-03,-8.83947922e-04]


--- Step 2007 ---
qpos:
[ 0.0186813 , 0.03004348,-0.00945163,-0.02527871,-0.00344172, 1.33988212,
 -0.02983405, 0.94370593, 0.01157938, 0.02728878,-0.00830283, 0.02647171,
  1.39573417, 0.00765813, 1.28725531, 0.0444933 ,-0.08618309,-0.0486764 ,
  0.09340563, 0.70508204,-0.06928858,-0.69910151,-0.09651678]

qacc:
[ -0.43343407, -1.84198604,  6.4168019 , -8.42131682,  0.19260714,
   2.2831557 , -7.78893295,  9.5259566 ,  1.63911906, -2.94238099,
  11.56871634,-21.35646158,  0.23501287, -0.42659018,  1.7250391 ,
  -6.04675517,  5.30691466, -1.16226765,  5.52335762, -8.85905903,
 171.78508749,-20.76700023]

qfrc_actuator:
[ 1.42100987e-04, 9.37221384e-04, 1.05739391e-04,-1.14918537e-05,
 -6.28723811e-06, 3.57497954e-02, 1.08691142e-02, 1.68941847e-03,
 -9.91984512e-05, 8.48099524e-04, 1.31454475e-04, 7.03521715e-05,
  0.00000000e+00,-1.58564838e-03, 0.00000000e+00,-1.35541998e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003967781475765944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39904759e-14,  1.39904759e-14,  1.00000000e+00, -1.95733417e-28,
        1.00000000e+00, -1.39904759e-14, -1.00000000e+00,  0.00000000e+00,
        1.39904759e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13886924, -0.03502214,  0.06180053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.56651520e-05,-3.79239441e-06,-3.66625610e-05, 1.12795434e-05,
  9.73855018e-06,-8.17229050e-05,-2.72006164e-06,-3.25311417e-05,
  1.66658571e-07,-2.19131641e-05,-3.79942469e-06,-3.05337044e-05,
  1.56298020e-04,-5.43918185e-05,-4.90446958e+00,-3.65629534e-04,
  3.34710576e-03,-8.79910806e-04]


--- Step 2008 ---
qpos:
[ 0.01868132, 0.03004431,-0.00945194,-0.02527917,-0.00344198, 1.33989957,
 -0.02983573, 0.94370399, 0.01157964, 0.0272897 ,-0.00830389, 0.02647157,
  1.39580403, 0.00765802, 1.28737627, 0.0444909 ,-0.0861784 ,-0.04866814,
  0.09340834, 0.70514134,-0.06939113,-0.69905689,-0.09633288]

qacc:
[-12.36219181, -2.61306732, 14.29251377,-34.14837204,  0.21928579,
   0.64824793, -1.01039494, -4.98755722,  6.95346929, -0.72470024,
   3.95250338,-10.71204491,  0.2414541 , -0.42809505, -1.24595219,
   4.01458503,  4.6739275 , -1.04680778,  3.7197749 , -7.37212077,
 151.38641316,-17.05592858]

qfrc_actuator:
[ 6.79710722e-05, 9.53590139e-04, 1.16323041e-04,-6.80728480e-05,
  2.41838536e-05, 3.57471645e-02, 1.08398970e-02, 1.66319642e-03,
 -5.75034676e-05, 8.65605095e-04, 1.34076815e-04, 5.16863492e-05,
  0.00000000e+00,-1.60038061e-03, 0.00000000e+00,-1.33561724e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.59812906, -0.81175952, -8.59812906,  9.22991756,
       -6.28690284, -0.81175952, -6.28690284, 75.22702365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004011375966867091
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38384314e-14,  1.38384314e-14,  1.00000000e+00, -1.91502184e-28,
        1.00000000e+00, -1.38384314e-14, -1.00000000e+00,  0.00000000e+00,
        1.38384314e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13881278, -0.03505099,  0.0617985 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.33623894e-05,-1.16776313e-05,-3.38205797e-05,-2.71294369e-05,
  4.19557806e-05,-3.01786170e-05,-1.57230216e-05,-2.28967297e-05,
 -5.39982070e-06,-2.11018172e-05,-7.48536043e-06, 1.70742249e-05,
  4.51484588e-05,-1.83170526e-05,-4.90484706e+00,-2.06439392e-04,
  3.35331776e-03,-8.70492532e-04]


--- Step 2009 ---
qpos:
[ 0.01868217, 0.03004525,-0.00945216,-0.02527994,-0.00344194, 1.33991685,
 -0.02983741, 0.94370141, 0.01157972, 0.02729016,-0.00830459, 0.0264719 ,
  1.39587381, 0.00765797, 1.287497  , 0.04449008,-0.08615714,-0.04866368,
  0.0934198 , 0.70538476,-0.06945681,-0.69882358,-0.09619613]

qacc:
[ 7.16036949e+00,-7.77451517e-01, 4.32484896e+00,-1.01375476e+01,
  1.30764793e-01,-1.34667018e+00, 5.48781392e+00,-1.22525955e+01,
 -1.61194863e+00,-6.79166079e-01,-4.64274276e-01, 8.35530455e+00,
  2.47586531e-02,-1.63273806e-02,-5.12139786e+00, 1.74057472e+01,
  4.14468393e+00,-9.48129687e-01, 2.18908424e+00,-6.18278940e+00,
  1.34292101e+02,-1.40926714e+01]

qfrc_actuator:
[ 1.13115328e-04, 9.63019210e-04, 1.22700639e-04,-8.34111129e-05,
  2.45088468e-05, 3.57385807e-02, 1.08411154e-02, 1.63078592e-03,
 -6.85864216e-05, 8.40341590e-04, 1.53909402e-04, 7.62952911e-05,
  0.00000000e+00,-1.59126051e-03, 0.00000000e+00,-1.25196891e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.56554369, -1.10373824, -8.56554369,  9.80433637,
       -9.06403449, -1.10373824, -9.06403449, 78.97766444,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004003307968781025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38663205e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.38663205e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13882699, -0.03505835,  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:
[ 4.29846271e-05, 1.42672836e-05, 7.54196646e-06,-1.57090446e-05,
  3.77643812e-05,-2.25911855e-05,-5.73060795e-06,-3.43634405e-05,
 -9.86131373e-06,-4.63739636e-05, 1.08703950e-05, 2.23249494e-05,
 -7.88342681e-06, 1.65678351e-06,-3.54424408e-06, 8.31798512e-05,
  1.49647103e-05,-7.90061056e-06,-4.90494002e+00,-9.82302072e-05,
  3.36294103e-03,-8.63058344e-04]


--- Step 2010 ---
qpos:
[ 0.01868389, 0.03004651,-0.00945271,-0.02528055,-0.00344186, 1.33993433,
 -0.02983896, 0.94369876, 0.01157897, 0.02729035,-0.00830481, 0.02647214,
  1.39594345, 0.00765825, 1.28761784, 0.04448891,-0.08612107,-0.04866267,
  0.09343484, 0.70579269,-0.06949039,-0.69842149,-0.09609987]

qacc:
[ 7.52172475e+00, 1.65381511e+00,-6.02684663e+00, 9.25432867e+00,
  1.57592628e-02,-2.05033047e-01, 1.09027137e+00,-1.76633519e+00,
 -7.00261910e+00,-1.84759971e+00, 6.47582501e+00,-8.59070537e+00,
 -3.47541593e-01, 5.54044996e-01, 1.25083613e+00,-4.04778767e+00,
  3.70199345e+00,-8.63725808e-01, 8.92859885e-01,-5.22892336e+00,
  1.19964009e+02,-1.17235736e+01]

qfrc_actuator:
[ 1.57114287e-04, 9.85987704e-04, 1.08812863e-04,-7.43547347e-05,
  6.74824246e-06, 3.57798685e-02, 1.08602656e-02, 1.63052012e-03,
 -1.10656207e-04, 8.43038277e-04, 1.83620276e-04, 7.28938265e-05,
  0.00000000e+00,-1.56805364e-03, 0.00000000e+00,-1.27340849e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.5209066 ,  -1.40745427,  -8.5209066 ,
        10.65818683, -12.24037401,  -1.40745427, -12.24037401,
        82.74113994,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00395385899327623
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13889738, -0.0350487 ,  0.06180117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.52542703e-05, 3.18142149e-05,-1.05650100e-05, 9.62043061e-06,
  4.55305521e-06, 2.65198592e-05, 1.30501533e-05,-1.89166095e-06,
 -4.23753367e-05,-2.00460174e-05, 2.22456021e-05,-4.57794048e-06,
 -3.52440119e-06, 2.18442174e-05, 5.52971983e-06,-1.77358577e-05,
  4.10084679e-05,-1.52090274e-05,-4.90483494e+00,-2.46299875e-05,
  3.37637416e-03,-8.57089079e-04]


--- Step 2011 ---
qpos:
[ 0.01868614, 0.03004804,-0.00945341,-0.0252814 ,-0.00344198, 1.33995168,
 -0.02984022, 0.94369753, 0.01157841, 0.02729013,-0.00830457, 0.02647201,
  1.39601304, 0.00765877, 1.28773909, 0.04448415,-0.08610502,-0.04865576,
  0.09344374, 0.70597689,-0.06958885,-0.69824934,-0.09592644]

qacc:
[ 4.40457523e+00, 2.91662269e-01, 4.79305049e-01,-4.55017575e+00,
 -8.91917714e-02, 1.47898641e+00,-7.93764440e+00, 2.34105587e+01,
  1.64860551e+00,-2.59679178e+00, 1.00288201e+01,-1.68460172e+01,
 -4.97419165e-01, 7.06957276e-01, 1.15321401e+01,-3.93194963e+01,
 -5.00710648e+00, 1.47633944e+00,-1.53542520e+00, 7.32644691e+00,
 -1.65076264e+02, 3.11477235e+01]

qfrc_actuator:
[ 1.82295668e-04, 9.99076321e-04, 1.00892344e-04,-8.65308797e-05,
 -2.17155495e-05, 3.57620336e-02, 1.08722978e-02, 1.70246695e-03,
 -9.95996921e-05, 8.09233911e-04, 2.01249482e-04, 5.30561583e-05,
  0.00000000e+00,-1.55443315e-03, 0.00000000e+00,-1.46312341e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038881916222287954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42768558e-14, -7.13842792e-15,  1.00000000e+00,  1.01914306e-28,
        1.00000000e+00,  7.13842792e-15, -1.00000000e+00,  0.00000000e+00,
        1.42768558e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00678009, -0.07583405,  0.06180422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.57725588e-05,-7.87757651e-07, 1.86283942e-05, 7.31011211e-05,
  9.80819546e-06,-4.06372231e-05, 1.60707686e-05,-2.00149523e-05,
  3.18807015e-06, 1.93852069e-05,-2.60594788e-06,-1.90711555e-04,
  1.06520394e-04,-3.48644287e-05,-4.90459240e+00, 2.54194901e-05,
  3.39373790e-03,-8.52216255e-04]


--- Step 2012 ---
qpos:
[ 0.01868901, 0.03004913,-0.00945389,-0.02528198,-0.00344238, 1.33996892,
 -0.02984156, 0.94369719, 0.01157833, 0.0272897 ,-0.00830418, 0.02647199,
  1.39607952, 0.0076607 , 1.28786055, 0.04447617,-0.08610663,-0.0486436 ,
  0.09344258, 0.70596418,-0.06974356,-0.69827984,-0.09568533]

qacc:
[ 5.42024808e+00,-6.17585384e-01, 1.79190855e-01, 4.56858730e+00,
 -1.11237526e-01, 1.60991001e+00,-7.26442913e+00, 1.67105568e+01,
  4.11424354e+00,-4.75292517e-01, 8.20057616e-01, 9.62738308e-01,
 -3.63491135e+00, 4.11103436e+00, 1.03770871e+01,-3.50537935e+01,
 -4.41352416e+00, 1.31351175e+00,-2.51430923e+00, 6.64174236e+00,
 -1.45332723e+02, 2.70375255e+01]

qfrc_actuator:
[ 2.13951733e-04, 9.35140589e-04, 9.65115278e-05,-7.56011345e-05,
 -3.86154102e-05, 3.57444666e-02, 1.08620933e-02, 1.74527683e-03,
 -7.51042462e-05, 8.07035724e-04, 2.11451756e-04, 5.91780085e-05,
  0.00000000e+00,-1.56437417e-03, 0.00000000e+00,-1.62615225e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.90483816,   3.47855007,   7.90483816,
        18.30730874, -21.97675881,   3.47855007, -21.97675881,
        58.57749378,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003925502634093775
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12117363e-14,  3.53528939e-15,  1.00000000e+00, -7.49896264e-29,
        1.00000000e+00, -3.53528939e-15, -1.00000000e+00,  0.00000000e+00,
        2.12117363e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00669779, -0.07580176,  0.06180257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.21288040e-05,-1.22794638e-05,-6.11387812e-06, 4.50480429e-05,
  2.47682490e-05,-2.24538772e-05, 3.09399402e-06, 4.54662789e-06,
  5.26137549e-06,-3.03607723e-06,-2.59047418e-05,-1.74773871e-04,
  2.88276690e-05,-1.02700110e-05,-4.90487472e+00,-3.35759543e-05,
  3.39050124e-03,-8.48408485e-04]


--- Step 2013 ---
qpos:
[ 0.01869086, 0.03005022,-0.00945487,-0.02528208,-0.00344286, 1.33998621,
 -0.02984277, 0.94369699, 0.01157751, 0.02728968,-0.00830424, 0.02647201,
  1.39614218, 0.00766366, 1.28798156, 0.0444693 ,-0.08612389,-0.04862673,
  0.09342802, 0.70577697,-0.06994739,-0.69848982,-0.0953845 ]

qacc:
[-8.77968231e+00, 2.36214842e+00,-1.03829840e+01, 1.93077080e+01,
 -3.82696875e-02,-4.49248692e-02,-6.12151448e-02, 1.69221579e+00,
 -6.33784613e+00, 1.89182626e+00,-6.05195453e+00, 6.99360332e+00,
 -3.58975225e+00, 3.62192561e+00,-3.69319182e+00, 1.27026653e+01,
 -3.91141753e+00, 1.17491505e+00,-3.34977651e+00, 6.01383543e+00,
 -1.28711718e+02, 2.36194843e+01]

qfrc_actuator:
[ 1.60407994e-04, 9.49867198e-04, 7.62004519e-05,-5.12251763e-05,
 -3.06879300e-05, 3.57626040e-02, 1.08743131e-02, 1.75281147e-03,
 -1.13922570e-04, 8.59276774e-04, 1.99579486e-04, 6.27953755e-05,
  0.00000000e+00,-1.55420171e-03, 0.00000000e+00,-1.55907551e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.83690161,   3.62901502,   7.83690161,
        20.26236166, -25.10648263,   3.62901502, -25.10648263,
        62.85411499,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003909979835203893
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.09864930e-15,  7.09864930e-15,  1.00000000e+00, -5.03908219e-29,
        1.00000000e+00, -7.09864930e-15, -1.00000000e+00,  0.00000000e+00,
        7.09864930e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00673527, -0.07580609,  0.06180327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.10575911e-05, 1.13865647e-05, 1.04253136e-05, 8.05234020e-06,
 -3.81020571e-05, 4.05382264e-05,-1.59725328e-05, 2.84976960e-06,
  1.60532422e-04,-6.31298668e-05,-3.86140790e-05, 5.25888926e-05,
  2.24828531e-05,-1.36497934e-05,-4.90489947e+00,-1.33482870e-04,
  3.37902768e-03,-8.44289498e-04]


--- Step 2014 ---
qpos:
[ 0.01869205, 0.03005128,-0.00945528,-0.02528196,-0.00344336, 1.34000368,
 -0.02984449, 0.94369795, 0.01157555, 0.02729005,-0.00830475, 0.02647172,
  1.396201  , 0.00766709, 1.28810267, 0.04446089,-0.0861222 ,-0.04861392,
  0.09342874, 0.70579909,-0.0701083 ,-0.69848465,-0.09514023]

qacc:
[-5.61168573e+00,-1.17097475e+00, 3.18509944e+00,-2.32725893e-01,
 -5.40041191e-03, 3.57139754e+00,-1.37527690e+01, 2.51902030e+01,
 -9.82116567e+00, 1.14210986e+00,-2.06090840e+00,-2.69182431e+00,
 -3.50712956e+00, 3.18732136e+00, 5.12499541e+00,-1.69731929e+01,
  4.73472338e+00,-1.01380958e+00, 3.81925227e+00,-7.54448812e+00,
  1.53061840e+02,-1.74429972e+01]

qfrc_actuator:
[ 1.28154625e-04, 9.76019742e-04, 1.17957652e-04,-3.68427532e-05,
 -2.56839187e-05, 3.57665351e-02, 1.08465419e-02, 1.81058176e-03,
 -1.71947895e-04, 8.72620767e-04, 1.74998407e-04, 4.71890298e-05,
  0.00000000e+00,-1.54989367e-03, 0.00000000e+00,-1.64101330e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038995237078156136
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84707341e-14, -1.42353670e-14,  1.00000000e+00,  4.05291349e-28,
        1.00000000e+00,  1.42353670e-14, -1.00000000e+00,  0.00000000e+00,
        2.84707341e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13898376, -0.03507222,  0.06180367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.52944313e-06, 1.23957075e-05,-2.41390159e-05, 5.86269994e-05,
 -5.91266644e-05, 3.28212756e-05,-1.80745048e-05,-1.43647546e-05,
  3.51392048e-04,-1.09998926e-04,-1.84809317e-05,-8.51878954e-05,
  6.55295552e-05,-3.54290050e-05,-4.90474665e+00,-2.58590393e-04,
  3.36074006e-03,-8.39652620e-04]


--- Step 2015 ---
qpos:
[ 0.01869388, 0.03005182,-0.00945497,-0.02528127,-0.00344383, 1.3400211 ,
 -0.0298467 , 0.94369892, 0.01157359, 0.02729033,-0.00830538, 0.02647163,
  1.39625555, 0.0076705 , 1.28822365, 0.04445223,-0.08610372,-0.04860479,
  0.09343859, 0.70600725,-0.07023224,-0.69828851,-0.09494393]

qacc:
[ 5.50390319e+00,-1.52610135e+00, 2.05629284e+00, 6.99163462e+00,
  7.91722829e-03, 1.30132013e+00,-4.33832301e+00, 3.94162392e+00,
  7.25547819e-02, 6.51538976e-01,-3.33317784e+00, 7.04950927e+00,
 -3.40892755e+00, 2.64986836e+00, 8.62739347e-01,-2.62380994e+00,
  4.19909783e+00,-9.20493510e-01, 2.28292670e+00,-6.27639331e+00,
  1.35801020e+02,-1.42926630e+01]

qfrc_actuator:
[ 1.61976617e-04, 9.20300341e-04, 1.42833348e-04,-1.06430588e-05,
 -2.24757583e-05, 3.57440533e-02, 1.08131209e-02, 1.80866484e-03,
 -1.69782748e-04, 8.44749867e-04, 1.60717593e-04, 5.58703938e-05,
  0.00000000e+00,-1.58447394e-03, 0.00000000e+00,-1.65038292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.59958951, -0.79613886, -8.59958951,  9.1771935 ,
       -5.84183872, -0.79613886, -5.84183872, 71.73768591,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003901250266557424
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84581339e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.84581339e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13898481, -0.03508435,  0.0618036 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.30469535e-06,-1.86986933e-05,-3.20397209e-05,-8.69951447e-07,
  4.46852615e-07,-1.38996548e-05,-1.02217178e-05, 9.18596039e-06,
  5.43390609e-04,-1.68523844e-04,-2.63479379e-05,-1.81147356e-05,
  2.05733725e-05,-1.27648140e-05,-4.90489536e+00,-1.10301521e-04,
  3.37110349e-03,-8.29483767e-04]


--- Step 2016 ---
qpos:
[ 0.01869542, 0.03005205,-0.00945489,-0.02528058,-0.00344428, 1.34003794,
 -0.02984821, 0.9436995 , 0.01157271, 0.02729056,-0.00830621, 0.026472  ,
  1.39630528, 0.00767369, 1.28834389, 0.04444886,-0.08610299,-0.04859037,
  0.09343851, 0.70601734,-0.0704135 ,-0.69829602,-0.09467906]

qacc:
[-2.56265961e+00, 2.35688922e-01,-1.46015700e+00, 2.13801895e+00,
  1.21613810e-02,-3.33829170e+00, 1.07661001e+01,-1.34877527e+01,
  9.16768213e+00, 1.38251874e+00,-6.94278688e+00, 1.50894013e+01,
 -3.27827572e+00, 2.21916035e+00,-1.68511429e+01, 5.79457349e+01,
 -4.43597223e+00, 1.32370422e+00,-2.48144497e+00, 6.42783396e+00,
 -1.46169626e+02, 2.76643198e+01]

qfrc_actuator:
[ 1.45648999e-04, 8.86956664e-04, 1.21698187e-04,-1.32913339e-05,
 -2.03714893e-05, 3.57058671e-02, 1.08475083e-02, 1.78936642e-03,
 -1.14448351e-04, 8.45722155e-04, 1.52479524e-04, 7.87468273e-05,
  0.00000000e+00,-1.62432376e-03, 0.00000000e+00,-1.36834491e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038873611515115106
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42799058e-14,  1.42799058e-14,  1.00000000e+00, -2.03915711e-28,
        1.00000000e+00, -1.42799058e-14, -1.00000000e+00,  0.00000000e+00,
        1.42799058e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00679219, -0.07580204,  0.06180427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.46550018e-06,-5.49371941e-05, 2.70424737e-05,-2.07978711e-05,
  5.53428736e-05,-8.52674037e-06,-1.20480657e-05, 2.21064595e-05,
  7.56041147e-04,-2.07215692e-04,-2.24156381e-05, 2.76069331e-04,
  3.52467265e-05,-9.15032807e-06,-4.90483498e+00,-1.98886767e-06,
  3.38486856e-03,-8.20911324e-04]


--- Step 2017 ---
qpos:
[ 0.01869571, 0.03005213,-0.00945454,-0.02528067,-0.0034447 , 1.34005408,
 -0.02984866, 0.94370052, 0.01157284, 0.02729075,-0.00830769, 0.02647266,
  1.39635075, 0.00767644, 1.28846437, 0.04444583,-0.08611798,-0.04857121,
  0.09342516, 0.70585192,-0.07064481,-0.6984839 ,-0.09435367]

qacc:
[-1.06425594e+01,-2.54536100e+00, 1.21249696e+01,-2.60282297e+01,
  1.22233806e-02,-2.98940967e+00, 7.73449065e+00,-1.09230733e+00,
  8.64617241e+00, 2.38645188e+00,-9.90351696e+00, 1.62723194e+01,
 -3.12770403e+00, 2.07410053e+00,-4.41853068e-01, 2.66468600e+00,
 -3.93153802e+00, 1.18445667e+00,-3.31975731e+00, 5.81474413e+00,
 -1.29452385e+02, 2.41794429e+01]

qfrc_actuator:
[ 8.21602485e-05, 9.02554397e-04, 1.44626741e-04,-5.06661358e-05,
 -1.89466263e-05, 3.56765704e-02, 1.09038251e-02, 1.81329397e-03,
 -6.37869140e-05, 8.28486912e-04, 1.12476237e-04, 9.20579330e-05,
  0.00000000e+00,-1.63162675e-03, 0.00000000e+00,-1.36071983e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.7670939 ,   3.77611298,   7.7670939 ,
        21.3296358 , -26.10881544,   3.77611298, -26.10881544,
        62.33963533,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038763181543755784
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.16029348e-15, -7.16029348e-15,  1.00000000e+00,  5.12698028e-29,
        1.00000000e+00,  7.16029348e-15, -1.00000000e+00,  0.00000000e+00,
        7.16029348e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00681959, -0.07580339,  0.06180478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.47071699e-06,-5.51332540e-05, 4.80216472e-05, 2.26093432e-05,
  5.22788147e-05,-2.35278770e-05,-4.24806786e-05, 1.29570935e-05,
  9.97265919e-04,-2.03670978e-04, 1.24985020e-05, 1.86601472e-05,
  2.29966809e-05,-1.54651895e-05,-4.90487441e+00,-1.16868304e-04,
  3.37340316e-03,-8.16219542e-04]


--- Step 2018 ---
qpos:
[ 0.01869455, 0.03005247,-0.00945472,-0.02528051,-0.0034451 , 1.34006964,
 -0.02984867, 0.94370116, 0.01157324, 0.0272908 ,-0.0083096 , 0.02647314,
  1.39639226, 0.00767902, 1.28858486, 0.04444362,-0.08611416,-0.04855602,
  0.09342668, 0.70589447,-0.07083472,-0.69845818,-0.09408299]

qacc:
[-1.24887150e+01, 2.36220256e+00,-8.92072008e+00, 1.37887875e+01,
  1.07044128e-02,-2.64126183e+00, 8.49507195e+00,-1.15252978e+01,
  2.22869447e+00, 6.27889596e-01,-1.68397263e+00,-8.78316195e-01,
 -3.00278650e+00, 2.18246766e+00,-2.21469256e+00, 8.34003938e+00,
  4.70158281e+00,-9.92468585e-01, 3.72087200e+00,-7.22625195e+00,
  1.51900498e+02,-1.64120911e+01]

qfrc_actuator:
[ 9.19005915e-06, 9.29723321e-04, 1.22575876e-04,-3.70795908e-05,
 -1.79408103e-05, 3.56351983e-02, 1.09194119e-02, 1.79146641e-03,
 -5.18049058e-05, 8.18096333e-04, 8.94609859e-05, 8.18430352e-05,
  0.00000000e+00,-1.61909215e-03, 0.00000000e+00,-1.31963928e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003915692043695761
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83531752e-14, -1.41765876e-14,  1.00000000e+00,  4.01951271e-28,
        1.00000000e+00,  1.41765876e-14, -1.00000000e+00,  0.00000000e+00,
        2.83531752e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13897476, -0.03512484,  0.06180293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.05456462e-06,-6.19042367e-05, 1.09142110e-05,-2.15288734e-05,
  1.35052790e-05,-3.17396157e-05,-3.26476362e-05,-1.24416157e-05,
  1.20996284e-03,-1.69154786e-04,-2.30770048e-06, 4.17076815e-05,
  6.13240168e-05,-4.00912493e-05,-4.90473238e+00,-2.56357358e-04,
  3.35516237e-03,-8.10969480e-04]


--- Step 2019 ---
qpos:
[ 0.01869286, 0.03005311,-0.00945551,-0.02528019,-0.00344547, 1.34008444,
 -0.02984899, 0.94370297, 0.01157377, 0.02729064,-0.00831146, 0.02647277,
  1.39643022, 0.00768163, 1.28870543, 0.04444126,-0.08609366,-0.04854443,
  0.093437  , 0.70612187,-0.07098901,-0.69824281,-0.09385867]

qacc:
[-4.50098594e+00, 2.45325625e+00,-8.82184926e+00, 1.23324010e+01,
  8.84830357e-03, 1.85215745e+00,-9.67868668e+00, 2.24953187e+01,
  1.20906663e+00,-2.16389190e+00, 1.08537973e+01,-2.53267809e+01,
 -2.89072245e+00, 2.29370753e+00, 8.39065298e-01,-2.18961830e+00,
  4.17127879e+00,-9.00783365e-01, 2.19808707e+00,-5.98940901e+00,
  1.34813194e+02,-1.33883373e+01]

qfrc_actuator:
[-1.55028277e-05, 9.45735003e-04, 9.19850531e-05,-2.91377811e-05,
 -1.71943935e-05, 3.55689948e-02, 1.08929921e-02, 1.84935936e-03,
 -4.49312458e-05, 8.11920885e-04, 9.44299573e-05, 4.01363085e-05,
  0.00000000e+00,-1.59474807e-03, 0.00000000e+00,-1.33010306e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.59752107, -0.81817378, -8.59752107,  9.21087946,
       -6.0371183 , -0.81817378, -6.0371183 , 72.07551686,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003913683901811862
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83677234e-14,  1.41838617e-14,  1.00000000e+00, -4.02363866e-28,
        1.00000000e+00, -1.41838617e-14, -1.00000000e+00,  0.00000000e+00,
        2.83677234e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13898088, -0.03513539,  0.06180302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.54924890e-06,-9.90640204e-05,-3.79349495e-05, 5.58757731e-05,
  7.25826441e-06,-3.11761491e-05,-6.01845323e-06,-4.44360577e-05,
  1.40758495e-03,-1.36280583e-04,-5.15619945e-06,-1.01585902e-05,
  2.22394655e-05,-1.42699020e-05,-4.90486343e+00,-9.15393448e-05,
  3.36643736e-03,-7.99421893e-04]


--- Step 2020 ---
qpos:
[ 0.01869193, 0.03005351,-0.00945588,-0.02528013,-0.00344583, 1.34009866,
 -0.02984941, 0.94370543, 0.0115737 , 0.02729023,-0.008313  , 0.02647224,
  1.39646487, 0.00768451, 1.28882595, 0.04443912,-0.08605825,-0.04853613,
  0.09345096, 0.70651458,-0.07111238,-0.6978577 ,-0.09367392]

qacc:
[ 6.45714188e+00,-2.04323374e+00, 7.86304165e+00,-1.27219767e+01,
  7.26627269e-03, 6.20839693e-01,-4.26602528e+00, 1.16055747e+01,
 -5.20131518e+00,-1.58970598e+00, 5.89050629e+00,-9.10533431e+00,
 -2.79391875e+00, 2.39834609e+00,-5.32053224e-01, 2.31472756e+00,
  3.72769403e+00,-8.22046714e-01, 9.08316966e-01,-4.99823095e+00,
  1.20491596e+02,-1.09836832e+01]

qfrc_actuator:
[ 2.39258148e-05, 9.19396813e-04, 1.09820251e-04,-4.23484020e-05,
 -1.66095248e-05, 3.55593237e-02, 1.08952126e-02, 1.88266681e-03,
 -7.66115200e-05, 8.08405842e-04, 1.15875782e-04, 3.35164044e-05,
  0.00000000e+00,-1.56345436e-03, 0.00000000e+00,-1.31758809e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.56639596, -1.09710398, -8.56639596,  9.74210404,
       -8.63383076, -1.09710398, -8.63383076, 76.05095161,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038701170896650386
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86870655e-14, -1.43435328e-14,  1.00000000e+00,  4.11473864e-28,
        1.00000000e+00,  1.43435328e-14, -1.00000000e+00,  0.00000000e+00,
        2.86870655e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13904369, -0.03512886,  0.06180505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.08763677e-06,-7.03100651e-05,-1.98497678e-05, 3.05355020e-05,
 -3.14789503e-05,-2.40639088e-05, 1.27517936e-05,-9.02384701e-06,
  1.58524894e-03,-1.06677282e-04,-1.16915123e-05, 9.66193140e-06,
  4.13344924e-05,-7.10762401e-06,-4.90479021e+00, 3.33177830e-05,
  3.38110349e-03,-7.89427526e-04]


--- Step 2021 ---
qpos:
[ 0.01869251, 0.03005334,-0.00945587,-0.02527984,-0.00344617, 1.34011255,
 -0.02985015, 0.94370723, 0.01157256, 0.02728997,-0.00831391, 0.0264719 ,
  1.39649617, 0.00768731, 1.28894656, 0.04443614,-0.0860427 ,-0.04852188,
  0.09345858, 0.70668552,-0.071301  ,-0.69770053,-0.09341149]

qacc:
[ 1.30112592e+01,-1.36914720e+00, 2.78048709e+00, 1.06518817e+00,
  5.93938977e-03,-6.91273320e-01, 3.09965728e+00,-1.01954572e+01,
 -9.10923550e+00,-1.09030320e+00, 3.39430170e+00,-1.13929094e+00,
 -2.69772868e+00, 2.06105089e+00, 2.91198127e+00,-9.47546688e+00,
 -4.96636687e+00, 1.48889701e+00,-1.58361265e+00, 6.84738984e+00,
 -1.63715434e+02, 3.17177076e+01]

qfrc_actuator:
[ 1.00763585e-04, 8.68075763e-04, 1.20414614e-04,-3.23950593e-05,
 -1.61261586e-05, 3.55481735e-02, 1.08790162e-02, 1.84801866e-03,
 -1.30728531e-04, 8.59874641e-04, 1.64663499e-04, 4.76094641e-05,
  0.00000000e+00,-1.58149484e-03, 0.00000000e+00,-1.36262092e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003959739835624171
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40188885e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.40188885e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00663674, -0.07572031,  0.06180105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.71443014e-06,-5.31018497e-05,-3.13253652e-05,-3.66130212e-05,
 -5.50504419e-05, 4.02823505e-05, 4.51005060e-05, 1.33342533e-05,
  1.75019010e-03,-1.38048137e-04,-1.16194375e-05,-4.74397151e-05,
  1.01383839e-04,-1.31313819e-05,-4.90457433e+00, 1.30262917e-04,
  3.39938223e-03,-7.80593882e-04]


--- Step 2022 ---
qpos:
[ 0.01869367, 0.03005272,-0.00945546,-0.02527909,-0.0034465 , 1.34012593,
 -0.02985162, 0.94370898, 0.01157112, 0.02729017,-0.00831463, 0.02647138,
  1.396524  , 0.00768935, 1.28906746, 0.04442996,-0.08604466,-0.04850232,
  0.09345596, 0.70666128,-0.07154637,-0.69774415,-0.09308088]

qacc:
[ 4.93033666e+00,-7.88755961e-01, 3.26943186e-02, 7.43907069e+00,
  4.91224436e-03, 1.20447387e+00,-4.65418502e+00, 3.83910888e+00,
 -2.52795924e+00,-3.20050909e-01, 2.80342156e+00,-6.65477102e+00,
 -2.58946691e+00, 1.49624748e+00, 1.03293540e+01,-3.50006517e+01,
 -4.37684390e+00, 1.32433595e+00,-2.55929220e+00, 6.14856679e+00,
 -1.44121053e+02, 2.76120322e+01]

qfrc_actuator:
[ 1.27972595e-04, 8.55441301e-04, 1.44287527e-04,-8.92672934e-06,
 -1.57074758e-05, 3.55006191e-02, 1.08342862e-02, 1.84466293e-03,
 -1.44347273e-04, 8.90763973e-04, 1.76180791e-04, 3.83302106e-05,
  0.00000000e+00,-1.64664225e-03, 0.00000000e+00,-1.52996066e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.44554123,   4.37615044,   7.44554123,
        26.38742428, -30.20148773,   4.37615044, -30.20148773,
        60.020891  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0039895160121779655
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.95712852e-15,  1.73928213e-14,  1.00000000e+00, -1.21004093e-28,
        1.00000000e+00, -1.73928213e-14, -1.00000000e+00,  0.00000000e+00,
        6.95712852e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0065717 , -0.075694  ,  0.06179975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.43007259e-06,-8.42481733e-05,-5.97683571e-05,-6.69861646e-06,
 -1.52211420e-05, 6.33010397e-05, 2.58701243e-05,-5.72753098e-06,
  1.91718324e-03,-1.98890305e-04,-1.83010809e-05,-1.72996078e-04,
  3.20885273e-05,-7.71070382e-06,-4.90480644e+00, 1.00053034e-05,
  3.39250098e-03,-7.75310046e-04]


--- Step 2023 ---
qpos:
[ 0.01869479, 0.03005212,-0.00945497,-0.02527812,-0.00344682, 1.34013884,
 -0.02985367, 0.94371067, 0.01156987, 0.02729051,-0.00831502, 0.02647009,
  1.39654831, 0.00769107, 1.2891879 , 0.04442517,-0.08606214,-0.04847803,
  0.09343977, 0.70646406,-0.07184144,-0.69796553,-0.09269011]

qacc:
[-2.29341039e-01, 2.75075271e-01,-1.91246175e+00, 5.79374906e+00,
  4.19537154e-03, 8.35123384e-01,-3.33281602e+00, 2.43013333e+00,
  1.64836511e+00,-2.33486675e+00, 1.18248100e+01,-2.57240814e+01,
 -2.47273066e+00, 1.60438802e+00,-4.68765203e+00, 1.58567643e+01,
 -3.87801996e+00, 1.18430444e+00,-3.39187326e+00, 5.51231747e+00,
 -1.27623515e+02, 2.41881153e+01]

qfrc_actuator:
[ 1.25740457e-04, 8.83888896e-04, 1.58212147e-04, 4.58855789e-06,
 -1.53309235e-05, 3.54847972e-02, 1.08084715e-02, 1.84197620e-03,
 -1.34012520e-04, 8.73438821e-04, 1.83261482e-04,-2.42314397e-06,
  0.00000000e+00,-1.65059796e-03, 0.00000000e+00,-1.44844664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.33267951,   4.56273909,   7.33267951,
        30.03464589, -34.38871758,   4.56273909, -34.38871758,
        63.90172945,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00396714737043545
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.99635608e-15,  1.74908902e-14,  1.00000000e+00, -1.22372496e-28,
        1.00000000e+00, -1.74908902e-14, -1.00000000e+00,  0.00000000e+00,
        6.99635608e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00662432, -0.07570358,  0.06180074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.21877853e-06,-7.44061797e-05,-4.93040159e-05,-7.10813114e-06,
  9.91003021e-06, 2.31641230e-05, 2.31510836e-05,-3.72543095e-05,
  2.09094506e-03,-1.65623255e-04,-3.58575830e-05, 6.79063232e-05,
  3.24490122e-05,-2.70345295e-05,-4.90479037e+00,-1.44270447e-04,
  3.37787466e-03,-7.69527468e-04]


--- Step 2024 ---
qpos:
[ 0.01869554, 0.03005186,-0.00945498,-0.02527768,-0.00344699, 1.3401512 ,
 -0.02985579, 0.94371332, 0.0115691 , 0.02729044,-0.0083148 , 0.02646941,
  1.39656949, 0.00769285, 1.28930799, 0.04442267,-0.08609343,-0.04844949,
  0.09340719, 0.70611241,-0.07218037,-0.69834515,-0.09224593]

qacc:
[-3.28227088e+00, 7.65377199e-01, 1.74131441e-01,-8.86550391e+00,
  6.51771045e-02, 1.13670409e+00,-6.57388709e+00, 1.73131145e+01,
  4.11066876e+00,-9.62721188e-01, 5.58898952e-02, 9.88023269e+00,
 -2.35010581e+00, 1.82292599e+00,-7.28398349e+00, 2.51804429e+01,
 -3.45509650e+00, 1.06483731e+00,-4.10066920e+00, 4.93613568e+00,
 -1.13737450e+02, 2.13351307e+01]

qfrc_actuator:
[ 1.06214051e-04, 9.01179406e-04, 1.30811520e-04,-2.33381713e-05,
  2.77001504e-06, 3.54704208e-02, 1.08119017e-02, 1.89298688e-03,
 -1.09675452e-04, 8.27318266e-04, 2.05214427e-04, 2.73579574e-05,
  0.00000000e+00,-1.61795185e-03, 0.00000000e+00,-1.32744163e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039030930511447515
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.11117446e-15,  1.77779361e-14,  1.00000000e+00, -1.26422005e-28,
        1.00000000e+00, -1.77779361e-14, -1.00000000e+00,  0.00000000e+00,
        7.11117446e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00677   , -0.07574157,  0.06180357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.88186386e-05,-6.54777244e-05,-1.69538926e-05, 4.71809516e-05,
  2.46364235e-05,-2.99867615e-05, 2.83020366e-05, 3.08521095e-05,
  2.26655542e-03,-1.16301004e-04,-1.50093012e-05, 1.19048165e-04,
  8.07528008e-05,-6.21849945e-05,-4.90460404e+00,-3.17998288e-04,
  3.35686748e-03,-7.63066316e-04]


--- Step 2025 ---
qpos:
[ 0.01869536, 0.03005175,-0.00945501,-0.02527758,-0.00344698, 1.34016338,
 -0.02985774, 0.94371652, 0.01156932, 0.02729034,-0.00831473, 0.02646979,
  1.39658789, 0.00769452, 1.28942829, 0.04441928,-0.0861036 ,-0.04842512,
  0.09339602, 0.70599373,-0.07247451,-0.69848521,-0.09186244]

qacc:
[-7.97558409e+00,-4.55708509e-01, 3.42391641e+00,-9.58482778e+00,
  7.60251584e-02, 2.09634943e-01,-2.10180583e+00, 8.25965710e+00,
  8.42223631e+00, 2.52981917e+00,-1.35705238e+01, 3.21463747e+01,
 -2.23720055e+00, 1.67735799e+00, 3.21097725e+00,-1.03497064e+01,
  5.28011699e+00,-1.04666321e+00, 5.35609982e+00,-8.01808643e+00,
  1.70183450e+02,-1.76830447e+01]

qfrc_actuator:
[ 5.89223312e-05, 9.11459055e-04, 1.32434085e-04,-3.99497395e-05,
  1.36049464e-05, 3.54926835e-02, 1.08326038e-02, 1.92194793e-03,
 -5.95475844e-05, 8.35423150e-04, 2.00188236e-04, 8.06360598e-05,
  0.00000000e+00,-1.61687258e-03, 0.00000000e+00,-1.37948913e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003941192376257965
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.81697243e-14, -1.40848621e-14,  1.00000000e+00,  3.96766682e-28,
        1.00000000e+00,  1.40848621e-14, -1.00000000e+00,  0.00000000e+00,
        2.81697243e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1389611 , -0.0352176 ,  0.06180168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.19525211e-05,-1.59336611e-05, 7.34028666e-06, 2.76075599e-05,
  5.08363798e-05,-1.48796807e-06,-6.66890736e-06, 5.35727650e-05,
  2.42265839e-03,-1.18717721e-04, 9.14708224e-08,-4.85523331e-05,
  1.61324992e-04,-1.06995689e-04,-4.90430175e+00,-5.01630722e-04,
  3.33052376e-03,-7.55836146e-04]


--- Step 2026 ---
qpos:
[ 0.01869495, 0.03005162,-0.00945495,-0.02527768,-0.00344666, 1.3401761 ,
 -0.02985997, 0.94371862, 0.01157014, 0.02729051,-0.00831512, 0.02647044,
  1.3966039 , 0.00769596, 1.28954904, 0.04441161,-0.08609516,-0.04840454,
  0.09339918, 0.70608099,-0.07273048,-0.69841407,-0.09152984]

qacc:
[-1.89233752e+00,-6.65983248e-01, 3.09742264e+00,-6.39702113e+00,
  1.28383920e-01,-3.70883836e-01, 4.34781274e+00,-1.68921220e+01,
  5.09871065e+00, 2.17873411e+00,-8.41536805e+00, 1.36727952e+01,
 -2.13708243e+00, 1.60757458e+00, 1.37866714e+01,-4.68048524e+01,
  4.65352539e+00,-9.43927995e-01, 3.57959180e+00,-6.54214245e+00,
  1.50072567e+02,-1.41760550e+01]

qfrc_actuator:
[ 4.89305276e-05, 8.99822625e-04, 1.33427836e-04,-4.97436442e-05,
  3.77456914e-05, 3.55545418e-02, 1.08279442e-02, 1.86670669e-03,
 -3.01503686e-05, 8.58097766e-04, 1.79481723e-04, 9.40646336e-05,
  0.00000000e+00,-1.61681963e-03, 0.00000000e+00,-1.60410005e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61975083, -0.5354181 , -8.61975083,  8.86808842,
       -3.73056105, -0.5354181 , -3.73056105, 68.69504801,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003981887203853542
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.3940915e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.3940915e-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([-0.13890863, -0.0352457 ,  0.06179979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.71119296e-05, 5.52351159e-05,-6.13823309e-06,-5.48462555e-05,
  3.08833932e-05, 2.27811790e-05,-1.99839094e-05, 1.41738291e-05,
  2.56143702e-03,-1.12700854e-04,-1.26945986e-05,-2.28783655e-04,
  5.45844974e-05,-4.86789072e-05,-4.90467545e+00,-2.40817904e-04,
  3.34080489e-03,-7.39106518e-04]


--- Step 2027 ---
qpos:
[ 0.01869478, 0.03005149,-0.00945515,-0.02527786,-0.00344605, 1.34018905,
 -0.02986214, 0.94371937, 0.01157061, 0.0272907 ,-0.00831537, 0.0264709 ,
  1.39661712, 0.00769727, 1.28966932, 0.04440501,-0.0860702 ,-0.04838737,
  0.09341062, 0.7063513 ,-0.0729537 ,-0.69815531,-0.09124019]

qacc:
[ 1.94409034e+00, 5.68149499e-01,-1.60790338e+00, 3.77148893e-01,
  1.24994258e-01,-2.20544709e+00, 1.03509422e+01,-2.48838372e+01,
 -2.92016103e+00,-7.58518726e-01, 3.57910132e+00,-7.23689640e+00,
 -2.04250141e+00, 1.44976368e+00,-3.73703638e+00, 1.24349342e+01,
  4.12967280e+00,-8.55709927e-01, 2.07213982e+00,-5.36308320e+00,
  1.33219217e+02,-1.14054910e+01]

qfrc_actuator:
[ 6.09820608e-05, 8.92912138e-04, 1.16191991e-04,-5.54732641e-05,
  5.19214665e-05, 3.55507310e-02, 1.08262187e-02, 1.79787719e-03,
 -4.87040223e-05, 8.53718822e-04, 1.85237929e-04, 8.39451223e-05,
  0.00000000e+00,-1.63498002e-03, 0.00000000e+00,-1.53795956e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.59804245, -0.81267634, -8.59804245,  9.20874219,
       -6.05571354, -0.81267634, -6.05571354, 72.70526709,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003971806374229336
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39762984e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.39762984e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1389258 , -0.03525309,  0.06180026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.61075247e-05, 2.38165172e-05, 6.76365340e-06,-6.86037272e-05,
 -1.76407497e-05, 4.85011832e-06, 8.49166241e-06,-9.56095647e-06,
  2.68092752e-03,-1.19521794e-04,-3.82402685e-05, 5.03598075e-05,
  2.77818132e-05,-1.57326565e-05,-4.90476874e+00,-3.72040972e-05,
  3.35397733e-03,-7.24365601e-04]


--- Step 2028 ---
qpos:
[ 0.01869475, 0.03005145,-0.00945565,-0.02527744,-0.00344549, 1.340201  ,
 -0.02986356, 0.94372073, 0.01157017, 0.02729091,-0.00831551, 0.02647053,
  1.39662735, 0.00769807, 1.28978929, 0.04440019,-0.08603048,-0.04837333,
  0.09342525, 0.70678531,-0.07314853,-0.69772858,-0.09098707]

qacc:
[ 1.24011868e+00, 2.18374855e+00,-1.02301073e+01, 2.12845377e+01,
 -2.08610365e-02,-2.28209380e+00, 4.55693305e+00, 3.95035588e+00,
 -7.80974581e+00,-1.94739086e+00, 1.04616954e+01,-2.48000115e+01,
 -1.91691838e+00, 1.01254261e+00,-5.74161981e+00, 1.97504787e+01,
  3.69152781e+00,-7.79914330e-01, 7.95799191e-01,-4.41753764e+00,
  1.19093720e+02,-9.21381215e+00]

qfrc_actuator:
[ 6.81468000e-05, 9.06562717e-04, 1.06096346e-04,-2.32729066e-05,
  2.44997526e-05, 3.54366110e-02, 1.08437638e-02, 1.82810843e-03,
 -9.53260314e-05, 8.51007000e-04, 1.88711045e-04, 4.23050474e-05,
  0.00000000e+00,-1.68183128e-03, 0.00000000e+00,-1.44300807e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.5660525 , -1.09978243, -8.5660525 ,  9.75994649,
       -8.75143068, -1.09978243, -8.75143068, 76.80004066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039210755877261486
  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([-0.13899833, -0.03524412,  0.06180261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.08451155e-06,-1.01766297e-04, 2.09507542e-05, 2.95706697e-05,
 -4.71364768e-05, 1.33525734e-06, 5.19101806e-06,-4.13245237e-05,
  2.82005074e-03,-1.60077928e-04,-1.67835460e-05, 9.19584162e-05,
  5.66039925e-05,-6.72963136e-07,-4.90466636e+00, 1.25978560e-04,
  3.37049720e-03,-7.11094864e-04]


--- Step 2029 ---
qpos:
[ 0.01869411, 0.03005144,-0.00945651,-0.02527731,-0.00344494, 1.34021185,
 -0.02986461, 0.94372248, 0.01156883, 0.02729113,-0.0083156 , 0.02646968,
  1.39663502, 0.00769855, 1.2899092 , 0.04439619,-0.0860108 ,-0.04835318,
  0.09343386, 0.70699502,-0.07341107,-0.69753189,-0.09065384]

qacc:
[-5.18590454e+00, 4.45748524e-01,-2.42153871e-01,-4.38964181e+00,
 -8.47073530e-03,-1.78238261e+00, 3.29795496e+00, 2.24035082e+00,
 -7.68517415e+00,-1.13399489e+00, 6.13123915e+00,-1.46922554e+01,
 -1.78163699e+00, 1.09874297e+00,-2.40298832e+00, 8.61810556e+00,
 -5.01155613e+00, 1.52498223e+00,-1.50326700e+00, 6.28160166e+00,
 -1.65552299e+02, 3.33176204e+01]

qfrc_actuator:
[ 3.68650527e-05, 8.96970576e-04, 8.26600049e-05,-3.99987361e-05,
  2.56043923e-05, 3.53639670e-02, 1.08544066e-02, 1.84532387e-03,
 -1.40326773e-04, 8.49278974e-04, 1.90781519e-04, 1.79545520e-05,
  0.00000000e+00,-1.67444940e-03, 0.00000000e+00,-1.40293893e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003923259788312004
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12238626e-14, -3.53731044e-15,  1.00000000e+00,  7.50753909e-29,
        1.00000000e+00,  3.53731044e-15, -1.00000000e+00,  0.00000000e+00,
        2.12238626e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00672773, -0.07569654,  0.06180258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.49439294e-06,-1.24029925e-04,-6.02249955e-06, 1.54733758e-05,
 -4.63787742e-05,-1.70311287e-06, 1.55717528e-06,-2.49153933e-05,
  2.96928235e-03,-1.27050437e-04,-3.52913478e-06, 4.18735469e-05,
  1.24572061e-04, 1.62699764e-06,-4.90442774e+00, 2.60266643e-04,
  3.39054039e-03,-6.98923747e-04]


--- Step 2030 ---
qpos:
[ 0.0186938 , 0.03005116,-0.00945722,-0.02527772,-0.00344441, 1.34022206,
 -0.02986564, 0.94372371, 0.01156731, 0.0272914 ,-0.00831543, 0.02646887,
  1.39664072, 0.00769931, 1.290029  , 0.04439336,-0.08600878,-0.04832761,
  0.09343252, 0.70700739,-0.07373264,-0.69753776,-0.09025028]

qacc:
[ 2.75004242e+00,-1.87808158e+00, 8.45610627e+00,-1.78436005e+01,
 -3.44900731e-03,-1.77220562e+00, 5.84012602e+00,-1.06933822e+01,
 -1.57316912e+00,-5.47412935e-01, 1.89678908e+00,-1.66944881e+00,
 -1.66744285e+00, 1.50471421e+00,-3.58409817e+00, 1.26282587e+01,
 -4.41550883e+00, 1.35626869e+00,-2.48936011e+00, 5.59978363e+00,
 -1.45690045e+02, 2.90626784e+01]

qfrc_actuator:
[ 5.42164627e-05, 8.73442793e-04, 8.69080052e-05,-6.76598421e-05,
  2.60627089e-05, 3.53522025e-02, 1.08609899e-02, 1.81922013e-03,
 -1.48498168e-04, 8.65909271e-04, 2.09779937e-04, 2.17295936e-05,
  0.00000000e+00,-1.61676062e-03, 0.00000000e+00,-1.34227995e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.91199067,   5.17794957,   6.91199067,
        35.79692771, -36.25635261,   5.17794957, -36.25635261,
        57.03458913,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003959946509144718
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.00907842e-15, -3.50453921e-15,  1.00000000e+00,  2.45635901e-29,
        1.00000000e+00,  3.50453921e-15, -1.00000000e+00,  0.00000000e+00,
        7.00907842e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00664664, -0.07566587,  0.06180096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.01997031e-06,-8.11590729e-05,-1.79189487e-05,-2.96333491e-05,
 -9.52887788e-06, 1.49066013e-05, 1.79772224e-05, 3.27431965e-06,
  3.09685854e-03,-5.32391135e-05,-3.23982949e-06, 6.12888190e-05,
  4.41279669e-05,-3.95380691e-06,-4.90467912e+00, 9.18134158e-05,
  3.38267812e-03,-6.92222101e-04]


--- Step 2031 ---
qpos:
[ 0.01869439, 0.03005044,-0.00945782,-0.02527774,-0.00344403, 1.34023184,
 -0.02986703, 0.94372566, 0.01156604, 0.02729217,-0.00831553, 0.02646809,
  1.39664449, 0.00770036, 1.29014865, 0.04439229,-0.08602241,-0.04829719,
  0.09341785, 0.70684494,-0.074106  ,-0.6977229 ,-0.08978467]

qacc:
[ 7.73054705e+00,-1.13869659e-01,-2.11846833e+00, 9.02021058e+00,
 -6.33266592e-02, 1.61435079e+00,-7.42229509e+00, 1.50052764e+01,
  2.18392723e+00, 1.45393581e+00,-4.33386371e+00, 4.86586793e+00,
 -1.57092458e+00, 1.41049975e+00,-5.37284043e+00, 1.87904024e+01,
 -3.91124571e+00, 1.21279966e+00,-3.33104387e+00, 4.97909707e+00,
 -1.28967466e+02, 2.55061545e+01]

qfrc_actuator:
[ 1.00066366e-04, 8.41843377e-04, 8.96548936e-05,-4.82614177e-05,
  8.37669806e-06, 3.53414412e-02, 1.08475891e-02, 1.85663590e-03,
 -1.34927123e-04, 9.11252927e-04, 2.03209384e-04, 2.42953786e-05,
  0.00000000e+00,-1.60037670e-03, 0.00000000e+00,-1.25220195e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.72631467,   5.41696113,   6.72631467,
        41.47360099, -40.77444645,   5.41696113, -40.77444645,
        59.2665511 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003943475661056309
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93554721e-14, -2.81534139e-14,  1.00000000e+00,  5.44922616e-28,
        1.00000000e+00,  2.81534139e-14, -1.00000000e+00,  0.00000000e+00,
        1.93554721e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00668589, -0.07567198,  0.0618017 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.82913983e-05,-6.01194341e-05,-3.21935155e-05, 3.37783702e-05,
  1.32971676e-05, 5.75153291e-05,-1.16825997e-06, 3.89128473e-06,
  3.19560496e-03,-5.10975069e-05, 9.86722825e-08, 9.20220573e-05,
  3.59303023e-05,-3.32272233e-05,-4.90467439e+00,-1.07933275e-04,
  3.36730870e-03,-6.84889248e-04]


--- Step 2032 ---
qpos:
[ 0.01869414, 0.03004954,-0.00945879,-0.02527719,-0.00344382, 1.34024138,
 -0.02986834, 0.94372696, 0.01156494, 0.02729337,-0.0083154 , 0.02646698,
  1.39664641, 0.0077016 , 1.2902682 , 0.04439296,-0.08604998,-0.04826244,
  0.09338702, 0.70652618,-0.07452444,-0.69806778,-0.08926497]

qacc:
[-7.15937000e+00, 1.98086734e+00,-9.79933614e+00, 2.04298009e+01,
 -7.43267568e-02,-1.60641785e+00, 6.18138839e+00,-1.26669168e+01,
  1.47220329e+00,-7.44210448e-01, 4.85585448e+00,-1.12469862e+01,
 -1.47150623e+00, 1.26221624e+00,-5.32209650e+00, 1.87075593e+01,
 -3.48754649e+00, 1.08252359e+00,-4.04080401e+00, 4.31464287e+00,
 -1.15013445e+02, 2.19046063e+01]

qfrc_actuator:
[ 5.57915171e-05, 8.41195340e-04, 7.37258113e-05,-1.90936030e-05,
 -2.29863939e-06, 3.53490837e-02, 1.08580689e-02, 1.82462089e-03,
 -1.26432052e-04, 9.37843531e-04, 2.17214336e-04, 8.37853481e-06,
  0.00000000e+00,-1.59113444e-03, 0.00000000e+00,-1.16326706e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003884403842521458
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.29297649e-07, -9.29297659e-07,  1.00000000e+00, -8.63594130e-13,
        1.00000000e+00,  9.29297659e-07, -1.00000000e+00,  0.00000000e+00,
       -9.29297649e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00682538, -0.07556168,  0.06180432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.14860532e-05,-3.09594302e-05,-3.96014103e-06,-3.39685614e-05,
  8.90664332e-06, 5.86543801e-05, 2.58682809e-05,-1.34173449e-05,
  3.29132269e-03,-5.59667563e-05, 5.13734935e-06, 9.30290128e-05,
  7.76101890e-05,-7.73582313e-05,-4.90449386e+00,-3.24341332e-04,
  3.34577761e-03,-6.76750324e-04]


--- Step 2033 ---
qpos:
[ 0.01869302, 0.03004846,-0.00945966,-0.02527667,-0.00344362, 1.34025059,
 -0.02986916, 0.94372647, 0.01156361, 0.02729447,-0.00831487, 0.02646574,
  1.39664696, 0.00770255, 1.29038854, 0.04438834,-0.08605659,-0.04823158,
  0.09337703, 0.70643857,-0.07490174,-0.69817508,-0.08880222]

qacc:
[-7.48526771e+00,-5.53464460e-01, 1.77764528e+00,-2.35630925e+00,
 -4.46320964e-03,-4.83246902e+00, 1.89218202e+01,-3.69640502e+01,
 -1.98063018e+00,-1.53222023e+00, 5.83061465e+00,-8.64677719e+00,
 -1.37335066e+00, 9.87330979e-01, 1.73165147e+01,-5.86035397e+01,
  5.24209497e+00,-9.71084897e-01, 5.21165888e+00,-7.33328951e+00,
  1.68567383e+02,-1.53139015e+01]

qfrc_actuator:
[ 1.20731591e-05, 8.41271994e-04, 8.25246880e-05,-1.99118625e-05,
  9.07106556e-06, 3.53322450e-02, 1.08825929e-02, 1.73426642e-03,
 -1.38753059e-04, 8.99807819e-04, 2.25434875e-04,-5.27263426e-07,
  0.00000000e+00,-1.60395694e-03, 0.00000000e+00,-1.44852916e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039608512111282065
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.40149549e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.40149549e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13895895, -0.03532195,  0.0618007 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.32759641e-06,-3.58224178e-05, 1.70137269e-05,-9.21754000e-05,
 -1.20364943e-05,-5.10013033e-07, 2.30439369e-05,-5.75933172e-06,
  3.38399444e-03,-7.86092795e-05, 7.40599867e-06,-2.80511942e-04,
  1.52806141e-04,-1.30047827e-04,-4.90419514e+00,-5.47118833e-04,
  3.31948376e-03,-6.67735789e-04]


--- Step 2034 ---
qpos:
[ 0.01869207, 0.03004706,-0.00946007,-0.02527652,-0.00344338, 1.34025986,
 -0.02987018, 0.94372594, 0.01156215, 0.02729529,-0.00831491, 0.02646449,
  1.39664572, 0.00770326, 1.29050859, 0.04438338,-0.08604471,-0.04820422,
  0.09338087, 0.70655534,-0.07524414,-0.69807279,-0.08838693]

qacc:
[ 1.50920091e+00,-2.48064936e+00, 9.78183965e+00,-1.66475623e+01,
  2.06111087e-02, 5.55698369e-01,-1.62093312e+00, 8.78047283e-01,
 -1.18193074e+00, 1.25077000e+00,-4.99655656e+00, 6.10377974e+00,
 -1.28997795e+00, 8.13819034e-01, 6.69686655e-01,-2.73573313e+00,
  4.62190244e+00,-8.76426765e-01, 3.45485450e+00,-5.89342801e+00,
  1.48701656e+02,-1.20125106e+01]

qfrc_actuator:
[ 2.23196161e-05, 8.24108564e-04, 1.05849117e-04,-3.83453140e-05,
  1.58205425e-05, 3.53541623e-02, 1.08795850e-02, 1.73458030e-03,
 -1.45473910e-04, 8.41096621e-04, 1.76649044e-04,-5.29674362e-06,
  0.00000000e+00,-1.62960327e-03, 0.00000000e+00,-1.45488352e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.62585833, -0.42584621, -8.62585833,  8.7761217 ,
       -2.83091225, -0.42584621, -2.83091225, 65.97877425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003996351049595878
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.94522960e-15,  1.38904592e-14,  1.00000000e+00, -9.64724285e-29,
        1.00000000e+00, -1.38904592e-14, -1.00000000e+00,  0.00000000e+00,
        6.94522960e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13891364, -0.03534822,  0.06179904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.96402616e-06, 2.59668235e-06,-1.07924457e-05,-2.38992573e-06,
 -7.07043133e-06,-5.45349833e-05,-4.62693994e-05,-4.10672538e-06,
  3.45229075e-03,-8.93805552e-05,-3.43522842e-05,-2.24258784e-05,
  5.51270016e-05,-6.13173861e-05,-4.90454234e+00,-2.32656451e-04,
  3.33147523e-03,-6.46945530e-04]


--- Step 2035 ---
qpos:
[ 0.01869194, 0.0300455 ,-0.00945998,-0.02527626,-0.00344336, 1.34026936,
 -0.02987136, 0.94372609, 0.01156061, 0.02729555,-0.00831515, 0.02646356,
  1.39664312, 0.00770413, 1.29062844, 0.04437834,-0.08601642,-0.04818004,
  0.09339256, 0.70685384,-0.07555673,-0.69778422,-0.08801141]

qacc:
[ 7.04559394e+00,-1.40305384e+00, 4.24479738e+00,-3.14655276e+00,
 -9.71816892e-02, 1.89152027e+00,-7.22154191e+00, 1.40347922e+01,
 -5.86201505e-01, 4.27935897e-01,-3.89536067e+00, 9.93100951e+00,
 -1.18932097e+00, 1.05814022e+00, 8.87237452e-02,-4.89435762e-01,
  4.10341325e+00,-7.94871477e-01, 1.96440939e+00,-4.74397853e+00,
  1.32052781e+02,-9.42430211e+00]

qfrc_actuator:
[ 6.42474086e-05, 8.32312751e-04, 1.37479552e-04,-3.14931625e-05,
 -1.57626804e-05, 3.53813150e-02, 1.08783081e-02, 1.77051094e-03,
 -1.48837937e-04, 8.05714640e-04, 1.65499307e-04, 1.00929019e-05,
  0.00000000e+00,-1.59187817e-03, 0.00000000e+00,-1.45651487e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.60808596, -0.69830718, -8.60808596,  9.04045577,
       -4.98127455, -0.69830718, -4.98127455, 70.04091566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003981913666282748
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.97041120e-15,  1.39408224e-14,  1.00000000e+00, -9.71732646e-29,
        1.00000000e+00, -1.39408224e-14, -1.00000000e+00,  0.00000000e+00,
        6.97041120e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13893683, -0.03535444,  0.06179972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.80588881e-05, 2.63443479e-05,-2.07707329e-06, 3.56474326e-05,
 -3.58578378e-06,-7.56452782e-05,-2.82632697e-05, 1.13727835e-05,
  3.54125802e-03,-3.99609616e-05,-2.19883772e-05,-8.00321910e-06,
  3.54318125e-05,-1.70745482e-05,-4.90461618e+00, 2.27857925e-05,
  3.34617908e-03,-6.28082324e-04]


--- Step 2036 ---
qpos:
[ 0.01869266, 0.03004387,-0.00945923,-0.0252763 ,-0.00344378, 1.34027901,
 -0.02987262, 0.94372875, 0.01155905, 0.02729524,-0.00831523, 0.02646244,
  1.3966396 , 0.00770492, 1.29074877, 0.04436825,-0.08597345,-0.04815875,
  0.09340706, 0.70731492,-0.07584357,-0.69732878,-0.08766949]

qacc:
[  7.30071067, -2.5365911 , 10.09560946,-16.04757697, -0.18404756,
   4.69349769,-20.23152905, 46.50452722, -0.2293201 , -1.56279105,
   5.24172457, -8.16132377, -1.10583461,  0.93871336, 16.05855879,
 -54.89432473,  3.66977023, -0.72458241,  0.70273441, -3.8221199 ,
 118.09900029, -7.39267654]

qfrc_actuator:
[ 1.06716427e-04, 8.37955589e-04, 1.73877415e-04,-4.52966620e-05,
 -5.23340301e-05, 3.53936742e-02, 1.08781105e-02, 1.89811522e-03,
 -1.50200924e-04, 7.84718396e-04, 1.76772266e-04, 1.76427126e-06,
  0.00000000e+00,-1.58743975e-03, 0.00000000e+00,-1.72170979e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.58081773, -0.97792836, -8.58081773,  9.48867232,
       -7.47856977, -0.97792836, -7.47856977, 74.25696214,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00392753990041024
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82676447e-14, -1.41338224e-14,  1.00000000e+00,  3.99529869e-28,
        1.00000000e+00,  1.41338224e-14, -1.00000000e+00,  0.00000000e+00,
        2.82676447e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13901446, -0.03534485,  0.06180224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.31509289e-05, 2.75344874e-05, 5.75608447e-06, 1.29173454e-04,
 -1.49332798e-06,-6.86589635e-05,-7.43990996e-06,-1.23250385e-05,
  3.60938573e-03,-4.34469184e-05,-1.45695165e-05,-2.69173997e-04,
  7.00444578e-05, 9.70544719e-06,-4.90449933e+00, 2.35686090e-04,
  3.36403615e-03,-6.10643228e-04]


--- Step 2037 ---
qpos:
[ 0.0186932 , 0.03004212,-0.00945853,-0.02527679,-0.00344463, 1.3402889 ,
 -0.02987448, 0.94373328, 0.01155748, 0.0272949 ,-0.0083157 , 0.0264612 ,
  1.39663474, 0.00770546, 1.29086889, 0.04435641,-0.08595119,-0.04813264,
  0.0934165 , 0.70754011,-0.07616844,-0.6971124 ,-0.08729065]

qacc:
[-1.58840740e+00,-9.49576648e-01, 5.09764652e+00,-1.28277522e+01,
 -1.83322428e-01, 5.14041117e+00,-2.02202664e+01, 3.90927859e+01,
 -5.09848077e-02, 7.94956098e-01,-2.38635060e+00, 9.30988017e-01,
 -1.03439542e+00, 6.48938033e-01, 5.09416529e+00,-1.80815021e+01,
 -5.17795985e+00, 1.20751352e+00,-1.26697644e+00, 9.55180112e-01,
 -1.69856459e+02, 6.90738300e+00]

qfrc_actuator:
[ 9.58952765e-05, 8.06531521e-04, 1.59519164e-04,-7.11445345e-05,
 -7.38485013e-05, 3.53971447e-02, 1.08430402e-02, 1.98986597e-03,
 -1.50376219e-04, 8.08086933e-04, 1.65717270e-04,-2.68053208e-06,
  0.00000000e+00,-1.62054314e-03, 0.00000000e+00,-1.80276018e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039356915142247095
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41045483e-14,  1.41045483e-14,  1.00000000e+00, -1.98938284e-28,
        1.00000000e+00, -1.41045483e-14, -1.00000000e+00,  0.00000000e+00,
        1.41045483e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00722169, -0.07143018,  0.06180194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.29216135e-05, 2.36493238e-05,-2.52458536e-05, 9.57574502e-05,
 -2.43426241e-07,-1.70820054e-05,-2.65749027e-05,-7.88131193e-06,
  3.65534114e-03,-7.21491376e-05,-4.12104636e-05,-9.88695503e-05,
  1.42923088e-04, 2.38642340e-05,-4.90424977e+00, 4.17499041e-04,
  3.38522195e-03,-5.94267402e-04]


--- Step 2038 ---
qpos:
[ 0.01869395, 0.03004035,-0.00945801,-0.02527793,-0.00344569, 1.34029879,
 -0.02987657, 0.94373749, 0.01155592, 0.02729499,-0.00831631, 0.02646019,
  1.39662829, 0.007706  , 1.29098822, 0.04434832,-0.08594717,-0.04810222,
  0.09341679, 0.70755801,-0.07652635,-0.6971064 ,-0.08687955]

qacc:
[ 1.80744450e+00,-8.93817293e-01, 5.86925938e+00,-1.68283654e+01,
 -8.94230215e-02, 7.16968649e-02, 3.93372637e-01,-3.95108967e+00,
  7.03104661e-02, 1.43610322e+00,-5.24407002e+00, 9.03782621e+00,
 -9.38745002e-01, 6.11475349e-01,-1.24498186e+01, 4.20199031e+01,
 -4.55943211e+00, 1.07597216e+00,-2.28578008e+00, 8.42712885e-01,
 -1.49347657e+02, 5.86791613e+00]

qfrc_actuator:
[ 1.07052172e-04, 8.06194008e-04, 1.50654228e-04,-1.03936034e-04,
 -6.84041403e-05, 3.53773643e-02, 1.08230989e-02, 1.97097228e-03,
 -1.49851382e-04, 8.75522631e-04, 1.77257797e-04, 1.29724947e-05,
  0.00000000e+00,-1.62272537e-03, 0.00000000e+00,-1.59705939e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.46916334,   6.68393816,   5.46916334,
        60.19125319, -42.18502702,   6.68393816, -42.18502702,
        43.15445727,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003978542275408815
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39526358e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.39526358e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00712552, -0.0714005 ,  0.06180004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.58272915e-05,-8.81814155e-06,-1.53821097e-05,-1.66856133e-05,
  5.11348664e-07, 5.20716458e-05, 4.47666671e-06, 1.38523593e-05,
  3.72146413e-03,-6.22601105e-05,-3.28890381e-05, 1.94355211e-04,
  4.58225599e-05, 5.68906067e-06,-4.90457780e+00, 1.59758886e-04,
  3.38875529e-03,-5.87928543e-04]


--- Step 2039 ---
qpos:
[ 0.01869551, 0.0300388 ,-0.00945745,-0.02527985,-0.00344685, 1.34030843,
 -0.02987814, 0.94374005, 0.01155507, 0.02729563,-0.00831688, 0.026459  ,
  1.39662029, 0.00770651, 1.29110706, 0.04434503,-0.08595929,-0.04806795,
  0.09340446, 0.70739249,-0.07691316,-0.69728642,-0.08644009]

qacc:
[ 7.00791905e+00,-1.44514212e+00, 8.81632329e+00,-2.24431638e+01,
 -3.94881730e-02,-4.52945485e+00, 1.77956325e+01,-3.45034691e+01,
  6.03208626e+00, 2.17021789e-01, 1.02188539e+00,-4.59855392e+00,
 -8.24791386e-01, 4.70980036e-01,-1.52143124e+01, 5.23006323e+01,
 -4.03636817e+00, 9.63639304e-01,-3.15547185e+00, 7.22915951e-01,
 -1.32083094e+02, 5.01951500e+00]

qfrc_actuator:
[ 1.48826147e-04, 8.42223966e-04, 1.62985171e-04,-1.40515424e-04,
 -6.45856049e-05, 3.53615461e-02, 1.08476109e-02, 1.88712638e-03,
 -1.13413561e-04, 9.15691615e-04, 1.84515206e-04, 4.88211092e-06,
  0.00000000e+00,-1.62425281e-03, 0.00000000e+00,-1.34838510e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003966839711355537
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39937974e-14,  2.79875948e-14,  1.00000000e+00, -3.91652731e-28,
        1.00000000e+00, -2.79875948e-14, -1.00000000e+00,  0.00000000e+00,
        1.39937974e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00715382, -0.07140299,  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:
[ 4.20935702e-05, 2.40239132e-05, 6.56018773e-06,-3.83291282e-05,
 -1.14434426e-05,-2.42660078e-05, 2.05444351e-05,-8.49321812e-05,
  3.64696432e-05, 7.08076382e-05, 1.90510472e-05,-5.43131152e-06,
  3.80105653e-03,-6.37998482e-05, 4.20532574e-06, 2.54888921e-04,
  2.41673261e-05,-3.02091638e-05,-4.90463751e+00,-7.55615701e-05,
  3.38552463e-03,-5.80768343e-04]


--- Step 2040 ---
qpos:
[ 0.01869618, 0.03003749,-0.00945684,-0.02528151,-0.00344804, 1.3403176 ,
 -0.02987904, 0.94374194, 0.01155535, 0.02729659,-0.00831729, 0.02645809,
  1.39661098, 0.00770645, 1.29122625, 0.04434173,-0.08598579,-0.04803021,
  0.09337655, 0.70706351,-0.07732543,-0.69763183,-0.08597555]

qacc:
[-7.63783000e+00, 7.54344011e-01,-3.28586607e+00, 7.52441317e+00,
 -1.35286700e-02,-3.60339004e+00, 1.23816248e+01,-1.81914903e+01,
  9.67173263e+00, 5.42223986e-01,-2.50845471e+00, 6.85804751e+00,
 -7.08191494e-01, 8.68104485e-02, 6.24167304e-01,-1.31825232e+00,
 -3.59312129e+00, 8.67471257e-01,-3.89613799e+00, 6.00139211e-01,
 -1.17550831e+02, 4.32829816e+00]

qfrc_actuator:
[ 1.01764206e-04, 8.64333956e-04, 1.70132958e-04,-1.25724084e-04,
 -6.17757338e-05, 3.53305937e-02, 1.08803963e-02, 1.85454206e-03,
 -5.61297523e-05, 9.21455226e-04, 1.89069669e-04, 1.83656548e-05,
  0.00000000e+00,-1.66085717e-03, 0.00000000e+00,-1.36052494e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003911415642915854
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83841741e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.83841741e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00728068, -0.07143099,  0.06180303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.95282508e-06,-4.29700101e-05, 2.78803511e-05,-3.46655157e-05,
  5.83772413e-05, 4.90584619e-05, 2.13389068e-05, 1.70722379e-05,
  3.87875529e-03,-9.86273412e-05, 2.64244210e-05, 1.83235658e-06,
  5.48076728e-05,-7.68291599e-05,-4.90451200e+00,-2.89984367e-04,
  3.37634920e-03,-5.72866889e-04]


--- Step 2041 ---
qpos:
[ 0.01869629, 0.03003681,-0.00945609,-0.02528234,-0.00344908, 1.34032637,
 -0.02987897, 0.94374375, 0.01155632, 0.02729755,-0.00831719, 0.02645771,
  1.39660024, 0.00770576, 1.29134533, 0.04434036,-0.08599165,-0.04799669,
  0.09336899, 0.70696649,-0.07770745,-0.69773993,-0.08555075]

qacc:
[-4.89038012e+00, 2.13886151e+00,-9.89191881e+00, 2.34585001e+01,
  6.10798949e-02,-3.25552477e+00, 1.01546114e+01,-9.50075979e+00,
  5.86629533e+00,-3.24741664e-01,-1.13601299e+00, 9.61082028e+00,
 -5.99054417e-01,-1.15909806e-01,-5.98751514e+00, 2.07703617e+01,
  5.16040509e+00,-1.05559658e+00, 5.09075310e+00,-4.39798649e+00,
  1.67643956e+02,-5.45586006e+00]

qfrc_actuator:
[ 7.37914653e-05, 9.31229513e-04, 1.91901933e-04,-8.08381701e-05,
 -4.18422859e-05, 3.53263904e-02, 1.09355211e-02, 1.85238840e-03,
 -2.25521248e-05, 9.06576271e-04, 2.09622438e-04, 4.44073090e-05,
  0.00000000e+00,-1.70020714e-03, 0.00000000e+00,-1.25996032e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003952018635494915
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.02313885e-15, -1.40462777e-14,  1.00000000e+00,  9.86489586e-29,
        1.00000000e+00,  1.40462777e-14, -1.00000000e+00,  0.00000000e+00,
        7.02313885e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13898948, -0.03539291,  0.06180105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.75962326e-05,-2.36199599e-05, 4.88689167e-05,-3.41707890e-06,
  3.53053160e-05, 1.76873861e-05, 3.38989795e-05, 2.92130254e-05,
  3.94330677e-03,-1.09489534e-04, 6.43832688e-06, 1.02803044e-04,
  1.20991263e-04,-1.29411745e-04,-4.90425943e+00,-4.85437026e-04,
  3.36190889e-03,-5.64304593e-04]


--- Step 2042 ---
qpos:
[ 0.0186964 , 0.03003659,-0.00945528,-0.02528294,-0.0034498 , 1.3403353 ,
 -0.02987874, 0.94374586, 0.01155665, 0.0272985 ,-0.00831677, 0.02645731,
  1.39658844, 0.00770458, 1.29146444, 0.04433987,-0.08597927,-0.04796693,
  0.09337486, 0.70707444,-0.07806357,-0.69763865,-0.08515941]

qacc:
[ 6.47475940e-02, 9.08069783e-01,-3.28866482e+00, 6.72359659e+00,
  1.39981215e-01, 2.77112419e-01,-1.25686855e+00, 4.42755597e+00,
 -5.43753275e+00,-9.55659356e-01, 3.48626658e+00,-4.33757564e+00,
 -4.84622010e-01,-5.32529539e-02,-2.57810594e+00, 9.17074547e+00,
  4.55730652e+00,-9.37861313e-01, 3.35396434e+00,-3.50985811e+00,
  1.47925876e+02,-3.96662577e+00]

qfrc_actuator:
[ 7.50602633e-05, 9.35760960e-04, 1.86825514e-04,-7.18217308e-05,
 -1.17980625e-05, 3.53561063e-02, 1.09502408e-02, 1.86817371e-03,
 -5.64616325e-05, 8.97271388e-04, 2.21616207e-04, 4.21110852e-05,
  0.00000000e+00,-1.70540774e-03, 0.00000000e+00,-1.21798580e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003985191248505521
  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([-0.13894541, -0.03541082,  0.06179951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.44829939e-07, 6.31382728e-05, 1.89089021e-05, 1.48519008e-05,
  4.04412579e-05, 2.60505835e-05, 1.55531335e-05, 1.64440869e-05,
 -3.28688823e-05, 8.82070514e-06, 2.08216218e-05, 2.00444373e-07,
  4.01486072e-03,-8.29966535e-05, 9.81557999e-06, 4.75799523e-05,
  3.21692095e-05,-5.70944015e-05,-4.90457824e+00,-2.00741886e-04,
  3.36499283e-03,-5.44726020e-04]


--- Step 2043 ---
qpos:
[ 0.01869618, 0.03003606,-0.00945413,-0.02528336,-0.00345017, 1.34034415,
 -0.02987859, 0.9437499 , 0.01155623, 0.02729951,-0.00831648, 0.02645691,
  1.39657653, 0.00770314, 1.29158431, 0.04433386,-0.08595069,-0.04794051,
  0.09338825, 0.70736457,-0.07839728,-0.69735127,-0.08479645]

qacc:
[ -2.81599628, -0.92766632,  1.89480252,  1.17842596,  0.14538544,
   3.40333019,-15.21468959, 35.69119713, -6.43602375,  0.44360382,
  -1.45118701,  1.58489289, -0.39675695,  0.26644542, 17.82641032,
 -60.66257483,  4.05267322, -0.83811108,  1.88061469, -2.79291418,
 131.4044232 , -2.82266128]

qfrc_actuator:
[ 5.80188872e-05, 8.67276484e-04, 1.83418582e-04,-6.63031986e-05,
  6.31552685e-06, 3.53347609e-02, 1.09411295e-02, 1.96538771e-03,
 -9.43087750e-05, 8.91313508e-04, 2.10694139e-04, 4.09034126e-05,
  0.00000000e+00,-1.67225629e-03, 0.00000000e+00,-1.51268152e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003969049946536483
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.39860047e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.39860047e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13896955, -0.03541082,  0.06180027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.20119059e-05,-3.45370760e-06,-1.77028040e-06, 9.88498133e-05,
 -3.88041836e-05, 3.23548062e-06,-6.54197165e-06,-1.06061656e-07,
  4.06799160e-03,-2.53053153e-05, 5.37075960e-06,-2.91728765e-04,
  1.84183178e-05,-7.18395234e-06,-4.90463304e+00, 4.48600182e-05,
  3.37321136e-03,-5.26238671e-04]


--- Step 2044 ---
qpos:
[ 0.01869611, 0.0300354 ,-0.00945304,-0.0252837 ,-0.00345039, 1.340352  ,
 -0.02987777, 0.94375408, 0.01155639, 0.02730057,-0.00831661, 0.02645687,
  1.3965646 , 0.00770181, 1.2917042 , 0.0443244 ,-0.08590758,-0.04791711,
  0.09340417, 0.70781762,-0.07871144,-0.69689714,-0.08445771]

qacc:
[ 1.21922840e+00, 9.80526089e-02,-9.24792978e-01, 2.38120374e+00,
  6.20923244e-02,-2.83796694e+00, 7.39666965e+00,-4.15425938e+00,
  4.96484806e+00, 1.98616761e+00,-8.49428510e+00, 1.53040393e+01,
 -3.53296976e-01, 4.58801374e-01, 1.05501164e+01,-3.67470072e+01,
  3.63025981e+00,-7.53563329e-01, 6.33510924e-01,-2.21050716e+00,
  1.17560752e+02,-1.94289681e+00]

qfrc_actuator:
[ 6.58316316e-05, 8.62089448e-04, 1.80719034e-04,-6.29445606e-05,
 -6.27114343e-07, 3.52297014e-02, 1.09533992e-02, 1.96768149e-03,
 -6.31374907e-05, 8.87302998e-04, 1.86347736e-04, 5.80910214e-05,
  0.00000000e+00,-1.65163937e-03, 0.00000000e+00,-1.68378886e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003913486831537069
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83691519e-14, -1.41845760e-14,  1.00000000e+00,  4.02404390e-28,
        1.00000000e+00,  1.41845760e-14, -1.00000000e+00,  0.00000000e+00,
        2.83691519e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13904787, -0.03539671,  0.06180286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.78825464e-05,-1.04397710e-04, 1.42874889e-05, 4.44780993e-06,
  3.00396257e-05,-3.61090863e-06,-2.45006833e-05, 1.70973632e-05,
  4.07279800e-03, 8.05024810e-06,-3.43371357e-05,-1.87644965e-04,
  5.70720241e-05, 2.65429702e-05,-4.90450361e+00, 2.60539526e-04,
  3.38622728e-03,-5.08576013e-04]


--- Step 2045 ---
qpos:
[ 0.01869578, 0.03003469,-0.00945232,-0.02528363,-0.00345056, 1.340359  ,
 -0.0298773 , 0.94375726, 0.01155692, 0.02730189,-0.00831719, 0.02645769,
  1.39655198, 0.00770057, 1.29182327, 0.04431828,-0.08588506,-0.04788864,
  0.0934149 , 0.708036  ,-0.07906289,-0.69668102,-0.08408108]

qacc:
[-2.16102791e+00, 1.83605512e+00,-8.29969393e+00, 1.58339801e+01,
  2.22181888e-02,-1.91980381e+00, 6.95826359e+00,-1.70784934e+01,
  3.15832107e+00, 3.38472403e+00,-1.52483214e+01, 3.08533038e+01,
 -3.01472255e-01, 1.96923483e-01,-1.13092134e+01, 3.78219614e+01,
 -5.14682825e+00, 1.26730380e+00,-1.29715704e+00, 8.15294735e-01,
 -1.69065510e+02, 7.12650809e+00]

qfrc_actuator:
[ 5.27115661e-05, 8.59323767e-04, 1.60934905e-04,-4.30859459e-05,
 -4.79100275e-06, 3.51641181e-02, 1.09245351e-02, 1.91404243e-03,
 -4.48482917e-05, 9.19945197e-04, 1.72049084e-04, 1.03712849e-04,
  0.00000000e+00,-1.67430642e-03, 0.00000000e+00,-1.49655052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00395913181888663
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22684112e-14, -1.40210414e-14,  1.00000000e+00,  1.72015902e-28,
        1.00000000e+00,  1.40210414e-14, -1.00000000e+00,  0.00000000e+00,
        1.22684112e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00717297, -0.07138701,  0.06180086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.39960495e-06,-1.20453653e-04,-4.75333743e-05,-5.62368322e-05,
  1.91712033e-05, 2.62689225e-05,-1.74824959e-05, 4.49488934e-05,
  4.07375483e-03,-1.98442968e-05,-3.82514070e-05, 1.72040074e-04,
  1.32751162e-04, 4.84120921e-05,-4.90424589e+00, 4.52967587e-04,
  3.40369973e-03,-4.91541641e-04]


--- Step 2046 ---
qpos:
[ 0.01869496, 0.03003375,-0.00945181,-0.02528263,-0.00345072, 1.34036603,
 -0.02987783, 0.94375904, 0.01155698, 0.02730329,-0.00831757, 0.02645835,
  1.39653874, 0.00769896, 1.29194229, 0.04431269,-0.08588067,-0.04785567,
  0.09341638, 0.70804816,-0.0794471 ,-0.6966743 ,-0.08367124]

qacc:
[-4.28490940e+00, 2.19889165e+00,-1.22602749e+01, 2.90348760e+01,
  4.44503249e-03, 3.40408891e-01, 1.81786045e+00,-1.78563632e+01,
 -4.03871567e+00,-8.12069196e-01, 3.76800007e+00,-7.11725442e+00,
 -2.15887062e-01,-1.54938959e-01,-1.68235832e+00, 5.82840512e+00,
 -4.53249530e+00, 1.12527049e+00,-2.31266203e+00, 6.25114414e-01,
 -1.48662452e+02, 6.22435196e+00]

qfrc_actuator:
[ 2.73676415e-05, 8.40218322e-04, 1.49005848e-04, 4.07018131e-06,
 -7.25224804e-06, 3.52112455e-02, 1.08894769e-02, 1.84567943e-03,
 -6.98157123e-05, 9.21088690e-04, 1.81721984e-04, 9.47268187e-05,
  0.00000000e+00,-1.70521503e-03, 0.00000000e+00,-1.47252399e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039989063973729505
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21463852e-14, -4.16447491e-14,  1.00000000e+00,  5.05833163e-28,
        1.00000000e+00,  4.16447491e-14, -1.00000000e+00,  0.00000000e+00,
        1.21463852e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0070839 , -0.0713618 ,  0.06179912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.31650846e-06,-3.05379219e-05,-6.56833889e-05,-7.46663579e-05,
 -2.43941918e-05, 1.41135462e-05, 1.44902803e-05,-7.59463357e-06,
  4.10843064e-03,-5.50578628e-05, 9.23491261e-07, 2.86211233e-05,
  3.47107449e-05, 1.77161453e-05,-4.90456437e+00, 1.88379514e-04,
  3.40750596e-03,-4.84956826e-04]


--- Step 2047 ---
qpos:
[ 0.01869383, 0.03003274,-0.0094515 ,-0.02528144,-0.00345089, 1.34037328,
 -0.02987867, 0.94375925, 0.01155673, 0.02730456,-0.00831739, 0.02645786,
  1.39652519, 0.00769685, 1.29206163, 0.04430476,-0.0858926 ,-0.04781935,
  0.09340528, 0.70787399,-0.07984557,-0.6968558 ,-0.08325315]

qacc:
[-2.55941896e+00, 8.89600362e-01,-4.06109712e+00, 7.66392174e+00,
 -2.26094669e-03,-1.55456732e+00, 8.66469737e+00,-2.59574351e+01,
 -2.53752050e+00,-4.09642169e+00, 1.92129497e+01,-3.98884197e+01,
 -1.37645484e-01,-2.36920726e-01, 7.56630025e+00,-2.58020595e+01,
 -4.07921770e+00, 8.38715589e-01,-3.14605654e+00,-1.70289213e+00,
 -1.32460571e+02,-7.38647324e+00]

qfrc_actuator:
[ 1.27908935e-05, 8.47033342e-04, 1.41766146e-04, 1.36444526e-05,
 -8.67123034e-06, 3.52544457e-02, 1.08870056e-02, 1.76928486e-03,
 -8.45349322e-05, 9.03420811e-04, 2.05309057e-04, 3.59171720e-05,
  0.00000000e+00,-1.72289431e-03, 0.00000000e+00,-1.59822089e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003986373096985775
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.39252272e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.39252272e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00783389, -0.06904215,  0.06179969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.41721947e-07, 1.11698512e-05,-1.81144417e-05,-8.09583934e-05,
 -1.54248431e-05,-7.16369104e-06, 2.80120893e-05,-5.78539633e-05,
  4.13880410e-03,-5.42025026e-05, 3.25636948e-07,-1.24677687e-04,
  1.19969220e-05,-2.73364916e-05,-4.90461736e+00,-5.33304669e-05,
  3.40465554e-03,-4.77525260e-04]


--- Step 2048 ---
qpos:
[ 0.01869323, 0.03003247,-0.00945189,-0.02528125,-0.00345106, 1.34038068,
 -0.02987989, 0.94375889, 0.01155632, 0.02730574,-0.00831723, 0.0264574 ,
  1.39651148, 0.00769499, 1.29218049, 0.04429907,-0.08591905,-0.04778001,
  0.09337862, 0.70753388,-0.08025672,-0.69720458,-0.0828278 ]

qacc:
[ 4.44907181e+00, 8.49543269e-01, 2.56763584e+00,-1.92397190e+01,
 -4.07287790e-03, 2.41930855e-01, 6.01280431e-01,-7.14443038e+00,
 -1.49073194e+00, 3.54174862e-03,-2.82959119e-01, 8.18814698e-01,
 -7.84136299e-02, 1.94451226e-01,-7.47788255e+00, 2.51632123e+01,
 -3.63066773e+00, 7.53679710e-01,-3.88971899e+00,-1.61929441e+00,
 -1.17844244e+02,-6.59734944e+00]

qfrc_actuator:
[ 4.01778784e-05, 9.22568532e-04, 1.19669432e-04,-3.44580580e-05,
 -9.45311974e-06, 3.52595824e-02, 1.08682979e-02, 1.74206588e-03,
 -9.30900071e-05, 8.92390670e-04, 2.01299137e-04, 3.70216844e-05,
  0.00000000e+00,-1.67910075e-03, 0.00000000e+00,-1.47377646e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003930964652258125
  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([ 0.00796134, -0.06906908,  0.06180215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.16040108e-06, 5.29150052e-06,-2.09653073e-05,-2.92824087e-05,
 -9.00394183e-06,-1.17821586e-05,-4.05671396e-06, 6.39280225e-07,
  4.15404779e-03, 1.46227086e-05,-1.72629309e-05, 1.16773360e-04,
  3.82535656e-05,-7.79859305e-05,-4.90452100e+00,-2.63340350e-04,
  3.40097120e-03,-4.69722895e-04]


--- Step 2049 ---
qpos:
[ 0.01869366, 0.03003282,-0.00945232,-0.02528166,-0.0034511 , 1.3403884 ,
 -0.02988202, 0.94375856, 0.01155649, 0.02730688,-0.00831741, 0.02645696,
  1.39649794, 0.00769381, 1.292299  , 0.04429655,-0.08592499,-0.04774504,
  0.09337207, 0.70742649,-0.08064593,-0.69731582,-0.08242963]

qacc:
[ 8.75870919e+00,-3.20863956e-01, 4.87765592e+00,-1.57722230e+01,
  5.75559200e-02, 2.96222791e+00,-9.21449886e+00, 8.18279597e+00,
  5.02540785e+00, 9.80835472e-01,-3.71302003e+00, 4.86795302e+00,
 -2.85940052e-02, 5.01229383e-01,-1.00872762e+01, 3.45598332e+01,
  5.12875692e+00,-1.09471289e+00, 5.02723944e+00,-2.21260361e+00,
  1.67159502e+02, 1.90551583e+00]

qfrc_actuator:
[ 9.20419295e-05, 9.67558870e-04, 1.24737501e-04,-6.27975496e-05,
  7.90622015e-06, 3.52773710e-02, 1.08222804e-02, 1.74396857e-03,
 -6.24462683e-05, 8.85353256e-04, 1.81090451e-04, 3.78553028e-05,
  0.00000000e+00,-1.61672251e-03, 0.00000000e+00,-1.30941708e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003933845680943598
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.05558323e-15, -4.23334994e-14,  1.00000000e+00,  2.98687528e-28,
        1.00000000e+00,  4.23334994e-14, -1.00000000e+00,  0.00000000e+00,
        7.05558323e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13902352, -0.03542168,  0.06180189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.66739523e-05, 1.56856639e-05,-4.82343365e-05, 7.76000419e-07,
  3.03798731e-05,-1.44846492e-05,-2.31346955e-05, 1.99124521e-07,
  4.16184801e-03, 6.47311127e-05, 3.93918725e-06, 1.68420188e-04,
  1.00837986e-04,-1.32123094e-04,-4.90429301e+00,-4.38675486e-04,
  3.39132172e-03,-4.61391620e-04]


--- Step 2050 ---
qpos:
[ 0.01869435, 0.03003301,-0.00945156,-0.02528206,-0.00345098, 1.34039614,
 -0.02988407, 0.94375858, 0.01155737, 0.02730812,-0.0083179 , 0.02645618,
  1.39648437, 0.00769283, 1.29241749, 0.044296  ,-0.08591279,-0.04771394,
  0.09337872, 0.7075247 ,-0.08101617,-0.69721749,-0.08205464]

qacc:
[ 2.39549173e+00,-3.52848993e+00, 1.21740075e+01,-1.35818284e+01,
  6.99319694e-02, 3.87027989e-01,-1.93941661e+00, 5.67509982e+00,
  6.05520421e+00, 2.18280656e-01, 8.56917404e-01,-6.50075500e+00,
  1.49278792e-02, 8.85901446e-02,-6.02140961e+00, 2.10137896e+01,
  4.53339747e+00,-9.63662045e-01, 3.30200897e+00,-1.71470406e+00,
  1.47532365e+02, 2.11097702e+00]

qfrc_actuator:
[ 1.04625558e-04, 9.40781013e-04, 1.81238043e-04,-6.15157978e-05,
  1.82555600e-05, 3.52847579e-02, 1.08315792e-02, 1.76297246e-03,
 -2.67305933e-05, 8.98444054e-04, 1.69247365e-04, 2.07566594e-05,
  0.00000000e+00,-1.63249723e-03, 0.00000000e+00,-1.21169209e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003966615325354847
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39945890e-14,  2.79891780e-14,  1.00000000e+00, -3.91697043e-28,
        1.00000000e+00, -2.79891780e-14, -1.00000000e+00,  0.00000000e+00,
        1.39945890e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13897882, -0.03543446,  0.06180037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.02029835e-05, 6.60245004e-06, 6.89422707e-06, 1.80859381e-05,
  3.66046600e-05, 1.93360077e-07,-1.76890309e-05,-1.85183823e-05,
  4.15326903e-03, 1.45838598e-05, 1.91329369e-05, 1.07283808e-04,
  1.60456848e-05,-5.56618971e-05,-4.90459739e+00,-1.74296138e-04,
  3.38944472e-03,-4.42613072e-04]


--- Step 2051 ---
qpos:
[ 0.01869416, 0.03003342,-0.00945016,-0.02528279,-0.0034507 , 1.34040346,
 -0.02988468, 0.94375914, 0.01155799, 0.02730942,-0.00831857, 0.02645554,
  1.39647066, 0.00769165, 1.29253608, 0.04429632,-0.08588445,-0.04768624,
  0.09339273, 0.7078056 ,-0.08136981,-0.69693283,-0.08169952]

qacc:
[-7.60644868e+00,-2.13824101e+00, 9.46187567e+00,-1.64187205e+01,
  6.25268721e-02,-3.52805013e+00, 9.71906740e+00,-1.88474664e+00,
 -2.29020284e+00, 8.90256710e-01,-3.65372214e+00, 6.35936443e+00,
  6.82091439e-02,-2.33636502e-01,-2.45426611e+00, 8.78353975e+00,
  4.03502562e+00,-8.53505285e-01, 1.83849508e+00,-1.30466573e+00,
  1.31088585e+02, 2.22719691e+00]

qfrc_actuator:
[ 5.84744527e-05, 9.60236865e-04, 2.14109953e-04,-7.83546828e-05,
  2.43154557e-05, 3.52683269e-02, 1.09089373e-02, 1.79191217e-03,
 -4.15863420e-05, 9.05749246e-04, 1.62514211e-04, 2.87743891e-05,
  0.00000000e+00,-1.65943097e-03, 0.00000000e+00,-1.17177966e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003950379879977817
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40521046e-14, -1.40521046e-14,  1.00000000e+00,  1.97461643e-28,
        1.00000000e+00,  1.40521046e-14, -1.00000000e+00,  0.00000000e+00,
        1.40521046e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1390023 , -0.03543081,  0.06180114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.79984708e-05,-1.09353619e-05, 7.99584398e-05, 2.97675065e-05,
 -1.37788607e-05, 2.94397677e-06,-9.52034991e-06, 7.05227957e-06,
  4.15448778e-03,-2.15733634e-05, 1.78681142e-05, 4.76907587e-05,
  5.12593408e-06,-1.73608061e-08,-4.90464209e+00, 6.55623926e-05,
  3.39379086e-03,-4.24298792e-04]


--- Step 2052 ---
qpos:
[ 0.01869342, 0.0300343 ,-0.00944877,-0.02528336,-0.00345031, 1.34041047,
 -0.02988456, 0.94375938, 0.01155773, 0.02731063,-0.00831923, 0.02645431,
  1.39645753, 0.0076903 , 1.29265541, 0.04429143,-0.08584164,-0.04766159,
  0.09340914, 0.70824988,-0.08170879,-0.69648121,-0.08136157]

qacc:
[-4.74298711e+00, 9.64221830e-01,-3.17096171e+00, 5.53379449e+00,
  4.88465006e-02,-2.90320690e+00, 9.64471315e+00,-1.18998841e+01,
 -7.43980290e+00,-1.32135195e+00, 7.05319048e+00,-1.71629800e+01,
  1.12420338e-01,-6.83811919e-02, 1.68287739e+01,-5.72814611e+01,
  3.61767274e+00,-7.60884456e-01, 5.99730532e-01,-9.63878058e-01,
  1.17311221e+02, 2.28352406e+00]

qfrc_actuator:
[ 3.13935365e-05, 9.89374105e-04, 2.15149644e-04,-7.02129943e-05,
  2.77535908e-05, 3.52380464e-02, 1.09369768e-02, 1.77322145e-03,
 -8.60910439e-05, 8.91825347e-04, 1.58852131e-04,-1.74893937e-06,
  0.00000000e+00,-1.63949902e-03, 0.00000000e+00,-1.45026815e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003894970032480731
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.42520098e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.42520098e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13907992, -0.03541421,  0.06180372])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.40732553e-05,-1.98409383e-05, 3.58662033e-05,-1.59742165e-05,
 -4.49038371e-05,-1.39825119e-05,-3.98729837e-06,-3.05886066e-05,
  4.16116881e-03, 8.01463329e-06, 1.02235269e-05,-2.74287887e-04,
  4.58427776e-05, 4.04260057e-05,-4.90450558e+00, 2.84846011e-04,
  3.40370249e-03,-4.06353258e-04]


--- Step 2053 ---
qpos:
[ 0.01869304, 0.0300355 ,-0.0094476 ,-0.02528345,-0.00344999, 1.3404173 ,
 -0.02988418, 0.94376114, 0.01155764, 0.02731179,-0.00832023, 0.02645309,
  1.39644508, 0.00768919, 1.29277483, 0.04428294,-0.08581961,-0.04763247,
  0.09342038, 0.70845596,-0.08206528,-0.69627044,-0.08101177]

qacc:
[ 3.16373399e+00, 2.02062773e+00,-8.63720212e+00, 1.71127982e+01,
 -2.62719371e-02, 1.63246559e+00,-8.72005697e+00, 2.52379155e+01,
  1.33585777e+00, 9.00169267e-01,-3.39071411e+00, 4.20642224e+00,
  1.19154313e-01, 2.05427254e-01, 1.10360910e+01,-3.84174254e+01,
 -5.19428856e+00, 1.11863319e+00,-1.29133296e+00,-2.00923026e+00,
 -1.69431114e+02,-9.23425221e+00]

qfrc_actuator:
[ 5.12788766e-05, 9.88463693e-04, 1.97463321e-04,-4.74417323e-05,
  1.18392439e-05, 3.52350124e-02, 1.09533206e-02, 1.85086681e-03,
 -7.66634023e-05, 8.83032491e-04, 1.39160683e-04,-1.46843473e-06,
  0.00000000e+00,-1.60914684e-03, 0.00000000e+00,-1.63003889e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003978719807684439
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.97600659e-15, -1.04640099e-14,  1.00000000e+00,  7.29970020e-29,
        1.00000000e+00,  1.04640099e-14, -1.00000000e+00,  0.00000000e+00,
        6.97600659e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00785063, -0.06904121,  0.0618    ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.59880273e-06,-7.52022883e-06, 1.60681879e-05, 7.77407038e-05,
  8.11200546e-06,-1.87965114e-05,-2.41314780e-05,-1.04865971e-06,
  4.13244455e-03, 4.68722630e-05,-2.92031208e-05,-1.94543536e-04,
  1.23100476e-04, 6.95973489e-05,-4.90424289e+00, 4.86780279e-04,
  3.41861852e-03,-3.88699639e-04]


--- Step 2054 ---
qpos:
[ 0.01869326, 0.0300368 ,-0.0094468 ,-0.02528322,-0.00344992, 1.34042403,
 -0.02988359, 0.94376381, 0.01155834, 0.02731295,-0.00832156, 0.02645257,
  1.39643276, 0.00768802, 1.29289389, 0.044274  ,-0.08581587,-0.04759938,
  0.09342239, 0.7084528 ,-0.08243751,-0.6962715 ,-0.08065156]

qacc:
[ 5.01348847e+00, 1.82047147e+00,-7.65205435e+00, 1.36417085e+01,
 -1.10341806e-01, 8.87538677e-01,-4.93988405e+00, 1.49507203e+01,
  6.84168915e+00, 2.34286846e+00,-1.12716029e+01, 2.37847508e+01,
  1.31463050e-01,-1.46291403e-01, 8.18068349e-01,-3.66827115e+00,
 -4.57413653e+00, 9.90517110e-01,-2.30920901e+00,-1.95442286e+00,
 -1.48948199e+02,-8.00680467e+00]

qfrc_actuator:
[ 8.08900684e-05, 9.69492315e-04, 1.68760003e-04,-3.40336634e-05,
 -1.55553416e-05, 3.52305657e-02, 1.09628118e-02, 1.89584408e-03,
 -3.55569769e-05, 8.95087905e-04, 1.27954429e-04, 3.46836543e-05,
  0.00000000e+00,-1.64389181e-03, 0.00000000e+00,-1.64357805e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004018425057540305
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.72676952e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.72676952e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0077606 , -0.06902106,  0.06179826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.18854591e-05,-3.17116091e-06, 1.21233666e-05, 4.70373720e-05,
  4.13408539e-05,-3.51008567e-06,-1.80969464e-05, 3.44932288e-05,
  4.09790198e-03, 3.19438167e-07,-3.57734624e-05,-2.83126074e-05,
  2.09319467e-05, 2.87542714e-05,-4.90459661e+00, 2.02149254e-04,
  3.42796579e-03,-3.83015504e-04]


--- Step 2055 ---
qpos:
[ 0.01869417, 0.03003797,-0.00944651,-0.02528314,-0.00345029, 1.34043065,
 -0.02988306, 0.94376493, 0.01155884, 0.0273139 ,-0.00832232, 0.02645142,
  1.39642018, 0.00768656, 1.29301245, 0.04426725,-0.08582834,-0.04756277,
  0.09341168, 0.70826458,-0.08282391,-0.69645981,-0.08028215]

qacc:
[   5.97837647,   0.92361351,  -2.9166945 ,   1.24930024,  -0.18307611,
   -2.62216638,  11.56388158, -27.8332496 ,  -1.70087   ,  -3.18678688,
   13.60902521, -25.29159722,   0.17326449,  -0.44866527,  -7.39278243,
   24.73878067,  -4.04966148,   0.88172449,  -3.17795181,  -1.89790051,
 -131.70517154,  -6.98504408]

qfrc_actuator:
[ 1.15972972e-04, 9.39782352e-04, 1.33694386e-04,-4.40207909e-05,
 -4.96145017e-05, 3.52075166e-02, 1.09504005e-02, 1.81469931e-03,
 -4.71618889e-05, 8.84093948e-04, 1.57464370e-04, 2.91088084e-06,
  0.00000000e+00,-1.68198991e-03, 0.00000000e+00,-1.52358490e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004003738786149874
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38648284e-14, -6.93241420e-15,  1.00000000e+00,  9.61167333e-29,
        1.00000000e+00,  6.93241420e-15, -1.00000000e+00,  0.00000000e+00,
        1.38648284e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0077954 , -0.06902924,  0.06179894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.29014005e-05,-2.10612387e-05,-1.02767074e-05,-7.97800411e-05,
 -1.03938254e-05,-1.52256532e-05, 2.77515328e-05,-3.18781153e-05,
  4.09108098e-03,-3.48403390e-05,-2.00056033e-05, 1.13745690e-04,
 -4.91554719e-06,-2.11350757e-05,-4.90467878e+00,-3.00561518e-05,
  3.42988344e-03,-3.76440632e-04]


--- Step 2056 ---
qpos:
[ 0.01869549, 0.03003883,-0.00944628,-0.02528319,-0.00345078, 1.34043702,
 -0.02988232, 0.94376474, 0.01155852, 0.02731447,-0.00832233, 0.02644955,
  1.3964074 , 0.0076849 , 1.29313066, 0.04426362,-0.08585522,-0.047523  ,
  0.09338531, 0.7079115 ,-0.08322316,-0.69681452,-0.07990455]

qacc:
[ 3.55421939e+00,-4.98930908e-01, 1.67436774e+00,-3.46356941e+00,
 -5.45572750e-02,-3.17699712e+00, 1.26795739e+01,-2.62058571e+01,
 -7.07195827e+00,-4.03002495e+00, 1.66943511e+01,-2.99541269e+01,
  2.29468154e-01,-4.37723349e-01,-9.99344403e+00, 3.41297769e+01,
 -3.60519177e+00, 7.89142328e-01,-3.91764996e+00,-1.84370635e+00,
 -1.17191577e+02,-6.13320890e+00]

qfrc_actuator:
[ 1.36239402e-04, 9.21559406e-04, 1.30591364e-04,-4.99545188e-05,
 -3.41382284e-05, 3.51910963e-02, 1.09605257e-02, 1.74873262e-03,
 -8.97103331e-05, 8.59500230e-04, 1.92883760e-04,-3.30650258e-05,
  0.00000000e+00,-1.68633782e-03, 0.00000000e+00,-1.36144222e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003945492876904509
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40695099e-14,  1.75868874e-14,  1.00000000e+00, -2.47438887e-28,
        1.00000000e+00, -1.75868874e-14, -1.00000000e+00,  0.00000000e+00,
        1.40695099e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00792899, -0.06905993,  0.06180152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.57850137e-05,-3.25246692e-05, 2.48969991e-06,-6.87391199e-05,
 -4.28559679e-05,-2.87663794e-05, 3.45908068e-05,-3.62858696e-05,
  4.10399816e-03,-2.45538879e-05, 2.30678881e-06, 1.65685365e-04,
  2.21386558e-05,-7.60108745e-05,-4.90457311e+00,-2.21588604e-04,
  3.42525290e-03,-3.69211690e-04]


--- Step 2057 ---
qpos:
[ 0.01869705, 0.03003945,-0.00944591,-0.02528264,-0.00345113, 1.34044329,
 -0.02988155, 0.94376409, 0.01155802, 0.02731474,-0.00832193, 0.02644798,
  1.39639493, 0.00768312, 1.29324911, 0.0442596 ,-0.08586164,-0.04748776,
  0.09337896, 0.70779229,-0.08360815,-0.69693094,-0.07954254]

qacc:
[ 2.00688944e+00, 4.93289201e-01,-4.71028566e+00, 1.49028027e+01,
  6.22751182e-02,-9.69487008e-01, 3.92225836e+00,-8.53598286e+00,
 -1.37412781e+00,-9.47141124e-01, 1.56099949e+00, 3.04312961e+00,
  2.74481112e-01,-2.99948194e-01, 1.50448180e+00,-4.80458384e+00,
  5.11679150e+00,-1.13288902e+00, 5.00605947e+00,-1.72487147e-01,
  1.67047278e+02, 8.77202635e+00]

qfrc_actuator:
[ 1.47621091e-04, 9.28229412e-04, 1.46431956e-04,-1.79163247e-05,
 -6.82388127e-06, 3.51966050e-02, 1.09661766e-02, 1.72777891e-03,
 -9.68561952e-05, 8.44731506e-04, 2.13688635e-04,-1.79727959e-05,
  0.00000000e+00,-1.67041114e-03, 0.00000000e+00,-1.38884617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003917567990871368
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83395981e-14, -1.41697991e-14,  1.00000000e+00,  4.01566411e-28,
        1.00000000e+00,  1.41697991e-14, -1.00000000e+00,  0.00000000e+00,
        2.83395981e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13904723, -0.03541666,  0.06180266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.79856592e-05,-1.41069776e-05,-2.45213866e-06,-2.34423005e-05,
 -8.40947933e-06,-2.52975136e-05, 1.78666765e-05, 1.43547692e-05,
  4.11369235e-03, 1.41171296e-06, 1.75486021e-05,-1.82993332e-05,
  8.51679282e-05,-1.33104754e-04,-4.90433820e+00,-3.81334239e-04,
  3.41481420e-03,-3.61503551e-04]


--- Step 2058 ---
qpos:
[ 0.01869873, 0.03003983,-0.00944532,-0.02528207,-0.0034517 , 1.34044968,
 -0.02988117, 0.94376424, 0.01155745, 0.02731454,-0.00832093, 0.0264473 ,
  1.39638287, 0.00768178, 1.29336725, 0.04425833,-0.08584995,-0.04745648,
  0.09338575, 0.70787964,-0.08398056,-0.69683711,-0.0791942 ]

qacc:
[ 1.07872636e+00,-8.38413723e-01, 2.40852018e+00,-2.05192556e+00,
 -9.07296769e-02, 2.57193524e+00,-9.80470096e+00, 1.75873118e+01,
 -6.74718285e-01,-4.58711901e-01,-3.03146273e+00, 1.78499291e+01,
  2.91529212e-01, 5.79489255e-02,-8.77320394e+00, 2.99642001e+01,
  4.52549135e+00,-9.89404368e-01, 3.28565084e+00,-4.09112391e-02,
  1.47451102e+02, 7.78333287e+00]

qfrc_actuator:
[ 1.53687378e-04, 9.14370290e-04, 1.55696634e-04,-1.70204521e-05,
 -4.36418491e-05, 3.52152180e-02, 1.09514918e-02, 1.76899142e-03,
 -1.00849170e-04, 8.18195157e-04, 2.43519857e-04, 2.70429500e-05,
  0.00000000e+00,-1.62456320e-03, 0.00000000e+00,-1.24367547e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003950899595780745
  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([-0.13900069, -0.03542506,  0.06180112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.61901489e-05, 9.58178721e-06,-1.84194690e-05, 4.01818911e-05,
 -4.24845313e-06,-3.63925175e-05, 2.72985057e-05, 4.48314892e-05,
  4.09830733e-03, 5.35162055e-05, 3.16379890e-06, 1.45736519e-04,
  2.36770737e-06,-5.37786127e-05,-4.90463344e+00,-1.43771755e-04,
  3.40967185e-03,-3.44046907e-04]


--- Step 2059 ---
qpos:
[ 0.01870047, 0.03004004,-0.00944463,-0.02528148,-0.00345257, 1.34045603,
 -0.02988093, 0.94376522, 0.01155649, 0.02731376,-0.00831921, 0.02644751,
  1.3963712 , 0.00768075, 1.29348527, 0.04425945,-0.08582215,-0.04742868,
  0.09339984, 0.70815048,-0.08434175,-0.69655639,-0.0788579 ]

qacc:
[ 5.18608073e-01,-5.17013905e-01, 1.46256430e+00,-1.37186649e+00,
 -1.28830154e-01, 1.74303397e+00,-7.49996766e+00, 1.62997340e+01,
 -3.28038223e+00,-9.43304378e-01,-1.51266491e+00, 1.62550131e+01,
  3.06847491e-01,-4.57985757e-02,-7.47689826e+00, 2.58458240e+01,
  4.03034537e+00,-8.69519532e-01, 1.82618098e+00, 8.06513082e-02,
  1.31033758e+02, 6.94348063e+00]

qfrc_actuator:
[ 1.56579637e-04, 9.06042037e-04, 1.60895477e-04,-1.67311937e-05,
 -6.53787399e-05, 3.52059934e-02, 1.09427612e-02, 1.81093952e-03,
 -1.20718712e-04, 7.84884793e-04, 2.78413577e-04, 7.15431884e-05,
  0.00000000e+00,-1.61453532e-03, 0.00000000e+00,-1.12220004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003935303223749638
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41059400e-14, -1.41059400e-14,  1.00000000e+00,  1.98977544e-28,
        1.00000000e+00,  1.41059400e-14, -1.00000000e+00,  0.00000000e+00,
        1.41059400e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13902256, -0.0354183 ,  0.06180186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.72131647e-05,-6.36358261e-06,-7.78117027e-06, 4.26371728e-05,
 -2.00093785e-05,-4.61073063e-05, 3.22816957e-05, 4.47575346e-05,
  4.07725449e-03, 4.15763347e-05, 1.65892389e-05, 1.29725826e-04,
 -6.96158821e-06, 6.18823325e-06,-4.90467078e+00, 8.37386610e-05,
  3.41126651e-03,-3.26444123e-04]


--- Step 2060 ---
qpos:
[ 0.01870258, 0.03004032,-0.0094443 ,-0.02528056,-0.00345357, 1.34046255,
 -0.0298811 , 0.94376532, 0.01155529, 0.02731282,-0.00831745, 0.0264479 ,
  1.39636028, 0.00767976, 1.29360385, 0.04425768,-0.08577988,-0.04740396,
  0.0934163 , 0.70858535,-0.08469282,-0.69610819,-0.07853224]

qacc:
[ 3.12582983e+00, 1.78805381e+00,-7.67473180e+00, 1.41037829e+01,
 -5.80367536e-02,-1.64490873e-01, 2.64570201e+00,-1.27447995e+01,
 -1.96859659e+00, 5.38784369e-02,-1.26475907e+00, 4.44961837e+00,
  3.16296136e-01,-1.23789278e-01, 9.58450670e+00,-3.23582210e+01,
  3.61554536e+00,-7.69340487e-01, 5.90787055e-01, 1.93963692e-01,
  1.17278798e+02, 6.23364841e+00]

qfrc_actuator:
[ 1.75335103e-04, 9.18826034e-04, 1.45924580e-04, 9.57643481e-07,
 -6.01384700e-05, 3.52157037e-02, 1.09197558e-02, 1.76419847e-03,
 -1.32022782e-04, 7.83310143e-04, 2.80472755e-04, 7.98688535e-05,
  0.00000000e+00,-1.60829631e-03, 0.00000000e+00,-1.28199373e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003880587168611928
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.4304833e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.4304833e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13909874, -0.03539959,  0.06180441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.67504195e-05, 5.90656375e-06,-2.38909635e-05,-4.61613361e-05,
 -1.19100128e-05,-1.87742632e-05,-1.95184085e-06, 8.33588126e-06,
  4.05775844e-03, 3.21871825e-05, 2.01338448e-05,-1.50911547e-04,
  3.50894657e-05, 5.18822907e-05,-4.90452827e+00, 3.00145102e-04,
  3.41882397e-03,-3.08763706e-04]


--- Step 2061 ---
qpos:
[ 0.01870421, 0.03004059,-0.00944387,-0.0252791 ,-0.00345463, 1.34046942,
 -0.02988229, 0.9437659 , 0.01155397, 0.02731203,-0.00831608, 0.02644803,
  1.39634966, 0.00767883, 1.29372216, 0.04425706,-0.08575825,-0.0473745 ,
  0.09342747, 0.70878319,-0.08506045,-0.69590003,-0.07819377]

qacc:
[-4.12264673e+00, 8.39616687e-01,-5.22807944e+00, 1.42404870e+01,
 -2.18799230e-02, 4.00907695e+00,-1.35360188e+01, 1.72189920e+01,
 -1.09635421e+00, 7.59842026e-01,-1.30159458e+00,-2.70842330e+00,
  3.14031277e-01,-2.32949303e-01,-3.91282682e+00, 1.30342812e+01,
 -5.15921967e+00, 1.18308817e+00,-1.32376669e+00,-2.02266019e+00,
 -1.68740555e+02,-9.16489104e+00]

qfrc_actuator:
[ 1.50020695e-04, 9.26336489e-04, 1.54771583e-04, 2.87482025e-05,
 -5.65101550e-05, 3.52365696e-02, 1.08707697e-02, 1.78990854e-03,
 -1.38189331e-04, 8.00594593e-04, 2.63229014e-04, 6.68458044e-05,
  0.00000000e+00,-1.62193070e-03, 0.00000000e+00,-1.21564949e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003981394692581172
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -3.4856599e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  3.4856599e-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([ 0.00784336, -0.06905171,  0.06179992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.26958828e-06, 1.80284341e-05,-5.19101379e-05, 2.41256437e-05,
 -6.52330126e-06, 6.74461274e-06,-2.10849708e-05,-1.37353409e-05,
  4.02016255e-03, 1.68348422e-05,-1.05030812e-05, 5.97907632e-05,
  1.13522778e-04, 8.68816508e-05,-4.90426064e+00, 5.05348204e-04,
  3.43169433e-03,-2.91043993e-04]


--- Step 2062 ---
qpos:
[ 0.01870517, 0.03004071,-0.00944295,-0.02527803,-0.00345555, 1.34047617,
 -0.02988337, 0.94376747, 0.01155363, 0.02731115,-0.00831512, 0.02644805,
  1.39633918, 0.00767812, 1.29383996, 0.04426056,-0.08575479,-0.04734087,
  0.09342928, 0.70877275,-0.08544335,-0.69590297,-0.07784393]

qacc:
[-5.65012069e+00,-2.36667975e+00, 9.74532348e+00,-1.69796663e+01,
  5.77381447e-02, 1.24914042e+00,-6.27786948e+00, 1.68675698e+01,
  8.27195836e+00, 7.60318825e-01,-2.41338983e+00, 1.06841090e+00,
  3.31122047e-01,-2.01666204e-01,-1.32443252e+01, 4.51722538e+01,
 -4.54471674e+00, 1.04370867e+00,-2.33694705e+00,-2.06044248e+00,
 -1.48364482e+02,-7.77876923e+00]

qfrc_actuator:
[ 1.16717335e-04, 9.12985510e-04, 1.77608411e-04, 9.01700808e-06,
 -3.61273045e-05, 3.52283783e-02, 1.08779587e-02, 1.84031090e-03,
 -8.80274028e-05, 7.75679516e-04, 2.34814179e-04, 5.91352571e-05,
  0.00000000e+00,-1.61202135e-03, 0.00000000e+00,-9.98758996e-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, -4.58424249,  7.31925526, -4.58424249, 57.02498235,
       30.30706733,  7.31925526, 30.30706733, 27.61847873,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004019216265169295
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38114368e-14, -1.38114368e-14,  1.00000000e+00,  1.90755785e-28,
        1.00000000e+00,  1.38114368e-14, -1.00000000e+00,  0.00000000e+00,
        1.38114368e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00775713, -0.06903523,  0.06179827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.66785942e-05,-7.69171477e-06, 5.51035267e-06, 4.99898574e-05,
  4.99735804e-05,-2.60817915e-05,-3.01021617e-05,-8.41997319e-06,
  4.00475950e-03, 2.38645586e-05, 8.12213026e-07, 2.18617752e-04,
  1.19174416e-05, 3.70288794e-05,-4.90460519e+00, 2.22633364e-04,
  3.44035191e-03,-2.85314647e-04]


--- Step 2063 ---
qpos:
[ 0.01870504, 0.03004088,-0.00944234,-0.02527786,-0.00345657, 1.34048239,
 -0.02988353, 0.94376824, 0.01155388, 0.02731015,-0.00831478, 0.02644763,
  1.39632944, 0.00767771, 1.29395807, 0.0442636 ,-0.08576744,-0.04730353,
  0.09341829, 0.70857808,-0.08584034,-0.69609251,-0.07748395]

qacc:
[-9.41885905e+00,-8.94393386e-01, 7.15882452e+00,-2.24182741e+01,
 -4.52658557e-02,-4.54993160e+00, 1.56335727e+01,-2.24573052e+01,
  5.13997734e+00, 6.88669833e-01,-9.03179208e-01,-5.31874434e+00,
  3.43424652e-01, 8.53902036e-03, 1.83913312e+00,-5.82414914e+00,
 -4.02490346e+00, 9.25843173e-01,-3.20160191e+00,-2.06954304e+00,
 -1.31211355e+02,-6.64559943e+00]

qfrc_actuator:
[ 6.12400675e-05, 9.05024019e-04, 1.55138067e-04,-3.85308089e-05,
 -5.91168746e-05, 3.51853304e-02, 1.09181515e-02, 1.79832939e-03,
 -5.83726663e-05, 7.61143724e-04, 1.99878084e-04, 3.68251408e-05,
  0.00000000e+00,-1.57041414e-03, 0.00000000e+00,-1.03227129e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.54789818,  7.34189342, -4.54789818, 61.14188303,
       32.52427443,  7.34189342, 32.52427443, 28.78335845,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004003009536412659
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.04005157e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.04005157e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00779486, -0.06904666,  0.06179901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.31341378e-05,-4.47639311e-05, 4.07773074e-05,-4.08820964e-05,
  3.11090151e-05,-3.56626498e-05,-4.43259398e-05,-2.46355888e-05,
  3.99740046e-03, 5.47151441e-05, 2.36440695e-05,-2.14950031e-05,
 -1.36405597e-05,-1.88995309e-05,-4.90468080e+00,-8.16266468e-06,
  3.44181788e-03,-2.78699386e-04]


--- Step 2064 ---
qpos:
[ 0.01870425, 0.03004097,-0.00944257,-0.02527716,-0.00345763, 1.34048811,
 -0.02988374, 0.94376889, 0.01155414, 0.02730904,-0.00831464, 0.02644728,
  1.3963204 , 0.00767753, 1.29407636, 0.04426557,-0.08579443,-0.04726289,
  0.09339155, 0.70821927,-0.08625035,-0.69644787,-0.07711485]

qacc:
[-5.72338613e+00, 3.32141286e+00,-1.41870217e+01, 2.45889379e+01,
 -1.14708514e-02,-7.14169885e-01, 1.77653673e+00,-2.55894170e+00,
  7.53406649e-02, 5.39940958e-01,-2.37026577e+00, 3.71362352e+00,
  3.30134543e-01,-3.51290025e-02, 3.45456819e+00,-1.17527961e+01,
 -3.58428847e+00, 8.25964214e-01,-3.93775053e+00,-2.06114041e+00,
 -1.16773810e+02,-5.71736088e+00]

qfrc_actuator:
[ 2.86638933e-05, 8.82387312e-04, 1.06094644e-04,-1.33253040e-05,
 -5.46826986e-05, 3.51395837e-02, 1.09062733e-02, 1.79106322e-03,
 -5.87968170e-05, 7.70639286e-04, 1.96898854e-04, 4.16092665e-05,
  0.00000000e+00,-1.56322359e-03, 0.00000000e+00,-1.08881928e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.70580027,  7.24170012, -4.70580027, 65.00254712,
       36.62786321,  7.24170012, 36.62786321, 32.43787512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003943550113820984
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40764412e-14, -2.81528824e-14,  1.00000000e+00,  3.96292393e-28,
        1.00000000e+00,  2.81528824e-14, -1.00000000e+00,  0.00000000e+00,
        1.40764412e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00793068, -0.06908024,  0.06180165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.32867575e-06,-6.38025176e-05,-1.71988084e-05,-8.35399090e-06,
  4.74471878e-07,-2.06145652e-05,-1.66503810e-05, 1.24379436e-06,
  3.96033025e-03, 4.66012124e-05, 5.96778145e-06,-5.53511428e-05,
  1.34714995e-05,-7.78936205e-05,-4.90457040e+00,-1.99024717e-04,
  3.43691061e-03,-2.71434123e-04]


--- Step 2065 ---
qpos:
[ 0.0187041 , 0.03004077,-0.00944305,-0.02527619,-0.00345838, 1.34049355,
 -0.02988443, 0.94376876, 0.01155509, 0.02730773,-0.00831453, 0.02644698,
  1.39631174, 0.00767722, 1.29419465, 0.04426686,-0.08580091,-0.04722671,
  0.09338482, 0.70809504,-0.08665113,-0.69656422,-0.07675467]

qacc:
[ 5.56716540e+00, 8.93622108e-01,-4.94139525e+00, 1.04416088e+01,
  1.26779862e-01,-4.07248369e-01, 2.50033751e+00,-1.10446708e+01,
  5.82805537e+00,-6.85572396e-02,-4.08958637e-01, 1.64280848e+00,
  3.23957650e-01,-3.36148198e-01, 2.06266366e+00,-7.25832065e+00,
  5.12409279e+00,-1.11338654e+00, 5.00319686e+00, 1.06402553e+00,
  1.67063565e+02, 1.29791136e+01]

qfrc_actuator:
[ 6.30926419e-05, 8.68822915e-04, 9.50188092e-05, 1.20829572e-06,
 -1.60789085e-05, 3.51279000e-02, 1.08815084e-02, 1.75100570e-03,
 -2.36572572e-05, 7.59096189e-04, 1.95181047e-04, 4.45906087e-05,
  0.00000000e+00,-1.59447781e-03, 0.00000000e+00,-1.12290018e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003906662988883841
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.42093524e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.42093524e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13905876, -0.03539272,  0.06180319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.66346057e-05,-5.06314010e-05,-3.94529994e-05,-4.26646120e-05,
  3.51434466e-05,-2.64166192e-05,-7.97142188e-06, 1.54901198e-06,
  3.92490539e-03, 4.07900683e-06,-5.23320879e-06,-3.68760593e-05,
  7.63729313e-05,-1.37871126e-04,-4.90433205e+00,-3.58898381e-04,
  3.42632521e-03,-2.63690952e-04]


--- Step 2066 ---
qpos:
[ 0.01870437, 0.0300405 ,-0.00944321,-0.02527547,-0.00345891, 1.34049878,
 -0.02988524, 0.94376917, 0.01155645, 0.02730664,-0.00831492, 0.02644669,
  1.39630327, 0.00767652, 1.29431294, 0.04426739,-0.08578927,-0.0471944 ,
  0.09339123, 0.70817796,-0.08704364,-0.6964697 ,-0.07640252]

qacc:
[ 3.55710322e+00,-1.51460515e+00, 6.29654124e+00,-1.10268682e+01,
  9.40698967e-02, 9.48133201e-01,-4.54172142e+00, 1.02705986e+01,
  3.51222150e+00, 1.69804129e+00,-5.71716911e+00, 6.63999315e+00,
  3.33339509e-01,-5.64213700e-01, 2.26565793e+00,-8.02369340e+00,
  4.53287382e+00,-9.69048590e-01, 3.28397674e+00, 1.01132848e+00,
  1.47471632e+02, 1.13694467e+01]

qfrc_actuator:
[ 8.34186390e-05, 8.96441763e-04, 1.24223282e-04,-8.38244359e-06,
 -1.05473101e-05, 3.51366278e-02, 1.08849629e-02, 1.78074762e-03,
 -3.36159158e-06, 7.88320908e-04, 1.76374549e-04, 4.64638663e-05,
  0.00000000e+00,-1.63078608e-03, 0.00000000e+00,-1.16120516e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003940645803618463
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.81736314e-14, -2.81736314e-14,  1.00000000e+00,  7.93753508e-28,
        1.00000000e+00,  2.81736314e-14, -1.00000000e+00,  0.00000000e+00,
        2.81736314e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13901086, -0.03539958,  0.06180162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.71786150e-05,-2.83156236e-05,-1.21963896e-05, 2.60802537e-05,
  2.13118944e-05, 1.29342778e-05,-2.51771630e-05, 4.97605658e-07,
  3.90599494e-03,-2.59578356e-05,-8.19434278e-06,-4.14534531e-05,
 -5.57362827e-06,-5.46206180e-05,-4.90462120e+00,-1.23802131e-04,
  3.41980225e-03,-2.46070652e-04]


--- Step 2067 ---
qpos:
[ 0.01870453, 0.03004033,-0.00944312,-0.02527488,-0.00345914, 1.34050404,
 -0.02988614, 0.94376991, 0.0115577 , 0.02730608,-0.00831574, 0.02644639,
  1.3962949 , 0.00767545, 1.29443109, 0.0442681 ,-0.08576147,-0.04716548,
  0.09340494, 0.70844488,-0.08742867,-0.6961877 ,-0.07605758]

qacc:
[-8.76374906e-01,-8.72237971e-01, 3.88453779e+00,-6.76517669e+00,
  1.28771451e-01, 8.52271917e-01,-3.39439364e+00, 6.71969380e+00,
 -9.76855474e-01, 1.85610138e+00,-5.49811457e+00, 5.40770974e+00,
  3.49376430e-01,-5.94041938e-01,-8.36267607e-01, 2.52046222e+00,
  4.03772520e+00,-8.48665914e-01, 1.82544770e+00, 9.86399453e-01,
  1.31057544e+02, 1.00238127e+01]

qfrc_actuator:
[ 7.75065577e-05, 9.13162314e-04, 1.41615403e-04,-1.42786789e-05,
  1.06037091e-05, 3.51576600e-02, 1.08874313e-02, 1.79810964e-03,
 -9.72906103e-06, 8.41667934e-04, 1.65543733e-04, 4.76912982e-05,
  0.00000000e+00,-1.65205682e-03, 0.00000000e+00,-1.14843417e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003925681132957541
  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([-0.13903157, -0.03539191,  0.06180233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.72106913e-05, 3.73372434e-06,-3.69799512e-06, 1.67645818e-05,
 -5.74170067e-06, 5.54570920e-05,-1.12243990e-05, 9.23569932e-07,
  3.89659720e-03,-2.75685238e-05,-1.02481905e-05, 8.96114254e-06,
 -1.38364168e-05, 1.05167687e-05,-4.90465267e+00, 1.08513225e-04,
  3.42002236e-03,-2.27959862e-04]


--- Step 2068 ---
qpos:
[ 0.01870463, 0.03004032,-0.00944337,-0.02527468,-0.00345894, 1.34050873,
 -0.02988641, 0.94376948, 0.01155921, 0.02730607,-0.00831616, 0.02644535,
  1.39628677, 0.00767402, 1.29454923, 0.04426828,-0.08572629,-0.04713767,
  0.09344674, 0.70879438,-0.08781162,-0.6958211 ,-0.07571426]

qacc:
[ -0.63045509,  0.38939643,  0.54107741, -6.77464148,  0.1813257 ,
  -4.4267505 , 15.93271349,-26.94774611,  2.20998622, -1.88652595,
  10.88471218,-24.62782513,  0.36543206, -0.56243676,  1.6057935 ,
  -5.71136789,  1.84671546, -0.27392   ,  7.02367383,  0.56002091,
  58.86203094,  5.54268998]

qfrc_actuator:
[ 7.39551293e-05, 9.05451207e-04, 1.16352295e-04,-3.57207432e-05,
  4.09553768e-05, 3.50971415e-02, 1.09070782e-02, 1.73702597e-03,
  3.77090437e-06, 8.91331672e-04, 1.95133009e-04, 1.30572957e-05,
  0.00000000e+00,-1.66416262e-03, 0.00000000e+00,-1.17667868e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038714507464690227
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.24011559e-07,  5.24011545e-07,  1.00000000e+00,  2.74588107e-13,
        1.00000000e+00, -5.24011545e-07, -1.00000000e+00,  5.04870979e-29,
       -5.24011559e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.10181658, -0.04392557,  0.06180486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.23407704e-05,-5.87046645e-05, 2.04443564e-05,-6.06842815e-05,
  1.33488859e-05, 7.84291487e-05, 3.97124640e-05,-3.26236106e-05,
  3.89081750e-03,-2.07235129e-05,-5.33239958e-06,-2.94472076e-05,
  2.94364618e-05, 6.21670356e-05,-4.90450460e+00, 3.34424449e-04,
  3.42623162e-03,-2.09512984e-04]


--- Step 2069 ---
qpos:
[ 0.01870468, 0.03004009,-0.0094435 ,-0.02527437,-0.00345849, 1.34051265,
 -0.02988634, 0.94376939, 0.01156086, 0.02730616,-0.00831549, 0.02644426,
  1.39627887, 0.00767258, 1.29466703, 0.04427044,-0.08570947,-0.04710541,
  0.09347952, 0.70893273,-0.08820945,-0.69566846,-0.07535835]

qacc:
[-3.62546913e-01,-3.96552629e-01, 5.67588362e-01, 1.18700396e+00,
  1.07591743e-01,-1.34788681e+00, 2.45756177e+00, 2.33275641e+00,
  1.31578934e+00,-3.05591825e+00, 1.12784126e+01,-1.39751466e+01,
  3.73241822e-01,-3.61569247e-01,-6.57148826e+00, 2.21683394e+01,
 -4.59019924e+00, 1.10979425e+00,-2.25506318e+00,-2.05802344e+00,
 -1.50402137e+02,-7.74999798e+00]

qfrc_actuator:
[ 7.18302760e-05, 8.82983221e-04, 1.19257348e-04,-3.06821799e-05,
  4.10765751e-05, 3.50415411e-02, 1.09185981e-02, 1.75450203e-03,
  1.11129628e-05, 8.85293028e-04, 2.48323393e-04, 1.08857988e-05,
  0.00000000e+00,-1.65289052e-03, 0.00000000e+00,-1.06909903e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003924078243723074
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.82925812e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.82925812e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00797832, -0.06911387,  0.06180267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.10492476e-05,-8.59298124e-05, 5.77601115e-07, 1.49096772e-05,
  7.75946914e-06, 4.46414129e-05, 7.31619449e-05, 1.93168960e-06,
  3.87893589e-03, 8.27112995e-06,-7.59716709e-06, 1.04804064e-04,
  6.49585059e-05, 8.39700504e-05,-4.90438139e+00, 4.45257704e-04,
  3.43572840e-03,-1.93517024e-04]


--- Step 2070 ---
qpos:
[ 0.0187047 , 0.03003996,-0.00944373,-0.02527404,-0.00345803, 1.34051631,
 -0.02988583, 0.94377119, 0.01156294, 0.02730611,-0.00831481, 0.02644326,
  1.39627119, 0.00767124, 1.2947845 , 0.04427586,-0.08570894,-0.04706922,
  0.09349982, 0.70888437,-0.08862133,-0.69570507,-0.07499113]

qacc:
[-2.28386705e-01, 4.43850995e-01,-1.53585553e+00, 2.16638913e+00,
  1.19988713e-03, 1.69509992e+00,-9.80497639e+00, 3.05140547e+01,
  3.59038228e+00, 4.97214082e-03,-6.63287384e-01, 2.31528100e+00,
  3.82138010e-01,-3.13903905e-01,-1.03723590e+01, 3.54946803e+01,
 -4.07134532e+00, 9.83141722e-01,-3.12149037e+00,-2.14932464e+00,
 -1.33056908e+02,-6.48209263e+00]

qfrc_actuator:
[ 7.05613258e-05, 9.05228447e-04, 1.20984804e-04,-2.78426442e-05,
  2.30623600e-05, 3.50780930e-02, 1.09607858e-02, 1.85357923e-03,
  3.25176853e-05, 8.28323869e-04, 2.26051024e-04, 1.00494969e-05,
  0.00000000e+00,-1.64554486e-03, 0.00000000e+00,-9.00097193e-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, -5.51876126,  6.64304531, -5.51876126, 39.47701539,
       25.62110993,  6.64304531, 25.62110993, 29.92129884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003921854207264042
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23850237e-14,  2.83086256e-14,  1.00000000e+00, -3.50602999e-28,
        1.00000000e+00, -2.83086256e-14, -1.00000000e+00,  0.00000000e+00,
        1.23850237e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00799064, -0.06912197,  0.06180293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.30817045e-07,-1.04478115e-05, 2.58769581e-05, 9.68625310e-05,
  2.16452650e-05,-1.68105536e-05,-3.97792409e-06, 3.64655667e-06,
  3.86690623e-03, 1.62549349e-05, 7.11810981e-06, 1.73596327e-04,
 -6.05588836e-06, 2.84479281e-05,-4.90461326e+00, 1.87166948e-04,
  3.44231321e-03,-1.86622173e-04]


--- Step 2071 ---
qpos:
[ 0.01870505, 0.03004008,-0.00944372,-0.0252744 ,-0.00345766, 1.34052022,
 -0.02988498, 0.94377309, 0.01156526, 0.02730622,-0.00831502, 0.02644194,
  1.39626435, 0.0076697 , 1.29490278, 0.04427656,-0.08572293,-0.04702952,
  0.09350468, 0.70866971,-0.08904647,-0.69591003,-0.07461367]

qacc:
[ 2.82599286e+00,-1.77303560e+00, 9.77618693e+00,-2.25033735e+01,
 -3.73582877e-02,-4.39477827e-01, 1.62644865e+00,-4.48648883e-01,
  2.02329070e+00, 2.00252471e+00,-5.48054671e+00, 1.19550500e+00,
  3.81609549e-01,-3.10824101e-01, 1.54465296e+01,-5.23798512e+01,
 -3.63266423e+00, 8.76429584e-01,-3.85882591e+00,-2.20174147e+00,
 -1.18467960e+02,-5.45714356e+00]

qfrc_actuator:
[ 8.75588041e-05, 9.36325127e-04, 1.39918244e-04,-6.17981447e-05,
  1.20692577e-05, 3.51164637e-02, 1.09856290e-02, 1.85791820e-03,
  4.42772670e-05, 8.29748357e-04, 1.76914803e-04,-7.85761188e-06,
  0.00000000e+00,-1.64065717e-03, 0.00000000e+00,-1.15787111e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.47682989,  6.67765762, -5.47682989, 42.10269446,
       27.44815791,  6.67765762, 27.44815791, 31.14858276,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038752678038862023
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.16223420e-15, -4.29734052e-14,  1.00000000e+00, -3.07785593e-28,
        1.00000000e+00,  4.29734052e-14, -1.00000000e+00,  0.00000000e+00,
       -7.16223420e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00810396, -0.06915271,  0.06180515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.07983375e-05, 4.05417447e-05, 2.85829237e-05, 7.03790362e-06,
  1.23880118e-05,-8.63124294e-06,-5.29762788e-05,-1.86938333e-05,
  3.85618930e-03, 1.64499409e-05, 2.10739069e-05,-2.47572387e-04,
 -1.76789439e-05,-2.92900928e-05,-4.90463579e+00,-2.75921058e-05,
  3.44259047e-03,-1.78989537e-04]


--- Step 2072 ---
qpos:
[ 0.01870561, 0.03004019,-0.00944283,-0.02527484,-0.00345754, 1.34052448,
 -0.02988439, 0.94377401, 0.01156701, 0.02730615,-0.00831524, 0.02644177,
  1.39625833, 0.00766813, 1.29502127, 0.0442732 ,-0.08574997,-0.04698668,
  0.09349161, 0.70830578,-0.08948414,-0.69626566,-0.07422693]

qacc:
[   1.75320245,  -2.61951182,   9.57651997, -12.11791319,  -0.10674072,
   -0.48250932,   4.13788782, -15.12579749,  -4.827713  ,   2.20516916,
  -13.09310618,  33.32511376,   0.34948764,  -0.17693915,  12.58002103,
  -43.56870563,  -3.26105946,   0.7863411 ,  -4.48488871,  -2.2291021 ,
 -106.20648909,  -4.62644016]

qfrc_actuator:
[ 9.74187394e-05, 9.37023567e-04, 1.86637151e-04,-6.38493787e-05,
 -1.23738050e-05, 3.51200226e-02, 1.09644818e-02, 1.80644792e-03,
  1.47562009e-05, 8.30464038e-04, 1.83549529e-04, 5.31317007e-05,
  0.00000000e+00,-1.63699214e-03, 0.00000000e+00,-1.36323787e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.6015169 ,  6.57341504, -5.6015169 , 43.99407105,
       30.12996961,  6.57341504, 30.12996961, 34.31153138,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003793484695816529
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.92665745e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.92665745e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0082966 , -0.06920132,  0.06180889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.08228457e-05, 3.17640408e-05,-9.75989568e-06,-4.92411138e-05,
 -2.91584635e-05,-1.58420208e-05,-2.31412831e-06, 5.84256992e-05,
  3.81373331e-03, 2.99467521e-05,-2.12296428e-05,-2.17293840e-04,
  1.22707017e-05,-8.77040918e-05,-4.90451153e+00,-2.08825119e-04,
  3.43722034e-03,-1.70806700e-04]


--- Step 2073 ---
qpos:
[ 0.01870627, 0.0300404 ,-0.00944224,-0.02527489,-0.00345784, 1.34052892,
 -0.029884  , 0.94377431, 0.0115684 , 0.0273055 ,-0.00831521, 0.02644272,
  1.39625297, 0.00766688, 1.2951394 , 0.04426939,-0.08575715,-0.04694798,
  0.0934964 , 0.70816851,-0.08991709,-0.69639024,-0.0738438 ]

qacc:
[ 9.68558145e-01, 1.77016232e+00,-7.74808037e+00, 1.48733222e+01,
 -1.74917553e-01,-2.67893235e-01, 2.42152901e+00,-9.30912873e+00,
 -3.11617452e+00, 8.15217347e-01,-8.69843856e+00, 2.79231083e+01,
  3.17669114e-01, 1.74989496e-02, 7.99367437e-01,-3.63682829e+00,
  4.96553896e+00,-1.03596117e+00, 4.46683405e+00, 1.97658148e+00,
  1.61070160e+02, 1.58274580e+01]

qfrc_actuator:
[ 1.02992431e-04, 9.19660017e-04, 1.60529741e-04,-4.71129740e-05,
 -4.46876703e-05, 3.51202430e-02, 1.09517204e-02, 1.77578317e-03,
 -3.31775441e-06, 7.77771736e-04, 1.87628896e-04, 1.06846524e-04,
  0.00000000e+00,-1.61639940e-03, 0.00000000e+00,-1.37616683e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038369255224378895
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.44676124e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.44676124e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13916238, -0.03534   ,  0.06180686])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.05268807e-05, 1.43737698e-05,-9.10661256e-06,-3.11299067e-05,
 -1.89362767e-05,-5.95246034e-05, 2.55027459e-06, 5.40954939e-05,
  3.77231697e-03, 5.19082033e-05,-3.49635867e-05,-2.80485974e-05,
  7.09131170e-05,-1.45731423e-04,-4.90428441e+00,-3.63883500e-04,
  3.42676833e-03,-1.62211360e-04]


--- Step 2074 ---
qpos:
[ 0.018707  , 0.0300406 ,-0.00944243,-0.02527502,-0.00345839, 1.34053383,
 -0.02988419, 0.9437739 , 0.01156955, 0.02730475,-0.00831496, 0.02644321,
  1.39624828, 0.00766632, 1.29525706, 0.04426741,-0.08574671,-0.04691289,
  0.09351254, 0.70823186,-0.09034573,-0.69631049,-0.07346411]

qacc:
[ 5.07425847e-01, 1.95614631e+00,-6.61000814e+00, 6.23924006e+00,
 -1.07847696e-01, 9.07507147e-01,-7.38410595e-01,-8.01931384e+00,
 -1.94004081e+00,-1.69344228e+00, 7.81039428e+00,-1.60756083e+01,
  2.89958207e-01, 2.84243165e-01,-6.21635402e+00, 2.07160062e+01,
  4.40485007e+00,-9.01613896e-01, 2.83846701e+00, 1.80818209e+00,
  1.42517780e+02, 1.38723546e+01]

qfrc_actuator:
[ 1.06000943e-04, 8.91339933e-04, 1.09301520e-04,-5.50390140e-05,
 -4.59566844e-05, 3.51539938e-02, 1.09262763e-02, 1.73987535e-03,
 -1.44958312e-05, 8.00023981e-04, 2.07665140e-04, 8.47725914e-05,
  0.00000000e+00,-1.56822643e-03, 0.00000000e+00,-1.27561397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003861373656542849
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43760113e-14, -2.87520226e-14,  1.00000000e+00,  4.13339400e-28,
        1.00000000e+00,  2.87520226e-14, -1.00000000e+00,  0.00000000e+00,
        1.43760113e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13912895, -0.035343  ,  0.06180577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.11265047e-05, 3.89536522e-05,-2.45865138e-05,-3.64573645e-05,
 -1.17576230e-05,-8.17038939e-06, 9.93377353e-06,-2.34834386e-05,
  3.73952296e-03, 8.44772549e-05,-1.87979333e-05, 9.45540957e-05,
 -9.41320384e-06,-6.05475368e-05,-4.90456359e+00,-1.25151189e-04,
  3.41866599e-03,-1.43631339e-04]


--- Step 2075 ---
qpos:
[ 0.01870811, 0.03004035,-0.0094428 ,-0.0252749 ,-0.00345895, 1.34053888,
 -0.02988429, 0.94377271, 0.01157091, 0.02730429,-0.0083144 , 0.02644372,
  1.39624392, 0.00766612, 1.29537439, 0.04426828,-0.08572052,-0.04688096,
  0.09353452, 0.70847387,-0.09077032,-0.69604865,-0.07308764]

qacc:
[ 3.22279495e+00, 4.78987228e-01,-3.68336234e+00, 8.91440686e+00,
 -3.54900248e-03,-1.35837816e+00, 6.25108823e+00,-1.45255008e+01,
  1.72090162e+00,-4.33908765e-01, 1.98936203e+00,-2.29249711e+00,
  2.71285359e-01, 8.24631816e-03,-9.15475629e+00, 3.12486865e+01,
  3.93539932e+00,-7.89675740e-01, 1.45806928e+00, 1.69027218e+00,
  1.26978442e+02, 1.22431373e+01]

qfrc_actuator:
[ 1.25229562e-04, 8.56526228e-04, 9.68577891e-05,-4.19298514e-05,
 -2.85921351e-05, 3.51542485e-02, 1.09291748e-02, 1.70117604e-03,
 -3.77583184e-06, 8.49234263e-04, 2.37203222e-04, 8.93623974e-05,
  0.00000000e+00,-1.57501371e-03, 0.00000000e+00,-1.12681865e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003839838431072544
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.44566372e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.44566372e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13915994, -0.03533286,  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:
[ 1.93140724e-05,-6.04036319e-05,-2.44216505e-05, 1.00703741e-05,
 -1.02768478e-06, 1.58637059e-05, 6.64564858e-06,-3.90888229e-05,
  1.03713750e-05, 4.57094193e-05, 2.82676708e-05, 4.12708440e-06,
  3.70532964e-03, 4.34526169e-05, 2.11544259e-06, 1.51659252e-04,
 -2.03990271e-05, 8.72624302e-06,-4.90460126e+00, 1.14590975e-04,
  3.41699651e-03,-1.24351537e-04]


--- Step 2076 ---
qpos:
[ 0.01870909, 0.03003966,-0.00944333,-0.02527427,-0.00345943, 1.34054393,
 -0.02988454, 0.94377005, 0.0115717 , 0.02730415,-0.0083138 , 0.02644429,
  1.39623967, 0.00766549, 1.29549201, 0.04426823,-0.08568017,-0.04685181,
  0.09355765, 0.70887602,-0.09119108,-0.6956232 ,-0.07271415]

qacc:
[-1.04983523e+00, 9.01853948e-01,-6.17523296e+00, 1.54144299e+01,
  3.47581669e-02,-2.10370981e+00, 9.87964147e+00,-2.55758575e+01,
 -4.88223191e+00, 4.62340763e-01,-1.27314701e+00, 2.04360305e+00,
  2.74205780e-01,-5.42730854e-01, 3.18163748e+00,-1.05542358e+01,
  3.54222272e+00,-6.96414338e-01, 2.90398382e-01, 1.61273795e+00,
  1.13964075e+02, 1.08887604e+01]

qfrc_actuator:
[ 1.18346687e-04, 8.35999734e-04, 8.96516637e-05,-1.65219998e-05,
 -1.79444693e-05, 3.51345458e-02, 1.09131551e-02, 1.62564093e-03,
 -3.35128743e-05, 8.61023180e-04, 2.36767631e-04, 9.18993633e-05,
  0.00000000e+00,-1.63248466e-03, 0.00000000e+00,-1.18162190e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003781604369355346
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.93585187e-14, -2.20188890e-14,  1.00000000e+00,  6.46441964e-28,
        1.00000000e+00,  2.20188890e-14, -1.00000000e+00,  0.00000000e+00,
        2.93585187e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.139242  , -0.03531239,  0.06180958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.00410468e-05,-1.08372566e-05,-1.33137314e-05,-7.57645131e-05,
 -2.94194584e-05, 4.33828843e-05, 1.26296001e-05, 5.55268887e-06,
  3.68912281e-03,-3.22895837e-05, 1.66819733e-05,-4.63778214e-05,
  1.75055712e-05, 6.59760375e-05,-4.90446931e+00, 3.50604531e-04,
  3.42108428e-03,-1.04566765e-04]


--- Step 2077 ---
qpos:
[ 0.01870964, 0.03003896,-0.00944412,-0.02527408,-0.0034598 , 1.34054896,
 -0.02988559, 0.94376724, 0.01157143, 0.02730458,-0.00831332, 0.02644487,
  1.39623542, 0.00766454, 1.2956095 , 0.04426923,-0.08565918,-0.04681775,
  0.09357328, 0.70905577,-0.0916281 ,-0.69542303,-0.07232577]

qacc:
[-3.73941359e+00,-2.28648501e-01, 2.65018868e+00,-9.87164057e+00,
  4.30382934e-02, 1.86023526e+00,-5.77193465e+00, 3.19247678e+00,
 -8.99362295e+00, 1.09000257e+00,-2.78786279e+00, 2.60223881e+00,
  2.81027229e-01,-5.09837951e-01,-3.39491111e+00, 1.15014751e+01,
 -4.83993106e+00, 1.22856952e+00,-1.87831387e+00,-2.53540218e+00,
 -1.58470009e+02,-7.42819414e+00]

qfrc_actuator:
[ 9.61448587e-05, 8.59732541e-04, 8.56404179e-05,-3.73338653e-05,
 -1.14141366e-05, 3.51207043e-02, 1.08682280e-02, 1.61776707e-03,
 -8.68320616e-05, 9.03460992e-04, 2.36244500e-04, 9.31550029e-05,
  0.00000000e+00,-1.64869966e-03, 0.00000000e+00,-1.12517356e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037430207910147117
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.85382190e-15, -1.48305752e-14,  1.00000000e+00, -2.74932450e-29,
        1.00000000e+00,  1.48305752e-14, -1.00000000e+00,  0.00000000e+00,
       -1.85382190e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0084213 , -0.069262  ,  0.06181145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.24638602e-05,-2.47550403e-05,-5.07930972e-05,-1.03437035e-05,
 -5.41661370e-05, 6.95335216e-05, 1.01812843e-05, 3.65890649e-06,
  3.68308022e-03,-2.66539763e-05,-7.88409197e-07, 5.52385002e-05,
  9.03785686e-05, 1.13981675e-04,-4.90421826e+00, 5.80313059e-04,
  3.43034115e-03,-8.44055947e-05]


--- Step 2078 ---
qpos:
[ 0.01871026, 0.03003834,-0.00944448,-0.02527456,-0.00346009, 1.3405537 ,
 -0.0298869 , 0.94376642, 0.01157087, 0.02730538,-0.00831277, 0.02644547,
  1.39623157, 0.00766338, 1.29572727, 0.0442682 ,-0.08565532,-0.04677935,
  0.09357772, 0.70903923,-0.09208073,-0.69542178,-0.07192398]

qacc:
[ 6.46462546e-01,-2.42839115e+00, 1.16019297e+01,-2.37208432e+01,
  3.93231855e-02, 3.74821447e+00,-1.67971264e+01, 3.79117084e+01,
 -2.50287253e+00, 3.46903836e-01,-6.44548743e-01, 6.96797681e-01,
  2.84540431e-01,-3.37373832e-01, 6.50981349e+00,-2.22299653e+01,
 -4.28411108e+00, 1.08389389e+00,-2.79548169e+00,-2.67055900e+00,
 -1.39956774e+02,-6.03195188e+00]

qfrc_actuator:
[ 1.00618291e-04, 8.92018557e-04, 1.19201954e-04,-6.73837951e-05,
 -7.40689819e-06, 3.51103961e-02, 1.08599223e-02, 1.72077840e-03,
 -1.00333438e-04, 9.10657505e-04, 2.35803172e-04, 9.36745467e-05,
  0.00000000e+00,-1.64010937e-03, 0.00000000e+00,-1.23435083e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.45680555,  5.73554173, -6.45680555, 27.2734665 ,
       20.98078177,  5.73554173, 20.98078177, 32.25554988,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037695983896460644
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28852605e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.28852605e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00836085, -0.06925519,  0.06181031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.13718512e-05,-3.42853049e-05,-1.92401601e-05, 1.00539444e-04,
 -1.50621163e-05, 4.82977079e-05, 1.52923636e-05, 3.92169534e-06,
  3.68310407e-03,-2.33627256e-06, 3.72300749e-06,-1.06680652e-04,
 -5.09674033e-07, 4.87077286e-05,-4.90451124e+00, 2.80015939e-04,
  3.43943068e-03,-7.71614034e-05]


--- Step 2079 ---
qpos:
[ 0.01871093, 0.03003788,-0.00944418,-0.02527576,-0.00346044, 1.34055836,
 -0.02988785, 0.94376714, 0.0115705 , 0.02730638,-0.00831236, 0.02644507,
  1.39622816, 0.00766218, 1.29584503, 0.04426588,-0.08566672,-0.0467371 ,
  0.09356785, 0.70884819,-0.09254827,-0.69559713,-0.07151006]

qacc:
[ 4.33491063e-01,-3.12075263e+00, 1.44892259e+01,-2.82171041e+01,
 -2.96390259e-02, 1.52152413e+00,-8.23635799e+00, 2.49675991e+01,
  1.58584678e+00,-1.38176682e+00, 9.55483401e+00,-2.67945213e+01,
  2.68821289e-01,-1.99918209e-01, 3.88816889e+00,-1.36519669e+01,
 -3.81385460e+00, 9.62182338e-01,-3.57726933e+00,-2.74945170e+00,
 -1.24379629e+02,-4.91824895e+00]

qfrc_actuator:
[ 1.03009217e-04, 9.11581627e-04, 1.56978636e-04,-1.02582907e-04,
 -2.26980231e-05, 3.51379951e-02, 1.08911295e-02, 1.79946717e-03,
 -9.02826292e-05, 8.96690792e-04, 2.17525599e-04, 4.04726607e-05,
  0.00000000e+00,-1.63436181e-03, 0.00000000e+00,-1.29823279e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.45516748,  5.73738527, -6.45516748, 28.79257728,
       22.67788004,  5.73738527, 22.67788004, 34.15138607,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037475486545453587
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.40632829e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.40632829e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00841249, -0.06927353,  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:
[ 2.51196971e-06, 3.53793140e-05, 4.43314825e-05,-3.39768266e-05,
 -8.57258055e-06, 7.85959341e-06, 2.52545728e-05, 7.94286624e-05,
  9.62891997e-06, 1.63251704e-05,-6.29872569e-06,-5.05305019e-05,
  3.66260280e-03, 1.42190152e-05,-1.26099421e-05,-6.99391404e-05,
 -2.41243916e-05,-1.74148116e-05,-4.90456742e+00, 2.87062608e-05,
  3.44195504e-03,-6.90220945e-05]


--- Step 2080 ---
qpos:
[ 0.01871163, 0.03003763,-0.00944345,-0.02527701,-0.00346105, 1.34056288,
 -0.02988773, 0.94376738, 0.01157094, 0.02730758,-0.00831217, 0.02644404,
  1.39622463, 0.00766107, 1.29596206, 0.04426816,-0.08565976,-0.04669844,
  0.09357109, 0.70886561,-0.09301402,-0.69555962,-0.07109679]

qacc:
[ 2.11449341e-01,-1.04673051e+00, 4.37306252e+00,-6.21521731e+00,
 -1.09933698e-01,-3.87266860e+00, 1.33757256e+01,-1.70138080e+01,
  6.92676794e+00,-4.36780679e-01, 4.55532271e+00,-1.51674405e+01,
  2.62275714e-01,-2.81061150e-01,-1.50105496e+01, 5.08563956e+01,
  4.59078273e+00,-8.95569886e-01, 3.27423535e+00, 2.44001348e+00,
  1.48040803e+02, 1.64536644e+01]

qfrc_actuator:
[ 1.04146530e-04, 9.23407982e-04, 1.79132922e-04,-1.05033841e-04,
 -4.94421933e-05, 3.51349817e-02, 1.09455146e-02, 1.77446469e-03,
 -4.87102983e-05, 9.05533834e-04, 2.06481388e-04, 9.31132954e-06,
  0.00000000e+00,-1.64816940e-03, 0.00000000e+00,-1.05081697e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037054449293095065
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99619356e-14,  7.49048391e-15,  1.00000000e+00, -2.24429397e-28,
        1.00000000e+00, -7.49048391e-15, -1.00000000e+00,  0.00000000e+00,
        2.99619356e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13934812, -0.0352762 ,  0.06181321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.18100753e-05, 8.63241077e-06, 6.11230388e-05,-2.21778771e-05,
  4.18659054e-05, 1.44675982e-05,-1.02126198e-05,-3.16658178e-05,
  3.64067817e-03, 2.08414719e-06,-1.49337034e-05, 2.41562270e-04,
 -6.45445462e-07,-8.32301139e-05,-4.90445782e+00,-1.84769520e-04,
  3.43859334e-03,-6.02033294e-05]


--- Step 2081 ---
qpos:
[ 0.01871267, 0.03003755,-0.00944247,-0.02527724,-0.0034618 , 1.34056705,
 -0.02988679, 0.943767  , 0.01157119, 0.02730817,-0.00831152, 0.0264434 ,
  1.39622134, 0.00765973, 1.29607936, 0.04426998,-0.08563724,-0.04666778,
  0.09356038, 0.70905517,-0.09333536,-0.69535579,-0.07077848]

qacc:
[ 3.03442432e+00, 1.64110204e+00,-9.89599205e+00, 2.72535086e+01,
 -5.76102686e-02,-3.70446583e+00, 1.28090423e+01,-1.80388631e+01,
 -1.62747525e+00,-1.26898814e+00, 1.74866599e+00, 4.59977101e+00,
  2.74354530e-01,-3.78692124e-01, 1.73493048e+00,-5.54668860e+00,
  3.88727371e+00,-2.00016412e+00,-3.48393656e+00, 2.02519612e+01,
  1.28367533e+02,-7.00317984e+01]

qfrc_actuator:
[ 1.22289912e-04, 9.30479688e-04, 1.91877195e-04,-5.27087408e-05,
 -4.73347562e-05, 3.50959512e-02, 1.09774608e-02, 1.74189898e-03,
 -5.99361748e-05, 8.39230898e-04, 2.17660988e-04, 2.69055435e-05,
  0.00000000e+00,-1.65605448e-03, 0.00000000e+00,-1.08355820e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.74834122,  3.81444428, -7.74834122,  9.66298853,
        2.08539944,  3.81444428,  2.08539944, 12.87246862,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037220354750929913
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.47425756e-14, -1.49141919e-14,  1.00000000e+00,  6.67299358e-28,
        1.00000000e+00,  1.49141919e-14, -1.00000000e+00,  0.00000000e+00,
        4.47425756e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18079675, -0.00853844,  0.06181247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.66900737e-05,-2.29962024e-05, 3.99356683e-05,-3.10210046e-05,
 -9.98915002e-06,-6.17065630e-05, 1.17993100e-05, 1.72420972e-05,
  3.64625384e-03,-9.62430441e-06, 1.94763313e-05,-2.13265181e-05,
 -2.57099982e-05,-4.48315715e-06,-4.90454072e+00, 7.71114104e-05,
  3.43421309e-03,-3.93993424e-05]


--- Step 2082 ---
qpos:
[ 0.01871462, 0.03003772,-0.00944161,-0.02527716,-0.00346262, 1.34057084,
 -0.02988601, 0.94376733, 0.01157096, 0.02730761,-0.00831014, 0.02644303,
  1.39621839, 0.00765821, 1.29619686, 0.04427042,-0.08563335,-0.04663289,
  0.09354055, 0.70903468,-0.09368754,-0.69536359,-0.07044109]

qacc:
[ 7.70354012e+00, 1.25176802e+00,-5.24270887e+00, 1.03906144e+01,
 -2.84305179e-02, 1.10697158e+00,-5.66765737e+00, 1.33263923e+01,
 -4.05772330e+00,-3.03731911e+00, 7.49363528e+00,-3.20590413e+00,
  2.66988070e-01,-3.18647151e-01, 4.45564059e+00,-1.52138700e+01,
 -4.65521129e+00, 1.05641011e+00,-2.28021850e+00,-6.61001068e+00,
 -1.50040341e+02, 1.84237789e-01]

qfrc_actuator:
[ 1.68050630e-04, 9.34656060e-04, 1.81228779e-04,-3.95973816e-05,
 -4.56886071e-05, 3.50533170e-02, 1.09602600e-02, 1.77613692e-03,
 -8.44072706e-05, 7.46318407e-04, 2.41594816e-04, 3.74892031e-05,
  0.00000000e+00,-1.66011705e-03, 0.00000000e+00,-1.15692108e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003733914491245556
  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([ 0.0084394 , -0.06928761,  0.06181188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.21741499e-06,-4.85058803e-05,-1.80703524e-05, 3.40053960e-05,
 -2.47839479e-05,-1.24273252e-04, 1.32249998e-05, 8.68225184e-06,
  3.63427242e-03,-2.49338561e-06, 3.46135093e-06,-7.27921949e-05,
  2.34798462e-05, 3.32361767e-05,-4.90466181e+00, 2.75258255e-04,
  3.40632889e-03,-2.31012601e-05]


--- Step 2083 ---
qpos:
[ 0.01871675, 0.03003819,-0.0094411 ,-0.02527795,-0.00346346, 1.34057433,
 -0.02988549, 0.9437691 , 0.01157078, 0.02730628,-0.0083088 , 0.0264421 ,
  1.39621551, 0.00765671, 1.29631396, 0.04427333,-0.08561274,-0.04660652,
  0.09350867, 0.70919904,-0.09388482,-0.69519308,-0.07020644]

qacc:
[ 1.60524955e+00,-4.02534879e-01, 5.64371277e+00,-2.02606034e+01,
 -1.21500551e-02, 2.78469336e+00,-1.25371690e+01, 2.78104611e+01,
  4.61105892e-01,-2.04025651e+00, 8.14973434e+00,-1.71375354e+01,
  2.58499752e-01,-2.54291967e-01,-8.11179534e+00, 2.74317959e+01,
  4.18097353e+00,-2.12961753e+00,-3.01551137e+00, 2.15715137e+01,
  1.37747874e+02,-7.54247802e+01]

qfrc_actuator:
[ 1.76436886e-04, 9.36936460e-04, 1.56807716e-04,-8.51961023e-05,
 -4.43339558e-05, 3.50442031e-02, 1.09497163e-02, 1.84938357e-03,
 -8.09560436e-05, 7.09243721e-04, 2.37206560e-04, 8.32336785e-06,
  0.00000000e+00,-1.66183408e-03, 0.00000000e+00,-1.02275903e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037518746455369456
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47955773e-14, -1.47955773e-14,  1.00000000e+00,  2.18909107e-28,
        1.00000000e+00,  1.47955773e-14, -1.00000000e+00,  0.00000000e+00,
        1.47955773e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18071309, -0.00856025,  0.06181096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.50311576e-06,-3.84857360e-05,-2.10959175e-05, 7.20540930e-05,
  2.68069547e-06,-1.03469507e-04,-2.81373248e-05,-3.38648801e-05,
  3.61713767e-03, 5.14326997e-06,-8.88540804e-06, 1.29975996e-04,
 -4.72303878e-06,-1.30846878e-05,-4.90471483e+00, 6.12197926e-05,
  3.41399355e-03,-1.69014064e-05]


--- Step 2084 ---
qpos:
[ 0.01871828, 0.03003879,-0.00944086,-0.02527893,-0.00346417, 1.34057799,
 -0.02988556, 0.94377068, 0.01157098, 0.02730478,-0.00830784, 0.02644111,
  1.39621312, 0.00765524, 1.29643132, 0.04427479,-0.08561184,-0.04657612,
  0.09346921, 0.70914368,-0.09412594,-0.69524297,-0.06994828]

qacc:
[-5.20013102e+00, 5.62964067e-01,-9.82824921e-01,-1.80473644e+00,
  5.82225836e-02, 1.46582025e+00,-4.08592355e+00, 1.12106761e+00,
  3.29200439e+00, 7.03569164e-01,-2.62204848e+00, 2.45687035e+00,
  2.53514313e-01,-1.32424745e-01, 4.79966300e+00,-1.62498552e+01,
 -4.92972870e+00, 1.00624187e+00,-1.89274847e+00,-9.95272649e+00,
 -1.57164346e+02, 5.52695097e+00]

qfrc_actuator:
[ 1.44996100e-04, 9.37940108e-04, 1.42164889e-04,-9.39658664e-05,
 -2.54132582e-05, 3.50730288e-02, 1.09255895e-02, 1.83849893e-03,
 -6.10923035e-05, 7.41249417e-04, 2.34063799e-04, 9.28225510e-06,
  0.00000000e+00,-1.64453019e-03, 0.00000000e+00,-1.10468374e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038113982375965125
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.46169159e-15,  1.45645109e-14,  1.00000000e+00, -7.95468668e-29,
        1.00000000e+00, -1.45645109e-14, -1.00000000e+00,  0.00000000e+00,
        5.46169159e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00825039, -0.06922435,  0.0618081 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.68490100e-05, 5.55314851e-06,-3.19446744e-05,-1.09814182e-05,
  1.99056965e-05,-3.30835962e-05,-2.91516278e-05,-5.10593083e-06,
  3.61334464e-03, 2.11384997e-05, 9.25120684e-06,-7.61014846e-05,
  2.72420555e-05, 1.10200799e-05,-4.90481766e+00, 2.19288838e-04,
  3.39775303e-03,-5.19495547e-06]


--- Step 2085 ---
qpos:
[ 0.01871908, 0.03003957,-0.00944087,-0.02527931,-0.00346499, 1.34058162,
 -0.02988611, 0.94377109, 0.01157143, 0.02730342,-0.00830717, 0.0264408 ,
  1.3962113 , 0.00765387, 1.29654883, 0.04427426,-0.0855966 ,-0.04655944,
  0.09345331, 0.70926164,-0.09418774,-0.69512812,-0.06981043]

qacc:
[-6.30403999e+00, 2.18575308e+00,-9.89751533e+00, 2.02922388e+01,
 -4.84808553e-02,-7.19386138e-01, 4.68335634e+00,-1.75374203e+01,
  2.00566183e+00, 2.37983082e+00,-1.10324160e+01, 2.29085669e+01,
  2.27696367e-01,-3.12521597e-02, 6.20705293e+00,-2.14228327e+01,
  3.58569273e+00,-3.42721194e+00, 5.89012009e+00, 2.41556245e+01,
  1.30590991e+02,-9.11860595e+01]

qfrc_actuator:
[ 1.08130020e-04, 9.55976118e-04, 1.33443215e-04,-6.32261091e-05,
 -4.93658450e-05, 3.50532438e-02, 1.08937350e-02, 1.77820056e-03,
 -4.94887158e-05, 7.78904913e-04, 2.32013809e-04, 4.57866171e-05,
  0.00000000e+00,-1.63357145e-03, 0.00000000e+00,-1.20680158e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038263825545696963
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.62382753e-07,  3.62382768e-07,  1.00000000e+00,  1.31321265e-13,
        1.00000000e+00, -3.62382768e-07, -1.00000000e+00,  0.00000000e+00,
       -3.62382753e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1228811 , -0.02712777,  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:
[-3.77722015e-05, 1.88705683e-05,-9.23404361e-06, 3.03959056e-05,
 -1.39955528e-05,-2.33138231e-05,-3.47274250e-05,-6.13158255e-05,
  1.21724914e-05, 1.29671295e-05,-1.26433604e-05, 3.39811416e-05,
  3.58835053e-03, 3.10937548e-05,-6.65257801e-06,-1.05773176e-04,
  8.40730828e-06,-1.37175335e-05,-4.90484183e+00, 6.34278135e-05,
  3.40457634e-03,-9.34704596e-07]


--- Step 2086 ---
qpos:
[ 0.01871977, 0.03004021,-0.00944087,-0.0252793 ,-0.00346629, 1.34058467,
 -0.02988658, 0.94377148, 0.01157097, 0.02730237,-0.00830693, 0.0264409 ,
  1.39620955, 0.00765265, 1.2966658 , 0.04427652,-0.08560019,-0.04653918,
  0.09342829, 0.70917133,-0.09429817,-0.69522156,-0.06964815]

qacc:
[-8.85519791e-01, 5.43018324e-01,-3.86635688e+00, 1.07175925e+01,
 -1.99803875e-01,-1.00564055e+00, 2.38750520e+00,-1.87982340e+00,
 -7.68584202e+00, 2.50128534e+00,-1.01010762e+01, 1.79076413e+01,
  2.07877868e-01,-1.24560029e-01,-9.26083487e+00, 3.11937343e+01,
 -4.70731593e+00, 8.91972404e-01,-2.27972621e+00,-1.12927458e+01,
 -1.49100154e+02, 8.48663084e+00]

qfrc_actuator:
[ 1.03884636e-04, 9.30873466e-04, 1.28374365e-04,-4.49797705e-05,
 -9.88452094e-05, 3.50044366e-02, 1.08928886e-02, 1.77806113e-03,
 -9.61033682e-05, 8.01960124e-04, 2.12943052e-04, 6.74180069e-05,
  0.00000000e+00,-1.64426525e-03, 0.00000000e+00,-1.05363873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.24869476,  2.55847836, -8.24869476, 13.27099277,
       14.94233512,  2.55847836, 14.94233512, 56.81138957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003873478964524446
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.43310837e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.43310837e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00810085, -0.06915637,  0.061805  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.77504307e-05,-7.03639341e-05,-1.11600691e-05,-3.27532468e-06,
 -4.62582182e-05, 2.91988785e-05,-1.67649474e-05, 2.24127773e-05,
  3.55970243e-03, 1.51898992e-05,-1.64621585e-05, 1.45997720e-04,
  1.78221083e-05,-5.32964470e-06,-4.90494043e+00, 1.59510523e-04,
  3.40150398e-03, 5.14944654e-06]


--- Step 2087 ---
qpos:
[ 0.01872006, 0.03004064,-0.00944088,-0.02527872,-0.00346795, 1.3405872 ,
 -0.02988737, 0.94377223, 0.01156962, 0.02730152,-0.00830661, 0.0264409 ,
  1.39620785, 0.00765164, 1.29678244, 0.04428223,-0.08558633,-0.04652749,
  0.09339238, 0.70927303,-0.09424612,-0.69512983,-0.0695986 ]

qacc:
[-3.44020467e+00, 9.87806818e-01,-6.32735166e+00, 1.64529002e+01,
 -1.56650704e-01, 7.89932408e-01,-4.12838240e+00, 8.03230199e+00,
 -7.68358318e+00,-1.76900137e-01, 1.50877446e+00,-3.71499686e+00,
  2.08506666e-01,-9.44513510e-02,-1.09544577e+01, 3.75522257e+01,
  4.36161205e+00,-2.14034798e+00,-2.72264454e+00, 2.10322112e+01,
  1.43377018e+02,-8.10356155e+01]

qfrc_actuator:
[ 8.33698997e-05, 9.15645417e-04, 1.25313412e-04,-1.65179873e-05,
 -1.09979020e-04, 3.49742832e-02, 1.08747693e-02, 1.79558148e-03,
 -1.41103686e-04, 8.16029781e-04, 2.19415995e-04, 6.23453377e-05,
  0.00000000e+00,-1.63253260e-03, 0.00000000e+00,-8.75557485e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038791451635888444
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43101505e-14, -1.43101505e-14,  1.00000000e+00,  2.04780408e-28,
        1.00000000e+00,  1.43101505e-14, -1.00000000e+00,  0.00000000e+00,
        1.43101505e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18037468, -0.00868657,  0.06180462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.52632828e-05,-7.13809060e-05,-3.32518374e-05, 1.50066596e-05,
 -4.63482657e-05, 2.79128268e-05, 1.12256416e-05,-3.96185730e-06,
  3.55636721e-03, 1.94570625e-05, 8.01778590e-06, 1.83934186e-04,
  1.62233262e-05,-5.71645260e-06,-4.90493294e+00, 8.57226802e-05,
  3.40241847e-03, 7.48112046e-06]


--- Step 2088 ---
qpos:
[ 0.01871976, 0.03004112,-0.00944076,-0.02527785,-0.00346974, 1.34058976,
 -0.02988859, 0.94377245, 0.01156842, 0.02730072,-0.00830612, 0.02644051,
  1.39620664, 0.00765081, 1.29689939, 0.04428735,-0.08559235,-0.04651232,
  0.09334891, 0.70915635,-0.09425208,-0.69525578,-0.06952138]

qacc:
[-5.08655750e+00, 3.11726365e-01,-2.21270573e+00, 6.97821885e+00,
 -5.12403991e-02, 2.89916876e-01, 1.84315380e-01,-6.31842956e+00,
  1.36848796e+00,-1.20761048e+00, 6.04833349e+00,-1.31236848e+01,
  2.01090154e-01, 2.27201485e-02, 2.26035361e+00,-7.25306941e+00,
 -4.96999997e+00, 8.68673796e-01,-1.89112360e+00,-1.36695941e+01,
 -1.56421223e+02, 1.21193387e+01]

qfrc_actuator:
[ 5.34327174e-05, 9.41965079e-04, 1.41249749e-04,-1.94917709e-08,
 -9.80186915e-05, 3.50087468e-02, 1.08644055e-02, 1.77007514e-03,
 -1.31516462e-04, 8.06936727e-04, 2.23120174e-04, 4.16152999e-05,
  0.00000000e+00,-1.60745708e-03, 0.00000000e+00,-9.15084663e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003931390433631533
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11799688e-14, -4.23599377e-14,  1.00000000e+00,  8.97182159e-28,
        1.00000000e+00,  4.23599377e-14, -1.00000000e+00,  0.00000000e+00,
        2.11799688e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00796316, -0.06907916,  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:
[-3.05502472e-05, 1.33571018e-05, 1.14138907e-05, 1.58552788e-05,
 -1.47900732e-05,-1.10937520e-05,-2.76718207e-05,-2.82753436e-05,
  8.23687217e-06, 8.67156888e-06, 1.07222068e-05,-1.92197043e-05,
  3.55327177e-03, 3.44292225e-05, 2.23942640e-05,-2.86801685e-05,
  6.65383887e-06,-1.27305272e-05,-4.90497679e+00, 1.28947208e-04,
  3.41366043e-03, 8.78084510e-06]


--- Step 2089 ---
qpos:
[ 0.01871979, 0.03004163,-0.00944043,-0.02527713,-0.00347153, 1.34059292,
 -0.02989024, 0.94377197, 0.01156804, 0.0272999 ,-0.00830556, 0.02644023,
  1.39620612, 0.00765014, 1.2970168 , 0.04428896,-0.08558   ,-0.0465062 ,
  0.09329617, 0.70924243,-0.09408668,-0.69518625,-0.0695626 ]

qacc:
[ 2.85965972e+00,-9.11339201e-01, 3.93640572e+00,-6.98910516e+00,
 -2.80118735e-03, 7.28282227e-01, 3.79344313e-02,-8.60457504e+00,
  6.94339681e+00, 1.50894581e-02,-5.90429340e-01, 2.51152596e+00,
  1.70668610e-01, 1.00730633e-01, 1.12498814e+01,-3.83804503e+01,
  4.59455300e+00,-2.26076699e+00,-2.31760051e+00, 2.23466067e+01,
  1.51338662e+02,-8.53046499e+01]

qfrc_actuator:
[ 7.14524310e-05, 9.39775309e-04, 1.50683686e-04,-8.39777140e-06,
 -9.00556709e-05, 3.50816444e-02, 1.08589342e-02, 1.73724825e-03,
 -8.98765603e-05, 8.01772164e-04, 2.25048129e-04, 4.73222079e-05,
  0.00000000e+00,-1.59219307e-03, 0.00000000e+00,-1.10026325e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003968949906966453
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39863572e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.39863572e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18013813, -0.00878108,  0.06180015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.77273775e-07, 6.04817872e-05,-1.16209495e-05,-3.46252176e-05,
  4.18824131e-05, 1.09907558e-06, 4.37781216e-06, 6.07646824e-06,
  3.52911372e-03, 4.04303060e-05, 4.18732107e-06,-1.84625243e-04,
  1.60502350e-05, 5.63493595e-06,-4.90496021e+00, 1.16520034e-04,
  3.40847641e-03, 9.35321668e-06]


--- Step 2090 ---
qpos:
[ 0.018719  , 0.03004246,-0.00944065,-0.0252765 ,-0.00347342, 1.34059684,
 -0.02989213, 0.9437721 , 0.01156816, 0.02729919,-0.00830507, 0.02644071,
  1.39620588, 0.00764963, 1.29713394, 0.04429071,-0.08558847,-0.04649668,
  0.09323733, 0.7091006 ,-0.09398736,-0.69534327,-0.0695734 ]

qacc:
[-7.04739947e+00, 1.83541163e+00,-5.52176149e+00, 4.60299563e+00,
 -4.41209386e-02, 2.72108224e+00,-8.96083550e+00, 1.45217038e+01,
  4.28396481e+00, 1.86463371e+00,-9.64537133e+00, 2.27475198e+01,
  1.37676225e-01, 2.16064920e-02,-7.90035097e-01, 2.16908553e+00,
 -5.20768091e+00, 8.47690700e-01,-1.52360624e+00,-1.56994047e+01,
 -1.63292084e+02, 1.51720813e+01]

qfrc_actuator:
[ 2.87945739e-05, 9.55998892e-04, 1.20572647e-04,-1.36183512e-05,
 -1.02309860e-04, 3.51415061e-02, 1.08565623e-02, 1.77142786e-03,
 -6.52275263e-05, 8.16760363e-04, 2.25941598e-04, 8.62936325e-05,
  0.00000000e+00,-1.60060989e-03, 0.00000000e+00,-1.08565172e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004017352235152739
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.90892259e-15, -4.14535355e-14,  1.00000000e+00,  2.86399268e-28,
        1.00000000e+00,  4.14535355e-14, -1.00000000e+00,  0.00000000e+00,
        6.90892259e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0077544 , -0.06897228,  0.06179769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.27112477e-05, 8.99855481e-05, 7.11903143e-06, 3.48551997e-05,
  2.58735534e-05, 1.68045168e-05, 1.87153217e-06, 3.92876383e-05,
  3.49361851e-03, 2.44179513e-05,-2.10109568e-05, 4.25370887e-06,
 -9.63067391e-06,-1.72328052e-05,-4.90496307e+00, 1.00453305e-04,
  3.43181137e-03, 5.70503641e-06]


--- Step 2091 ---
qpos:
[ 0.01871805, 0.03004341,-0.00944148,-0.02527557,-0.00347544, 1.34060086,
 -0.02989354, 0.9437737 , 0.01156857, 0.02729892,-0.00830474, 0.02644196,
  1.39620564, 0.00764905, 1.29725087, 0.04429325,-0.08557774,-0.04649665,
  0.09317073, 0.70917136,-0.09370832,-0.69529526,-0.06970818]

qacc:
[-1.39585599e+00, 2.47215759e+00,-9.87623802e+00, 1.60512606e+01,
 -4.85674154e-02, 1.35575497e+00,-7.27027305e+00, 2.32277208e+01,
  2.50423731e+00, 2.62680276e+00,-1.17980820e+01, 2.51203152e+01,
  1.29076959e-01,-1.92643636e-01,-2.73054147e+00, 9.05801938e+00,
  4.80237705e+00,-2.36968763e+00,-1.93903958e+00, 2.34709248e+01,
  1.58685918e+02,-8.94102812e+01]

qfrc_actuator:
[ 2.17590347e-05, 9.47455456e-04, 8.51842737e-05, 8.04724296e-07,
 -1.08841534e-04, 3.51221445e-02, 1.08737956e-02, 1.84476509e-03,
 -5.07873753e-05, 8.61477952e-04, 2.26318983e-04, 1.26785487e-04,
  0.00000000e+00,-1.62330966e-03, 0.00000000e+00,-1.04215471e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004088798307741545
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.71527951e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.71527951e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17982092, -0.00890673,  0.06179416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.40402621e-05, 3.28330960e-05, 3.66663726e-05, 7.70616725e-05,
  1.52004235e-05, 5.62132367e-05, 5.43904689e-06, 4.20397219e-05,
  3.48012300e-03,-6.54036780e-06,-1.00096577e-05, 4.08174514e-05,
  1.23547918e-05, 2.07316191e-05,-4.90494187e+00, 1.56111587e-04,
  3.41856996e-03, 4.63905062e-06]


--- Step 2092 ---
qpos:
[ 0.01871806, 0.03004426,-0.00944238,-0.02527447,-0.00347739, 1.34060502,
 -0.02989435, 0.94377513, 0.01156916, 0.02729905,-0.00830466, 0.026443  ,
  1.39620527, 0.00764833, 1.29736756, 0.04429761,-0.08558868,-0.0464933 ,
  0.09309942, 0.70900534,-0.09350222,-0.69548206,-0.06981026]

qacc:
[ 8.20779896e+00, 3.82223082e-01,-2.21959140e+00, 5.11932972e+00,
  2.22569710e-02,-1.77872325e+00, 6.37682845e+00,-7.68697390e+00,
  1.43887069e+00, 7.78120705e-01,-1.13177910e+00,-2.34786812e+00,
  1.32474824e-01,-2.63763058e-01,-5.87790917e+00, 2.00034235e+01,
 -5.41953479e+00, 8.26902898e-01,-1.18048909e+00,-1.74090331e+01,
 -1.69653152e+02, 1.76966668e+01]

qfrc_actuator:
[ 7.12712183e-05, 9.41880234e-04, 8.23968312e-05, 8.90017716e-06,
 -9.41346152e-05, 3.51266089e-02, 1.09021681e-02, 1.83399046e-03,
 -4.24659669e-05, 8.70402256e-04, 2.08761752e-04, 1.14612075e-04,
  0.00000000e+00,-1.63664708e-03, 0.00000000e+00,-9.46537814e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004125904997013902
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17725099e-14, -2.69085940e-14,  1.00000000e+00,  3.16781689e-28,
        1.00000000e+00,  2.69085940e-14, -1.00000000e+00,  0.00000000e+00,
        1.17725099e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00748824, -0.06884078,  0.06179214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.41074825e-06, 3.20923139e-05, 4.12273223e-05,-6.91994414e-06,
  8.78393558e-06, 4.32940470e-05,-3.82464677e-06,-8.76154923e-06,
  3.47966805e-03,-1.58334091e-05,-1.70217257e-06, 9.62154561e-05,
 -3.03739847e-05,-1.93878612e-05,-4.90489731e+00, 7.31837340e-05,
  3.45492885e-03,-4.19290318e-06]


--- Step 2093 ---
qpos:
[ 0.01871798, 0.03004489,-0.00944323,-0.02527363,-0.00347924, 1.34060979,
 -0.02989496, 0.94377604, 0.01157018, 0.02729932,-0.00830463, 0.02644322,
  1.39620495, 0.0076476 , 1.2974842 , 0.04430307,-0.08557969,-0.04649983,
  0.09302174, 0.70906075,-0.09310861,-0.6954551 ,-0.07004168]

qacc:
[-8.16937371e-01,-9.61555217e-01, 4.03172058e+00,-8.22735091e+00,
  4.62244930e-02,-5.75925100e-01, 3.90192486e+00,-9.65502640e+00,
  3.75383756e+00,-1.37033434e+00, 8.60555316e+00,-2.28358079e+01,
  1.36840082e-01,-1.48745094e-01,-3.40365006e+00, 1.17747174e+01,
  4.98430919e+00,-2.46709248e+00,-1.58972535e+00, 2.43924565e+01,
  1.65370620e+02,-9.33347356e+01]

qfrc_actuator:
[ 6.48959086e-05, 9.20494364e-04, 8.11269321e-05,-4.52499185e-06,
 -8.45585285e-05, 3.51808068e-02, 1.09191480e-02, 1.80931119e-03,
 -2.00565421e-05, 8.57707842e-04, 1.98336688e-04, 7.15092762e-05,
  0.00000000e+00,-1.62653436e-03, 0.00000000e+00,-8.92003166e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004232011311097787
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.09905208e-16,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.09905208e-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([-0.17944063, -0.00905674,  0.06178698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.33655440e-05, 7.97829816e-05, 2.77447334e-05,-2.26595034e-05,
  2.26830101e-05, 1.03471472e-05,-2.26094282e-06,-4.15533943e-05,
  3.48591228e-03, 7.37198175e-07, 7.90839844e-06, 5.92044468e-05,
  5.43854323e-06, 3.90710116e-05,-4.90487511e+00, 2.03634313e-04,
  3.43208965e-03,-6.79782261e-06]


--- Step 2094 ---
qpos:
[ 0.01871712, 0.03004497,-0.00944393,-0.02527292,-0.00348098, 1.3406144 ,
 -0.02989483, 0.94377842, 0.01157112, 0.02729937,-0.00830427, 0.02644295,
  1.39620515, 0.00764673, 1.29760146, 0.04430411,-0.08555328,-0.04651498,
  0.0929336 , 0.7093096 ,-0.09255092,-0.69524093,-0.07038655]

qacc:
[-6.54478245e+00,-1.39756445e+00, 4.51608467e+00,-6.66897522e+00,
  4.96556219e-02, 3.00773465e-01,-4.23745482e+00, 2.07592603e+01,
 -7.00056949e-01,-2.20417464e+00, 9.53708483e+00,-1.84927508e+01,
  1.25941632e-01,-8.40916381e-02, 1.42507821e+01,-4.85349190e+01,
  4.35408196e+00,-2.15767868e+00,-2.61813743e+00, 2.11701116e+01,
  1.44661386e+02,-8.17849962e+01]

qfrc_actuator:
[ 2.56580090e-05, 8.72045299e-04, 8.06718590e-05,-1.27690514e-05,
 -7.81387749e-05, 3.51400360e-02, 1.09472175e-02, 1.88320464e-03,
 -2.50377034e-05, 8.32149135e-04, 2.09853261e-04, 4.60525235e-05,
  0.00000000e+00,-1.62016663e-03, 0.00000000e+00,-1.12841357e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004270405864041121
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.2999034e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.2999034e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17932695, -0.00910128,  0.06178484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.43208425e-05, 8.08105104e-06, 4.61659348e-05, 7.65866054e-05,
 -4.31047451e-06,-2.20197560e-05, 1.19337685e-05,-2.59021775e-05,
  3.48320440e-03, 7.88587900e-06, 7.80801554e-06,-2.32676825e-04,
 -5.51158291e-05,-1.97602708e-05,-4.90477653e+00, 4.66022705e-05,
  3.48218926e-03,-2.10562801e-05]


--- Step 2095 ---
qpos:
[ 0.0187165 , 0.03004444,-0.0094443 ,-0.02527232,-0.00348246, 1.34061851,
 -0.02989406, 0.94378067, 0.01157165, 0.02729918,-0.00830377, 0.02644273,
  1.39620549, 0.0076456 , 1.29771869, 0.04430302,-0.08555274,-0.04652667,
  0.09284758, 0.70927665,-0.09208829,-0.6953051 ,-0.0706909 ]

qacc:
[ 1.95533861e+00,-1.95793389e+00, 6.27784763e+00,-8.24945207e+00,
  1.06360351e-01,-2.60044790e+00, 7.95281697e+00,-8.10431100e+00,
 -3.50317911e+00,-6.23289776e-01, 1.52762444e+00,-6.19292738e-01,
  1.02198664e-01,-2.30333800e-01, 6.43033652e+00,-2.25906720e+01,
 -6.46644803e+00, 8.66692102e-01, 5.32349535e-01,-2.28759351e+01,
 -2.01888044e+02, 2.46158089e+01]

qfrc_actuator:
[ 3.84200236e-05, 8.43271845e-04, 9.83419619e-05,-1.79201701e-05,
 -5.59117777e-05, 3.50783147e-02, 1.09635623e-02, 1.87245224e-03,
 -4.61055143e-05, 8.16927288e-04, 2.16431842e-04, 4.89400740e-05,
  0.00000000e+00,-1.65141391e-03, 0.00000000e+00,-1.23252738e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004426080208291598
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.50836626e-14, -2.50836626e-14,  1.00000000e+00,  6.29190128e-28,
        1.00000000e+00,  2.50836626e-14, -1.00000000e+00,  0.00000000e+00,
        2.50836626e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0067663 , -0.06853417,  0.06177737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.06897067e-05,-4.59456064e-05, 2.54235153e-05,-7.37010468e-06,
 -2.12006709e-05,-2.61841241e-05, 2.60080646e-06, 1.85282153e-06,
  3.45701104e-03,-1.59976495e-05,-2.54379567e-05,-1.16839786e-04,
 -7.11284157e-05,-1.40167887e-04,-4.90440721e+00,-2.42960885e-04,
  3.55316732e-03,-4.23678896e-05]


--- Step 2096 ---
qpos:
[ 0.01871706, 0.03004347,-0.00944448,-0.02527214,-0.00348353, 1.34062228,
 -0.02989305, 0.94378174, 0.01157193, 0.02729853,-0.00830337, 0.02644293,
  1.39620552, 0.00764457, 1.29783507, 0.04430634,-0.08557457,-0.0465352 ,
  0.09275836, 0.70899831,-0.09170314,-0.69561226,-0.07096142]

qacc:
[ 1.02353307e+01,-1.98472877e+00, 7.96160599e+00,-1.51719004e+01,
  1.71982146e-01,-3.12738283e+00, 1.20756548e+01,-2.38895164e+01,
 -2.18558641e+00, 5.84239876e-01,-4.74530985e+00, 1.26302244e+01,
  9.91984353e-02,-1.39110261e-01,-1.46228036e+01, 4.93149317e+01,
 -5.59505432e+00, 7.90480804e-01,-8.01230091e-01,-1.84233192e+01,
 -1.75785637e+02, 1.90726839e+01]

qfrc_actuator:
[ 9.94503976e-05, 8.26579078e-04, 1.08890300e-04,-3.89383829e-05,
 -2.43812458e-05, 3.50576938e-02, 1.09726825e-02, 1.81192218e-03,
 -5.87114000e-05, 7.72512598e-04, 2.02333413e-04, 6.84788362e-05,
  0.00000000e+00,-1.65180813e-03, 0.00000000e+00,-9.91474416e-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,  8.4462284 , -1.80222157,  8.4462284 ,  9.09941708,
        2.17013004, -1.80222157,  2.17013004, 18.80681896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0045116028197937155
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.61403243e-15, -1.23040865e-14,  1.00000000e+00,  5.67714540e-29,
        1.00000000e+00,  1.23040865e-14, -1.00000000e+00,  0.00000000e+00,
        4.61403243e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00655772, -0.06843971,  0.06177306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.96647616e-05,-4.13099673e-05, 2.80734280e-06,-6.13264440e-05,
 -1.32362511e-05,-5.84444599e-05,-1.91244187e-05, 1.85435016e-05,
  3.45000871e-03,-3.73370905e-06,-2.61235444e-05, 2.30937994e-04,
 -6.60061083e-05, 1.53090602e-05,-4.90466076e+00, 1.13614666e-04,
  3.50600814e-03,-4.65669244e-05]


--- Step 2097 ---
qpos:
[ 0.01871766, 0.03004218,-0.00944459,-0.02527222,-0.00348435, 1.34062573,
 -0.02989197, 0.94378278, 0.01157136, 0.02729727,-0.00830304, 0.02644339,
  1.39620549, 0.00764368, 1.29795123, 0.04431279,-0.08561584,-0.04654084,
  0.09266135, 0.70850508,-0.09138133,-0.69613222,-0.07120351]

qacc:
[ 3.33940717e-01,-1.17607543e+00, 4.66438683e+00,-9.05367226e+00,
  1.06296978e-01,-6.60303470e-01, 1.72236726e+00,-1.70327705e+00,
 -7.18515149e+00,-9.19052915e-02,-1.89579393e+00, 6.79432855e+00,
  1.12126948e-01,-5.75166458e-02,-9.83831836e+00, 3.38913050e+01,
 -4.85828958e+00, 7.20741173e-01,-1.94559320e+00,-1.48708233e+01,
 -1.53723224e+02, 1.47304368e+01]

qfrc_actuator:
[ 9.96224231e-05, 8.17218881e-04, 1.15184254e-04,-5.13682925e-05,
 -2.30295298e-05, 3.50440205e-02, 1.09776015e-02, 1.81138481e-03,
 -1.01735675e-04, 7.28641051e-04, 1.93779670e-04, 7.98629022e-05,
  0.00000000e+00,-1.63393493e-03, 0.00000000e+00,-8.33069353e-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,  8.41588165, -1.93899791,  8.41588165,  9.23068432,
        2.57954508, -1.93899791,  2.57954508, 19.83242833,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004524991730025588
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.13384008e-15,  2.45353603e-14,  1.00000000e+00,  1.50495976e-28,
        1.00000000e+00, -2.45353603e-14, -1.00000000e+00,  0.00000000e+00,
       -6.13384008e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00651132, -0.06839343,  0.06177196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.06995265e-05,-3.78427366e-05,-4.64484340e-06,-3.11050556e-06,
 -4.34339066e-05,-7.96952889e-05,-2.23369635e-05, 8.57934950e-06,
  3.46476019e-03, 9.53807107e-06, 1.33738365e-05, 1.67851084e-04,
  1.64880176e-05, 9.65548335e-05,-4.90455129e+00, 3.80090083e-04,
  3.46440856e-03,-5.19947988e-05]


--- Step 2098 ---
qpos:
[ 0.01871827, 0.03004054,-0.00944494,-0.02527173,-0.00348517, 1.34062893,
 -0.02989086, 0.94378346, 0.01156993, 0.02729559,-0.00830292, 0.02644432,
  1.39620574, 0.00764261, 1.29806795, 0.04431675,-0.08563229,-0.0465589 ,
  0.09256692, 0.70829056,-0.09082095,-0.69638204,-0.07161071]

qacc:
[-1.72838650e-02, 1.37762811e+00,-7.95703679e+00, 1.83777188e+01,
  4.80540313e-03,-1.04470822e+00, 3.76794033e+00,-7.34616781e+00,
 -7.31034176e+00, 9.85710929e-01,-6.23602124e+00, 1.48328905e+01,
  1.11556027e-01,-1.56764211e-01, 8.38368670e+00,-2.81442798e+01,
  6.20591570e+00,-3.10336842e+00, 6.42508656e-01, 3.01655837e+01,
  2.08740905e+02,-1.19265599e+02]

qfrc_actuator:
[ 9.94615850e-05, 7.94565206e-04, 1.01208430e-04,-2.31317238e-05,
 -3.97924827e-05, 3.50346279e-02, 1.09800806e-02, 1.79291552e-03,
 -1.44569599e-04, 7.20946789e-04, 1.88557118e-04, 1.04110988e-04,
  0.00000000e+00,-1.64069506e-03, 0.00000000e+00,-9.73273949e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004698898446991694
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47670651e-15, -1.18136520e-14,  1.00000000e+00,  1.74452968e-29,
        1.00000000e+00,  1.18136520e-14, -1.00000000e+00,  0.00000000e+00,
        1.47670651e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17820471, -0.00954302,  0.06176366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.37742350e-06,-3.13506685e-05,-5.54695111e-06,-1.98073635e-05,
 -4.41368114e-05,-5.64828220e-05,-2.41280866e-05, 2.02296696e-05,
  3.46801228e-03,-4.38219359e-06, 2.24946624e-05,-1.29690792e-04,
  1.48573889e-04, 1.29973916e-04,-4.90420415e+00, 5.85543336e-04,
  3.42484728e-03,-5.81715350e-05]


--- Step 2099 ---
qpos:
[ 0.01871955, 0.03003898,-0.00944592,-0.02527129,-0.0034862 , 1.3406317 ,
 -0.02988937, 0.94378425, 0.01156869, 0.02729379,-0.008303  , 0.02644514,
  1.39620629, 0.00764142, 1.2981849 , 0.04431803,-0.08562727,-0.04658771,
  0.09246952, 0.70831699,-0.09005377,-0.69639793,-0.07216157]

qacc:
[ 5.83568872e+00, 1.78048907e+00,-6.02355064e+00, 6.28692888e+00,
 -9.22430509e-02,-1.36919730e+00, 3.53082953e+00,-1.41467556e+00,
  1.58305538e+00, 2.06837542e-01,-5.35058709e-01,-8.01663702e-01,
  9.27149873e-02,-9.43977577e-02, 8.42767743e+00,-2.89996837e+01,
  5.36448841e+00,-2.68757821e+00,-7.41034359e-01, 2.57765306e+01,
  1.80668890e+02,-1.03633757e+02]

qfrc_actuator:
[ 1.34630985e-04, 8.17341844e-04, 7.53532765e-05,-2.44761234e-05,
 -6.72848167e-05, 3.50101068e-02, 1.09988529e-02, 1.79953603e-03,
 -1.33680539e-04, 7.35003782e-04, 1.85496029e-04, 1.00261617e-04,
  0.00000000e+00,-1.64421304e-03, 0.00000000e+00,-1.11073651e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.89265839, -7.11678795,  4.89265839, 65.62500438,
       39.17862286, -7.11678795, 39.17862286, 35.57093285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004824110813210533
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.4383778e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.4383778e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17788136, -0.00967034,  0.06175755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.66793657e-05,-4.35660666e-05, 1.14236995e-05, 5.06327442e-06,
  9.57182900e-06,-2.16082849e-05,-1.69838899e-05,-6.70806524e-06,
  3.45356418e-03, 1.31318630e-06,-7.85310947e-06,-1.42701247e-04,
 -4.86221116e-05, 1.02484616e-04,-4.90433474e+00, 3.61525074e-04,
  3.49263026e-03,-8.10237240e-05]


--- Step 2100 ---
qpos:
[ 0.01872125, 0.0300374 ,-0.00944719,-0.02527122,-0.00348749, 1.34063417,
 -0.02988801, 0.94378547, 0.01156794, 0.02729232,-0.00830332, 0.02644516,
  1.39620726, 0.00764031, 1.29830191, 0.04431664,-0.08560114,-0.04662134,
  0.09239904, 0.70860524,-0.08928888,-0.69614681,-0.07270297]

qacc:
[ 3.52504338e+00,-6.13821263e-03, 1.51364978e+00,-7.44839811e+00,
 -1.09774616e-01, 6.84066504e-01,-3.57730762e+00, 8.28663556e+00,
  4.11774014e+00,-5.51829670e-01, 5.94345268e+00,-1.95930420e+01,
  6.88395403e-02, 9.39135047e-02, 8.17746381e+00,-2.84625570e+01,
  5.28186800e+00,-1.20665189e+00, 6.73061564e+00, 4.64248015e+00,
  1.85222983e+02, 2.56161142e+01]

qfrc_actuator:
[ 1.54809515e-04, 8.13820780e-04, 6.06074443e-05,-4.31894102e-05,
 -8.32371380e-05, 3.49945503e-02, 1.09915476e-02, 1.82087309e-03,
 -1.09010178e-04, 7.79729629e-04, 1.83813449e-04, 6.21794836e-05,
  0.00000000e+00,-1.62802131e-03, 0.00000000e+00,-1.24537891e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.29435496,  4.62376065, -7.29435496, 21.96165656,
       21.02172318,  4.62376065, 21.02172318, 41.79982564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004889596751918447
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13529099e-14, -2.27058197e-14,  1.00000000e+00,  2.57777125e-28,
        1.00000000e+00,  2.27058197e-14, -1.00000000e+00,  0.00000000e+00,
        1.13529099e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13749225, -0.0355124 ,  0.06175406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.17198808e-05,-3.72899177e-05,-1.43825342e-05, 2.04872054e-05,
  2.49385185e-05, 2.89100634e-05,-8.45167675e-06,-3.97246343e-05,
  3.43845879e-03, 2.36560303e-05,-2.17059673e-05,-1.44140622e-04,
 -1.62097746e-04,-3.15135581e-05,-4.90400017e+00,-7.38217688e-05,
  3.58962712e-03,-1.13825666e-04]


--- Step 2101 ---
qpos:
[ 0.01872214, 0.03003558,-0.00944858,-0.02527101,-0.00348886, 1.34063664,
 -0.02988713, 0.94378659, 0.01156783, 0.02729111,-0.00830399, 0.02644508,
  1.39620835, 0.00763929, 1.29841863, 0.04431496,-0.08555649,-0.04665917,
  0.0923471 , 0.7091215 ,-0.08852482,-0.69566238,-0.07323865]

qacc:
[-6.90391830e+00, 3.27073058e-01,-2.16291824e+00, 4.84319456e+00,
 -3.43014695e-02, 1.11414408e+00,-3.43754314e+00, 1.77470313e+00,
  5.50290700e+00, 1.11651194e+00,-3.09275921e+00, 1.81855318e+00,
  4.64925098e-02, 3.21066019e-02, 4.58450330e-01,-2.21822401e+00,
  4.62614072e+00,-1.04795122e+00, 4.63398733e+00, 3.39356343e+00,
  1.61741661e+02, 2.10217170e+01]

qfrc_actuator:
[ 1.12733334e-04, 7.94609683e-04, 5.24414885e-05,-3.64703890e-05,
 -7.43842844e-05, 3.50021523e-02, 1.09689386e-02, 1.81517477e-03,
 -7.64433809e-05, 7.89206449e-04, 1.65323131e-04, 5.75527655e-05,
  0.00000000e+00,-1.63567015e-03, 0.00000000e+00,-1.25299511e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.76710392, -5.3659185 ,  6.76710392, 36.05715385,
       34.58109492, -5.3659185 , 34.58109492, 52.24751113,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004903114100485301
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13216111e-14,  1.13216111e-14,  1.00000000e+00, -1.28178879e-28,
        1.00000000e+00, -1.13216111e-14, -1.00000000e+00,  0.00000000e+00,
        1.13216111e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13745514, -0.03550891,  0.06175302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.89317248e-06,-1.52416440e-05,-3.09417898e-05,-6.75872513e-06,
  3.33042687e-05, 2.22585582e-05,-1.49149221e-05,-4.45059081e-06,
  3.41743768e-03, 1.16698145e-05,-2.73110720e-05,-1.87607508e-05,
 -1.13614984e-04,-2.24406811e-04,-4.90383946e+00,-5.52577096e-04,
  3.60346068e-03,-1.45560823e-04]


--- Step 2102 ---
qpos:
[ 0.01872183, 0.03003369,-0.00945014,-0.02527074,-0.00349023, 1.34063882,
 -0.02988676, 0.94378835, 0.01156811, 0.0272899 ,-0.0083048 , 0.02644532,
  1.39620938, 0.00763854, 1.29853483, 0.04431616,-0.0855401 ,-0.04669305,
  0.09230302, 0.70931791,-0.08785154,-0.69549492,-0.07373617]

qacc:
[-1.03043720e+01, 5.11416799e-01,-2.18688503e+00, 3.52204071e+00,
  1.67543239e-04, 2.09587079e+00,-8.60819647e+00, 1.50737219e+01,
  3.33980201e+00, 1.02105876e+00,-4.96554871e+00, 1.05697961e+01,
  3.79257777e-02, 1.10433086e-01,-9.53658950e+00, 3.22058832e+01,
 -7.06325315e+00, 9.84127639e-01, 1.96577819e+00,-2.14614552e+01,
 -2.28654886e+02, 1.93645085e+01]

qfrc_actuator:
[ 5.21088097e-05, 8.01704936e-04, 4.81729909e-05,-3.26031060e-05,
 -6.84757160e-05, 3.49702289e-02, 1.09375597e-02, 1.84687651e-03,
 -5.72474075e-05, 7.77466617e-04, 1.54707125e-04, 7.26165408e-05,
  0.00000000e+00,-1.62214583e-03, 0.00000000e+00,-1.09694388e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005044460616816487
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.50218898e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.50218898e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00526379, -0.06785969,  0.06174646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.17991368e-08,-4.66270253e-05,-3.80819290e-05, 3.01857286e-05,
  2.01753759e-05,-2.50129064e-06,-7.98856264e-06, 1.54179086e-05,
  3.41100637e-03, 2.12311232e-05,-1.54717327e-05, 1.51301292e-04,
  9.03228235e-06,-4.01633363e-04,-4.90341942e+00,-9.24766402e-04,
  3.62212978e-03,-1.73769154e-04]


--- Step 2103 ---
qpos:
[ 0.01872079, 0.03003149,-0.00945161,-0.02527111,-0.00349142, 1.34064054,
 -0.02988646, 0.9437915 , 0.01156793, 0.02728858,-0.00830538, 0.02644538,
  1.39621057, 0.00763833, 1.29865077, 0.0443202 ,-0.08554807,-0.04672342,
  0.09226052, 0.70923801,-0.08725186,-0.69560235,-0.074202  ]

qacc:
[-6.20924727e+00,-1.92974420e+00, 8.98622276e+00,-1.98742489e+01,
  7.57456010e-02, 1.99100185e+00,-1.00868177e+01, 2.52168733e+01,
 -3.92671952e+00,-1.16255550e+00, 4.68847224e+00,-8.06912210e+00,
  3.21411588e-02, 3.32916018e-01,-8.91491890e+00, 3.06530382e+01,
 -6.09021573e+00, 8.80647172e-01, 3.95214214e-01,-1.70910110e+01,
 -1.97683081e+02, 1.45685920e+01]

qfrc_actuator:
[ 1.65783079e-05, 7.71258760e-04, 4.63343619e-05,-6.59320738e-05,
 -4.66301822e-05, 3.49503748e-02, 1.09366435e-02, 1.91806799e-03,
 -8.15830619e-05, 7.70908686e-04, 1.66498505e-04, 6.36216982e-05,
  0.00000000e+00,-1.57839508e-03, 0.00000000e+00,-9.52272810e-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,  8.57024338, -1.06663265,  8.57024338,  8.85655931,
        1.76924126, -1.06663265,  1.76924126, 22.85196843,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005163518627057134
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.71915258e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.71915258e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00499129, -0.06775448,  0.06174096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.18803814e-05,-5.22024753e-05,-1.34860865e-05, 6.93791210e-05,
 -2.37505883e-05,-8.88537664e-06, 1.08468117e-05,-9.07518663e-06,
  3.41380127e-03, 5.11198906e-05, 8.84950435e-06, 1.50910267e-04,
 -9.13184536e-05,-1.40225281e-04,-4.90412599e+00,-3.43460013e-04,
  3.57206393e-03,-1.78459901e-04]


--- Step 2104 ---
qpos:
[ 0.01871968, 0.03002924,-0.00945344,-0.02527256,-0.0034921 , 1.34064235,
 -0.02988607, 0.94379404, 0.01156746, 0.02728734,-0.00830587, 0.02644497,
  1.39621182, 0.00763827, 1.2987668 , 0.04432526,-0.08557711,-0.04675063,
  0.09221421, 0.70891824,-0.086712  ,-0.69594872,-0.07464138]

qacc:
[-6.44424614e-01,-1.30474221e+00, 9.13784624e+00,-2.73397400e+01,
  2.14284502e-01,-1.20774709e+00, 5.34491603e+00,-1.17927204e+01,
 -2.47897915e+00,-1.06522222e+00, 5.97043739e+00,-1.43115666e+01,
  2.38357757e-02, 8.22917105e-02,-2.98814103e+00, 1.06477472e+01,
 -5.26865048e+00, 7.88820145e-01,-9.54876508e-01,-1.36099133e+01,
 -1.71534003e+02, 1.08654593e+01]

qfrc_actuator:
[ 1.38610716e-05, 7.71806092e-04, 2.80181932e-05,-1.20908284e-04,
  2.35143980e-06, 3.49913040e-02, 1.09537741e-02, 1.88767424e-03,
 -9.58363640e-05, 7.85326286e-04, 1.73664254e-04, 4.05555940e-05,
  0.00000000e+00,-1.58788338e-03, 0.00000000e+00,-9.04283691e-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,  8.56793321, -1.08503335,  8.56793321,  8.88814067,
        1.98814979, -1.08503335,  1.98814979, 24.33572869,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005196379532377247
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.00599717e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.00599717e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00491202, -0.06770318,  0.06173925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.19096732e-05, 1.14917783e-05, 7.42116055e-06,-3.07425082e-05,
 -1.49568201e-05, 1.13462911e-05, 6.37524076e-06,-2.32431175e-05,
  3.40567951e-03, 1.51119286e-05, 1.90703175e-05, 5.70946923e-05,
 -7.65312970e-05, 2.35128788e-05,-4.90432028e+00, 1.19190533e-04,
  3.52797959e-03,-1.85254007e-04]


--- Step 2105 ---
qpos:
[ 0.01871821, 0.03002714,-0.00945538,-0.02527436,-0.00349225, 1.34064431,
 -0.02988543, 0.94379412, 0.01156683, 0.02728686,-0.0083066 , 0.02644422,
  1.39621278, 0.00763794, 1.29888283, 0.04433156,-0.08562445,-0.04677502,
  0.09215945, 0.70838917,-0.08622088,-0.69650338,-0.07505849]

qacc:
[-3.17248348e+00,-2.26675679e-01, 2.57802758e+00,-8.54499368e+00,
  2.28292881e-01,-4.68099381e+00, 2.05740842e+01,-4.65643110e+01,
 -1.45483682e+00, 9.42986862e-01,-5.00377905e-01,-5.51461653e+00,
  2.70704234e-02,-2.74325837e-01,-3.73227788e+00, 1.30265212e+01,
 -4.57353838e+00, 7.07019212e-01,-2.11129950e+00,-1.08297302e+01,
 -1.49439670e+02, 8.01165194e+00]

qfrc_actuator:
[-5.03436028e-06, 8.08571622e-04, 3.57304410e-05,-1.34906963e-04,
  3.17103995e-05, 3.49973275e-02, 1.09638304e-02, 1.76227276e-03,
 -1.04026408e-04, 8.65424264e-04, 1.78113536e-04, 2.71626000e-05,
  0.00000000e+00,-1.62914901e-03, 0.00000000e+00,-8.42630452e-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,  8.55650838, -1.17172577,  8.55650838,  8.95848711,
        2.35230144, -1.17172577,  2.35230144, 25.81400668,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005159649098401373
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47932217e-14,  1.07587067e-14,  1.00000000e+00, -1.59155933e-28,
        1.00000000e+00, -1.07587067e-14, -1.00000000e+00,  0.00000000e+00,
        1.47932217e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00498667, -0.0676945 ,  0.06174056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.59446704e-05, 1.29013316e-05, 1.22481894e-05,-1.25544851e-04,
 -8.62790850e-06, 8.68083894e-05, 6.79528903e-06,-1.31332146e-05,
  3.40266286e-03,-3.37409901e-05, 1.21318962e-05, 6.65726528e-05,
  1.36208036e-05, 1.21940557e-04,-4.90417624e+00, 4.96552335e-04,
  3.48658617e-03,-1.93548401e-04]


--- Step 2106 ---
qpos:
[ 0.01871652, 0.03002512,-0.00945668,-0.02527601,-0.00349222, 1.34064628,
 -0.02988492, 0.94379272, 0.01156678, 0.02728722,-0.00830712, 0.02644362,
  1.39621347, 0.00763763, 1.29899861, 0.0443409 ,-0.08564787,-0.04680424,
  0.09213901, 0.70814625,-0.08571787,-0.69676619,-0.07548645]

qacc:
[-1.82653156e+00,-1.33552567e+00, 4.27703479e+00,-2.73639018e+00,
  7.20476144e-02,-2.15356553e+00, 1.00670000e+01,-2.58063759e+01,
  5.07750889e+00, 8.37051926e-01,-2.01426137e+00, 3.64240867e+00,
  3.95301420e-02,-1.12469159e-01,-9.59545336e+00, 3.29986510e+01,
  5.98121248e+00,-1.20938802e+00, 8.58061489e+00, 1.81713420e+00,
  2.03930252e+02, 1.53354038e+01]

qfrc_actuator:
[-1.55593028e-05, 8.31376438e-04, 7.66958298e-05,-1.24625004e-04,
  1.35549033e-05, 3.49823199e-02, 1.09517119e-02, 1.68848294e-03,
 -7.30793996e-05, 9.30980270e-04, 1.98964553e-04, 3.73807891e-05,
  0.00000000e+00,-1.61811326e-03, 0.00000000e+00,-6.84625529e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005145256200892713
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15776043e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.15776043e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13707329, -0.03556152,  0.06174084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.08150399e-05,-9.25946717e-06,-1.18856799e-05,-7.59501873e-05,
  3.07224364e-05, 1.14963372e-04, 3.91806345e-05, 1.39224139e-05,
  3.41695700e-03,-9.37082453e-06, 9.82613190e-06, 1.62541951e-04,
  1.50365290e-04, 1.77118332e-04,-4.90381388e+00, 8.11341842e-04,
  3.44589161e-03,-2.02948193e-04]


--- Step 2107 ---
qpos:
[ 0.0187154 , 0.03002321,-0.00945776,-0.0252775 ,-0.00349233, 1.34064839,
 -0.02988528, 0.9437922 , 0.01156677, 0.02728813,-0.00830755, 0.02644319,
  1.39621475, 0.00763763, 1.29911491, 0.0443477 ,-0.08565046,-0.0468377 ,
  0.09214338, 0.70815203,-0.0852041 ,-0.69677568,-0.07592502]

qacc:
[ 4.95026223e+00,-1.74321570e-01, 1.57470264e-01, 2.14349713e+00,
 -5.71063166e-02, 4.05715249e+00,-1.48148909e+01, 2.29704213e+01,
  2.23561680e-01, 8.24504447e-01,-2.58082378e+00, 4.95605718e+00,
  3.37897706e-02, 3.25628934e-01, 8.46312430e+00,-2.84500412e+01,
  5.20571627e+00,-1.05998813e+00, 6.20267754e+00, 1.21228431e+00,
  1.77202803e+02, 1.27375183e+01]

qfrc_actuator:
[ 1.44368500e-05, 8.28070184e-04, 8.36703205e-05,-1.17885906e-04,
 -1.52032358e-05, 3.49902752e-02, 1.09088100e-02, 1.73441395e-03,
 -7.26046197e-05, 9.34162829e-04, 1.93810578e-04, 4.36636498e-05,
  0.00000000e+00,-1.55811144e-03, 0.00000000e+00,-8.26169244e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005200731405223945
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06737201e-14,  3.20211602e-14,  1.00000000e+00, -3.41784901e-28,
        1.00000000e+00, -3.20211602e-14, -1.00000000e+00,  0.00000000e+00,
        1.06737201e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13699506, -0.03557554,  0.06173828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.64576363e-05,-1.78956721e-06,-4.82979093e-05, 4.35446506e-05,
  1.41292447e-06, 7.61660062e-05, 2.39030304e-05, 1.28365748e-05,
  3.42968150e-03, 5.02835764e-05, 2.01073596e-05,-1.31816491e-04,
 -2.68260190e-06, 7.56027349e-05,-4.90433818e+00, 3.45451119e-04,
  3.44209884e-03,-2.30294792e-04]


--- Step 2108 ---
qpos:
[ 0.01871465, 0.03002193,-0.00945923,-0.02527893,-0.00349266, 1.34065016,
 -0.02988573, 0.94379259, 0.01156607, 0.02728902,-0.00830745, 0.02644288,
  1.39621666, 0.00763797, 1.29923155, 0.04435078,-0.08563482,-0.0468749 ,
  0.09216447, 0.70837493,-0.08468056,-0.69656385,-0.07637383]

qacc:
[ 3.13491027e+00, 2.06592667e+00,-6.46590864e+00, 7.84861926e+00,
 -9.29359196e-02, 1.29717024e+00,-6.63333035e+00, 1.64295307e+01,
 -5.81121198e+00,-1.25113035e+00, 3.90302121e+00,-2.58882136e+00,
 -6.55225672e-03, 3.83839495e-01, 1.17787138e+01,-4.04370436e+01,
  4.55709188e+00,-9.34813372e-01, 4.18030547e+00, 7.40691459e-01,
  1.54809187e+02, 1.06451443e+01]

qfrc_actuator:
[ 3.25350393e-05, 8.80038633e-04, 7.03960648e-05,-1.13340397e-04,
 -3.23335157e-05, 3.49586092e-02, 1.09014926e-02, 1.77940408e-03,
 -1.07835321e-04, 8.99863305e-04, 2.08584763e-04, 4.75038439e-05,
  0.00000000e+00,-1.54006233e-03, 0.00000000e+00,-1.01881023e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005188357468151446
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06991763e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.06991763e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13701096, -0.03556956,  0.06173885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.68559710e-05,-4.08101687e-05,-1.18893909e-05, 4.45312498e-05,
 -3.51618863e-05, 1.37538651e-05, 3.38908565e-05, 8.18091279e-06,
  3.40033952e-03, 5.20554601e-05,-8.58428086e-06,-1.98197620e-04,
 -4.17315971e-05,-2.44632996e-05,-4.90446581e+00,-2.57109389e-05,
  3.44523476e-03,-2.54772920e-04]


--- Step 2109 ---
qpos:
[ 0.01871516, 0.03002131,-0.00946064,-0.02528032,-0.0034932 , 1.34065146,
 -0.02988613, 0.94379248, 0.01156565, 0.0272898 ,-0.0083065 , 0.02644261,
  1.39621874, 0.00763815, 1.29934828, 0.04435052,-0.08560312,-0.04691542,
  0.09219543, 0.70878827,-0.08414814,-0.69615735,-0.07683241]

qacc:
[ 1.07777982e+01, 7.27908951e-01,-1.49148115e+00, 1.44787708e+00,
 -8.95276576e-02,-1.57555836e+00, 5.39535780e+00,-1.01036953e+01,
  2.35292142e+00,-2.44277989e+00, 8.32686453e+00,-8.93011332e+00,
 -3.75241185e-02,-7.62559944e-03, 1.02363227e+01,-3.56120122e+01,
  4.01420583e+00,-8.29887029e-01, 2.46520170e+00, 3.70606539e-01,
  1.36031599e+02, 8.95614551e+00]

qfrc_actuator:
[ 9.67301533e-05, 9.29107362e-04, 8.10084542e-05,-1.10086013e-04,
 -4.23481833e-05, 3.49213560e-02, 1.08973257e-02, 1.75244574e-03,
 -9.27799226e-05, 8.96694979e-04, 2.52594036e-04, 4.98552232e-05,
  0.00000000e+00,-1.58281992e-03, 0.00000000e+00,-1.18665145e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005121654649593792
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.0838519e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.0838519e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13710167, -0.03554755,  0.0617419 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.58866303e-05,-6.08280600e-05,-1.21979553e-05,-2.74986117e-05,
  1.40315868e-05, 1.18269016e-05, 5.12974926e-05, 4.27244546e-06,
  3.36862612e-03,-6.94361124e-06,-2.79188395e-05,-1.80487026e-04,
 -4.47302958e-06,-1.21415618e-04,-4.90432781e+00,-3.25820003e-04,
  3.45470154e-03,-2.77054576e-04]


--- Step 2110 ---
qpos:
[ 0.01871609, 0.03002084,-0.00946113,-0.02528166,-0.00349392, 1.34065266,
 -0.02988706, 0.94379273, 0.01156541, 0.0272912 ,-0.0083053 , 0.02644232,
  1.39622084, 0.00763802, 1.29946503, 0.04434688,-0.08559438,-0.0469516 ,
  0.09222665, 0.70893169,-0.08365503,-0.69602213,-0.07727158]

qacc:
[ 3.64275107e+00,-2.24275701e+00, 8.03720779e+00,-8.62234854e+00,
 -7.26248457e-02, 1.91281605e+00,-7.13215111e+00, 1.04626868e+01,
  1.55950092e+00, 8.05505832e-02, 9.79327037e-01,-2.19882241e+00,
 -4.95124763e-02,-1.22600340e-01, 1.02660625e+01,-3.58644132e+01,
 -5.73775605e+00, 1.08518083e+00, 6.72466397e-02,-8.11217319e+00,
 -1.92420038e+02,-1.21372997e+00]

qfrc_actuator:
[ 1.16536473e-04, 9.22896050e-04, 1.23404452e-04,-1.07593652e-04,
 -4.80135508e-05, 3.49342808e-02, 1.08772122e-02, 1.77211587e-03,
 -8.37401252e-05, 9.65559371e-04, 2.78110412e-04, 5.13502495e-05,
  0.00000000e+00,-1.60845211e-03, 0.00000000e+00,-1.35625855e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005207986954745468
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73206311e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.73206311e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00489268, -0.06758738,  0.06173832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.09649559e-05,-2.39464387e-05,-3.42081100e-05, 1.68478566e-05,
  9.45600352e-06, 8.62221940e-05, 3.44048945e-05, 3.85601118e-06,
  3.36036876e-03,-2.47253644e-05,-3.45029584e-05,-1.83627924e-04,
  8.38716982e-05,-2.14534133e-04,-4.90401479e+00,-5.72029252e-04,
  3.46991295e-03,-2.97633233e-04]


--- Step 2111 ---
qpos:
[ 0.01871656, 0.03002053,-0.00946101,-0.02528328,-0.00349461, 1.34065369,
 -0.02988765, 0.94379284, 0.01156458, 0.02729317,-0.00830412, 0.02644277,
  1.39622286, 0.00763764, 1.29958159, 0.04434119,-0.08560561,-0.04698397,
  0.092253  , 0.70884074,-0.08319452,-0.69612289,-0.07769428]

qacc:
[-3.91723117e+00,-2.08349480e+00, 8.93189922e+00,-1.49430516e+01,
  8.20311732e-03,-1.38276878e+00, 4.55761399e+00,-5.59689166e+00,
 -4.94982745e+00, 2.32469061e+00,-1.02679717e+01, 2.25474646e+01,
 -5.54207924e-02,-1.14768359e-01, 5.93096311e+00,-2.11295440e+01,
 -4.99382043e+00, 9.50368316e-01,-1.21894622e+00,-6.50718159e+00,
 -1.67160864e+02,-1.74892940e+00]

qfrc_actuator:
[ 9.22896257e-05, 9.19265625e-04, 1.48491662e-04,-1.23349552e-04,
 -3.32722515e-05, 3.49416098e-02, 1.09013339e-02, 1.76584548e-03,
 -1.13834538e-04, 9.88198767e-04, 2.75042609e-04, 8.78817060e-05,
  0.00000000e+00,-1.62359710e-03, 0.00000000e+00,-1.45453546e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.37107255,   2.12412835,   8.37107255,
        11.21499359, -10.16223827,   2.12412835, -10.16223827,
        48.68518358,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005234059352311332
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.59086325e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.59086325e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00484705, -0.06756554,  0.06173738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.35131138e-06,-1.21106148e-05, 1.60386835e-05,-7.60189765e-06,
 -2.97833848e-05, 7.80662175e-05, 1.90834530e-05, 4.14863367e-05,
  3.35870775e-03,-2.45362751e-05,-3.77562927e-05,-1.13268729e-04,
 -1.16186518e-05,-8.19809561e-05,-4.90443804e+00,-2.17897294e-04,
  3.46130852e-03,-3.04107913e-04]


--- Step 2112 ---
qpos:
[ 0.01871605, 0.03002033,-0.00946108,-0.02528501,-0.00349522, 1.3406549 ,
 -0.02988838, 0.94379286, 0.01156375, 0.02729534,-0.00830307, 0.0264437 ,
  1.39622503, 0.00763674, 1.29969856, 0.04432928,-0.08563431,-0.04701301,
  0.09227007, 0.70854518,-0.08276111,-0.69642966,-0.07810289]

qacc:
[-8.44510492e+00, 4.39667586e-01,-8.24206141e-01,-1.00420913e+00,
  3.63023654e-02, 4.70528231e-01,-1.08167347e+00,-1.30012274e-01,
 -8.61698506e-02, 1.64731551e+00,-7.53875372e+00, 1.60653773e+01,
 -5.89654217e-02,-2.10393211e-01, 1.93956067e+01,-6.69691696e+01,
 -4.36528006e+00, 8.35166575e-01,-2.31839871e+00,-5.20765683e+00,
 -1.45866422e+02,-2.09052779e+00]

qfrc_actuator:
[ 4.23222676e-05, 8.99368054e-04, 1.27624381e-04,-1.31984168e-04,
 -2.41617282e-05, 3.49634462e-02, 1.08980892e-02, 1.76213221e-03,
 -1.13463058e-04, 9.65145270e-04, 2.54987572e-04, 1.09183069e-04,
  0.00000000e+00,-1.65013346e-03, 0.00000000e+00,-1.77628575e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.32888524,   2.28395436,   8.32888524,
        11.80721216, -11.56311787,   2.28395436, -11.56311787,
        50.80352923,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005193580427098159
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.34420830e-15,  2.67210415e-15,  1.00000000e+00, -1.42802812e-29,
        1.00000000e+00, -2.67210415e-15, -1.00000000e+00,  0.00000000e+00,
        5.34420830e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00494947, -0.0675797 ,  0.06173932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.04996001e-05, 1.80398222e-05,-4.01176483e-06,-3.78237449e-06,
 -4.68531738e-07, 2.62224590e-05,-1.80783379e-07, 2.61075823e-05,
  3.36260998e-03,-3.84009520e-05,-3.10595772e-05,-3.33140876e-04,
 -1.56126367e-05, 6.60057322e-06,-4.90451453e+00, 9.42127775e-05,
  3.44761497e-03,-3.11620673e-04]


--- Step 2113 ---
qpos:
[ 0.01871495, 0.0300206 ,-0.00946151,-0.02528722,-0.00349587, 1.3406565 ,
 -0.02988959, 0.94379387, 0.01156362, 0.02729734,-0.00830173, 0.02644421,
  1.39622695, 0.00763562, 1.29981497, 0.04431694,-0.08567833,-0.0470391 ,
  0.09227412, 0.70806993,-0.08235031,-0.69691697,-0.0784993 ]

qacc:
[-5.12969211e+00, 7.04423545e-01, 3.43751955e-01,-8.13869349e+00,
 -2.05053544e-02, 3.47741806e+00,-1.27725767e+01, 2.23265434e+01,
  5.98997545e+00,-1.92192954e+00, 8.26489056e+00,-1.58514279e+01,
 -6.85927226e-02,-1.20662926e-01, 5.12040416e-01,-2.98312863e+00,
 -3.83341918e+00, 7.36596094e-01,-3.25497141e+00,-4.15131984e+00,
 -1.27919558e+02,-2.29436994e+00]

qfrc_actuator:
[ 1.31362142e-05, 9.40694409e-04, 1.15237089e-04,-1.54153483e-04,
 -3.62566407e-05, 3.49937080e-02, 1.08787659e-02, 1.81320311e-03,
 -7.73973835e-05, 9.32563542e-04, 2.60365076e-04, 8.57915372e-05,
  0.00000000e+00,-1.66537929e-03, 0.00000000e+00,-1.78332085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.32285367,   2.30583687,   8.32285367,
        12.08887211, -12.46173277,   2.30583687, -12.46173277,
        53.6166395 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005100036241791631
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08844621e-14,  1.36055776e-14,  1.00000000e+00, -1.48089394e-28,
        1.00000000e+00, -1.36055776e-14, -1.00000000e+00,  0.00000000e+00,
        1.08844621e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00516873, -0.06762215,  0.06174353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.88956816e-06, 3.93358591e-05,-1.63624775e-05, 5.14083826e-05,
  3.60681672e-05,-1.69324806e-05, 1.16345581e-05,-2.17753770e-05,
  3.35475482e-03,-2.73710607e-05,-5.35263469e-05,-3.00589381e-05,
  4.08815148e-05, 6.43184845e-05,-4.90435999e+00, 3.71433009e-04,
  3.42929855e-03,-3.20034573e-04]


--- Step 2114 ---
qpos:
[ 0.01871453, 0.03002113,-0.00946151,-0.0252897 ,-0.00349661, 1.34065776,
 -0.02989038, 0.94379412, 0.01156324, 0.02729919,-0.00830004, 0.02644443,
  1.39622847, 0.00763481, 1.29993045, 0.04430954,-0.08570133,-0.04706972,
  0.09230304, 0.70784351,-0.08192414,-0.69715066,-0.07891104]

qacc:
[ 5.94881104e+00,-1.46635633e+00, 6.90176969e+00,-1.26320881e+01,
 -3.60470512e-02,-2.83460406e+00, 1.02826906e+01,-1.75192858e+01,
 -2.16957356e+00,-1.80241036e+00, 7.37522346e+00,-1.29011548e+01,
 -5.96663116e-02, 1.38860286e-01,-1.63333505e+01, 5.51574251e+01,
  5.25766740e+00,-1.13276010e+00, 6.21546923e+00, 3.91296862e-01,
  1.77732331e+02, 9.43090197e+00]

qfrc_actuator:
[ 4.96824057e-05, 9.65109848e-04, 1.43708997e-04,-1.66295447e-04,
 -4.32224445e-05, 3.49399848e-02, 1.08856909e-02, 1.77183637e-03,
 -9.16316196e-05, 9.30074795e-04, 2.80635281e-04, 7.18038554e-05,
  0.00000000e+00,-1.63845160e-03, 0.00000000e+00,-1.51605029e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005028208011653844
  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([-0.13724192, -0.03550479,  0.06174671])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.04450074e-05,-3.36269676e-05, 1.42663672e-05,-3.94705168e-05,
 -1.31755715e-05,-1.05643939e-05, 1.74103753e-05,-1.47446446e-05,
  3.36708635e-03, 1.00471411e-05,-2.80414303e-05, 2.58758371e-04,
  1.35752823e-04, 1.00455903e-04,-4.90405450e+00, 6.19322634e-04,
  3.40679255e-03,-3.29237924e-04]


--- Step 2115 ---
qpos:
[ 0.01871422, 0.03002183,-0.00946143,-0.02529158,-0.00349758, 1.34065865,
 -0.02989096, 0.94379251, 0.011562  , 0.02730101,-0.00829845, 0.02644484,
  1.39623046, 0.00763455, 1.30004621, 0.04430132,-0.08570589,-0.04710434,
  0.09234883, 0.70783477,-0.0814842 ,-0.69716274,-0.0793371 ]

qacc:
[ 8.27738069e-01, 1.25368909e+00,-6.66636085e+00, 1.68056238e+01,
 -9.59689137e-02,-4.26894144e+00, 1.71634185e+01,-3.62733575e+01,
 -7.31434546e+00, 6.82221522e-01,-3.26337857e+00, 6.74677654e+00,
 -5.91711942e-02, 5.33288942e-01, 2.92518465e+00,-9.60819984e+00,
  4.60800773e+00,-9.99526796e-01, 4.21857390e+00, 6.01431437e-02,
  1.55438017e+02, 7.79734177e+00]

qfrc_actuator:
[ 5.36077424e-05, 9.61634436e-04, 1.42774425e-04,-1.36913743e-04,
 -6.48069089e-05, 3.49074444e-02, 1.08899204e-02, 1.67636049e-03,
 -1.35369876e-04, 9.27934180e-04, 2.74150135e-04, 8.12509500e-05,
  0.00000000e+00,-1.56889259e-03, 0.00000000e+00,-1.56873025e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005030852128703925
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.20682897e-14, -1.10341449e-14,  1.00000000e+00,  2.43504706e-28,
        1.00000000e+00,  1.10341449e-14, -1.00000000e+00,  0.00000000e+00,
        2.20682897e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1372433 , -0.03550195,  0.06174678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.77579563e-05,-4.95455829e-05,-1.88267984e-06,-9.69822220e-05,
 -4.41202745e-05,-5.17681694e-06,-7.07492092e-06, 9.30189818e-06,
  3.38667202e-03, 6.46492876e-05, 1.57359578e-05,-4.18503664e-05,
  2.11591884e-05, 3.95955607e-05,-4.90445281e+00, 2.60852125e-04,
  3.40201636e-03,-3.52429775e-04]


--- Step 2116 ---
qpos:
[ 0.01871326, 0.03002279,-0.00946138,-0.02529275,-0.00349878, 1.34065954,
 -0.02989196, 0.94379011, 0.01156024, 0.02730272,-0.00829718, 0.02644539,
  1.39623284, 0.00763462, 1.30016227, 0.04429054,-0.0856942 ,-0.04714251,
  0.09240472, 0.70801743,-0.08103185,-0.69697982,-0.07977648]

qacc:
[-5.49251392e+00, 1.89224075e+00,-9.24808753e+00, 2.13847826e+01,
 -9.98290392e-02,-2.33924232e-01, 2.38320047e+00,-1.11946457e+01,
 -4.40142635e+00, 1.04269204e+00,-4.50207142e+00, 7.45664812e+00,
 -9.01360058e-02, 4.11815915e-01, 8.19160911e+00,-2.79593200e+01,
  4.06525110e+00,-8.88246830e-01, 2.52594467e+00,-1.94832492e-01,
  1.36765678e+02, 6.49425771e+00]

qfrc_actuator:
[ 2.05268153e-05, 9.76913744e-04, 1.42135160e-04,-1.01140075e-04,
 -7.72341340e-05, 3.49232966e-02, 1.08748071e-02, 1.63859051e-03,
 -1.60602189e-04, 9.08182488e-04, 2.51936429e-04, 8.66392698e-05,
  0.00000000e+00,-1.56289204e-03, 0.00000000e+00,-1.70306679e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0049788852489223365
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11493132e-14,  2.22986265e-14,  1.00000000e+00, -2.48614371e-28,
        1.00000000e+00, -2.22986265e-14, -1.00000000e+00,  0.00000000e+00,
        1.11493132e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1373198 , -0.0354826 ,  0.06174936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.88320638e-05,-1.48474417e-05,-2.78662268e-05,-4.15645203e-05,
 -2.65189117e-05,-2.38142049e-05,-2.38729226e-05, 5.09576771e-06,
  3.36363676e-03, 4.29909000e-05,-1.78112499e-08,-1.35248632e-04,
 -7.50645878e-06,-2.50973168e-05,-4.90455053e+00,-3.36693931e-05,
  3.40380167e-03,-3.73722283e-04]


--- Step 2117 ---
qpos:
[ 0.01871226, 0.03002359,-0.00946085,-0.02529381,-0.00350004, 1.34066052,
 -0.02989297, 0.94378794, 0.01155854, 0.02730409,-0.00829609, 0.02644602,
  1.39623514, 0.00763487, 1.30027803, 0.04428058,-0.08566805,-0.04718387,
  0.09246499, 0.70836934,-0.08056828,-0.69662404,-0.08022828]

qacc:
[-3.62119760e-01,-1.33023433e+00, 3.99989135e+00,-2.79665397e+00,
 -2.11946560e-02, 5.57209265e-01,-2.13887568e+00, 4.42984064e+00,
  4.74919929e-01, 2.05362649e-01,-1.71855501e+00, 3.62279071e+00,
 -1.10821667e-01, 2.15191077e-01,-2.92044331e+00, 9.60019384e+00,
  3.61174908e+00,-7.95285865e-01, 1.09525577e+00,-3.93243290e-01,
  1.21127562e+02, 5.45163344e+00]

qfrc_actuator:
[ 1.91975372e-05, 9.50046694e-04, 1.59504445e-04,-9.73867180e-05,
 -6.63147504e-05, 3.49502040e-02, 1.08841352e-02, 1.65286517e-03,
 -1.56977523e-04, 8.77965205e-04, 2.38296538e-04, 8.95705120e-05,
  0.00000000e+00,-1.57726262e-03, 0.00000000e+00,-1.65355688e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0048836031071043395
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.41005299e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.41005299e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13745549, -0.03545013,  0.06175391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.11914114e-06, 1.19845412e-05, 2.03038089e-06, 1.20441414e-05,
  2.84724083e-06,-4.83399042e-05,-2.13598818e-05, 1.17676068e-06,
  3.34309622e-03, 1.26066074e-05,-1.73932726e-05, 4.14422642e-05,
  2.24143597e-05,-9.12493553e-05,-4.90444315e+00,-2.79163577e-04,
  3.41148840e-03,-3.93537556e-04]


--- Step 2118 ---
qpos:
[ 0.01871125, 0.03002439,-0.00946065,-0.02529513,-0.00350112, 1.3406618 ,
 -0.02989401, 0.94378697, 0.01155724, 0.02730495,-0.00829509, 0.0264467 ,
  1.39623693, 0.00763529, 1.30039318, 0.04427528,-0.0856623 ,-0.04722099,
  0.09252088, 0.70848105,-0.08012428,-0.69651077,-0.08066882]

qacc:
[-8.36606908e-02, 4.18703816e-01,-4.37215383e-01,-3.38873872e+00,
  7.33855374e-02, 2.54928363e+00,-1.03347722e+01, 2.27711150e+01,
  3.43136170e+00,-3.32054507e-01, 1.12280941e-03, 1.33336879e+00,
 -1.03245109e-01, 7.33573765e-02,-1.49857624e+01, 5.11115677e+01,
 -5.09715781e+00, 1.05867003e+00,-1.09679116e+00,-2.95252825e+00,
 -1.70793023e+02,-8.60282914e+00]

qfrc_actuator:
[ 1.88270918e-05, 9.33695700e-04, 1.33916915e-04,-1.12526990e-04,
 -4.14788554e-05, 3.49836535e-02, 1.08901466e-02, 1.71542031e-03,
 -1.36403085e-04, 8.41738209e-04, 2.29782334e-04, 9.10303200e-05,
  0.00000000e+00,-1.58610259e-03, 0.00000000e+00,-1.40733082e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004919868775984403
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.12830553e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.12830553e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00564622, -0.06771118,  0.06175268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.12201812e-05, 4.08296632e-05, 8.93713202e-06, 6.32510880e-05,
  2.06473510e-05,-6.76888369e-05,-2.11216926e-05,-1.33525648e-06,
  3.34759652e-03,-5.79519138e-06,-4.72707075e-06, 2.46032204e-04,
  9.24804883e-05,-1.57491326e-04,-4.90419710e+00,-4.86653471e-04,
  3.42448585e-03,-4.12190070e-04]


--- Step 2119 ---
qpos:
[ 0.01870955, 0.03002567,-0.0094616 ,-0.02529593,-0.00350197, 1.34066323,
 -0.02989493, 0.94378677, 0.0115562 , 0.02730558,-0.00829459, 0.02644703,
  1.39623823, 0.00763571, 1.30050812, 0.04427395,-0.08567442,-0.04725441,
  0.09256802, 0.70838287,-0.07969692,-0.69660962,-0.0810996 ]

qacc:
[-5.93177413e+00, 4.88772063e+00,-1.86372423e+01, 2.89362389e+01,
  9.61006354e-02, 1.16135969e+00,-5.08582901e+00, 1.31107851e+01,
  2.17995360e+00, 3.72660027e-01,-3.28163813e-01,-4.61746277e+00,
 -7.66203338e-02,-5.48825222e-02,-1.23019806e+01, 4.25983899e+01,
 -4.47058185e+00, 9.24095848e-01,-2.18798900e+00,-2.35058466e+00,
 -1.49300730e+02,-7.71079330e+00]

qfrc_actuator:
[-1.64913287e-05, 9.76827110e-04, 8.31844980e-05,-8.54280230e-05,
 -2.62493064e-05, 3.49852863e-02, 1.08941957e-02, 1.75261606e-03,
 -1.23779364e-04, 8.37715759e-04, 2.06575319e-04, 7.38557478e-05,
  0.00000000e+00,-1.59167112e-03, 0.00000000e+00,-1.20700983e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.8994696 ,   6.30737944,   5.8994696 ,
        48.44410608, -37.23330245,   6.30737944, -37.23330245,
        43.46171987,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004911971908942145
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.82529869e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.82529869e-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([ 0.00568229, -0.06771751,  0.06175337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.77707236e-05, 2.78604863e-05, 1.49064661e-05, 4.01503625e-05,
  1.32096214e-05,-4.63359659e-05,-3.98623037e-05,-2.08388948e-05,
  3.37253012e-03,-1.94366803e-05, 2.35730277e-05, 2.13099983e-04,
  1.14296337e-05,-6.72546426e-05,-4.90449966e+00,-2.00291553e-04,
  3.42417073e-03,-4.19592203e-04]


--- Step 2120 ---
qpos:
[ 0.01870779, 0.03002741,-0.00946296,-0.02529645,-0.00350276, 1.34066471,
 -0.02989544, 0.94378735, 0.011556  , 0.02730626,-0.0082948 , 0.02644679,
  1.39623945, 0.0076361 , 1.30062342, 0.0442727 ,-0.08570232,-0.04728459,
  0.09260268, 0.70810016,-0.07928377,-0.69689485,-0.08152182]

qacc:
[-5.84551846e-01, 2.35953773e+00,-8.69901738e+00, 1.38848412e+01,
  2.77307901e-02, 3.01489955e-01,-2.54539289e+00, 1.13453939e+01,
  7.22273063e+00, 8.68513820e-01,-6.12962234e-01,-8.17315581e+00,
 -5.83204346e-02, 2.89761708e-02, 2.75205461e-01,-1.92180286e-01,
 -3.94139101e+00, 8.10395297e-01,-3.11786443e+00,-1.84766083e+00,
 -1.31203760e+02,-6.92721059e+00]

qfrc_actuator:
[-1.88393802e-05, 1.01965655e-03, 7.15581189e-05,-6.91551870e-05,
 -3.46592268e-05, 3.49855902e-02, 1.09146654e-02, 1.79231346e-03,
 -8.04367522e-05, 8.52936992e-04, 1.74991915e-04, 4.58697820e-05,
  0.00000000e+00,-1.57742467e-03, 0.00000000e+00,-1.21293298e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.79471631,   6.403752  ,   5.79471631,
        50.59829831, -37.97109997,   6.403752  , -37.97109997,
        42.99618151,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00484903503413861
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14478759e-14, -1.14478759e-14,  1.00000000e+00,  1.31053862e-28,
        1.00000000e+00,  1.14478759e-14, -1.00000000e+00,  0.00000000e+00,
        1.14478759e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00584108, -0.06775153,  0.06175643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.00189965e-06, 1.98307420e-05, 2.87925521e-05, 4.19031413e-05,
  4.37184017e-05,-1.98456360e-05,-4.68013356e-05,-3.17605207e-05,
  3.39711750e-03,-5.04421631e-06, 3.12675219e-05, 8.26221377e-06,
  4.74294880e-06,-3.53377654e-06,-4.90453334e+00, 6.61305427e-05,
  3.41764002e-03,-4.27804242e-04]


--- Step 2121 ---
qpos:
[ 0.01870636, 0.0300296 ,-0.00946393,-0.02529683,-0.0035034 , 1.34066615,
 -0.02989538, 0.94378944, 0.01155599, 0.02730696,-0.00829492, 0.02644651,
  1.39624105, 0.00763679, 1.30073909, 0.04426942,-0.08574418,-0.04731191,
  0.09262171, 0.70765413,-0.07888279,-0.69734465,-0.08193642]

qacc:
[ 2.83360642e+00,-2.14373058e-01, 9.65064479e-01, 6.47946814e-01,
  6.13541487e-02, 9.94640701e-01,-6.40888199e+00, 2.30578746e+01,
  1.51026710e+00,-3.18105930e-01, 1.33248676e+00,-2.19403469e+00,
 -6.87722272e-02, 3.67848333e-01, 6.70041252e+00,-2.26074261e+01,
 -3.49382788e+00, 7.14249643e-01,-3.90778509e+00,-1.42443844e+00,
 -1.15977059e+02,-6.24517083e+00]

qfrc_actuator:
[-1.75128628e-06, 1.06212641e-03, 1.00879702e-04,-5.93522305e-05,
 -2.16767125e-05, 3.49851574e-02, 1.09446581e-02, 1.86868263e-03,
 -7.26154991e-05, 8.79523501e-04, 1.92061393e-04, 4.72708448e-05,
  0.00000000e+00,-1.53351118e-03, 0.00000000e+00,-1.32255287e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.8244136 ,   6.37675333,   5.8244136 ,
        52.2357129 , -39.82287374,   6.37675333, -39.82287374,
        45.0098715 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004742494636397865
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17050530e-14, -2.34101061e-14,  1.00000000e+00, -2.74016533e-28,
        1.00000000e+00,  2.34101061e-14, -1.00000000e+00,  0.00000000e+00,
       -1.17050530e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00609614, -0.06780717,  0.06176136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.77117047e-05, 1.74207639e-05, 3.83772478e-05, 7.87832411e-05,
  9.09986060e-06, 4.45316028e-06, 6.09970207e-06,-1.68925092e-06,
  3.40049789e-03, 4.02469313e-05, 1.12452507e-05,-1.06066129e-04,
  4.80847427e-05, 4.06723405e-05,-4.90438516e+00, 3.12893314e-04,
  3.40569471e-03,-4.36792105e-04]


--- Step 2122 ---
qpos:
[ 0.0187048 , 0.03003202,-0.0094647 ,-0.02529739,-0.00350375, 1.34066697,
 -0.02989375, 0.94379139, 0.01155606, 0.02730754,-0.00829453, 0.02644623,
  1.39624352, 0.00763811, 1.30085523, 0.04426119,-0.08576644,-0.04734391,
  0.09266057, 0.70743835,-0.07846501,-0.69755998,-0.0823668 ]

qacc:
[-1.10185605e+00,-6.15659469e-01, 3.44644569e+00,-7.17560502e+00,
  1.25494735e-01,-5.29833314e+00, 1.65844954e+01,-1.55977578e+01,
  8.23582145e-01,-1.56692197e+00, 5.35451439e+00,-6.00899724e+00,
 -1.08544519e-01, 7.46582138e-01, 1.57289209e+01,-5.39243984e+01,
  4.90248630e+00,-1.16906865e+00, 4.95662158e+00,-7.75781789e-02,
  1.64559305e+02, 7.24407221e+00]

qfrc_actuator:
[-8.87593246e-06, 1.05097089e-03, 1.00875865e-04,-7.11615613e-05,
  4.03564000e-06, 3.49310902e-02, 1.10155491e-02, 1.85950681e-03,
 -6.80217684e-05, 8.77435654e-04, 2.20050182e-04, 4.82486016e-05,
  0.00000000e+00,-1.47211708e-03, 0.00000000e+00,-1.58107476e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004688015432875357
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18410769e-14, -1.18410769e-14,  1.00000000e+00,  1.40211102e-28,
        1.00000000e+00,  1.18410769e-14, -1.00000000e+00,  0.00000000e+00,
        1.18410769e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13775014, -0.0353653 ,  0.06176389])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.61792951e-05,-3.45614407e-05, 8.09778862e-05,-5.69523266e-06,
  4.86364775e-06, 1.56999097e-06, 2.95950376e-05, 1.34573673e-06,
  3.38155657e-03, 8.64996616e-05,-9.48400375e-06,-2.63659928e-04,
  1.24081626e-04, 7.05347306e-05,-4.90411555e+00, 5.40997750e-04,
  3.38899073e-03,-4.46506194e-04]


--- Step 2123 ---
qpos:
[ 0.01870316, 0.03003386,-0.00946475,-0.02529836,-0.0035038 , 1.34066748,
 -0.0298918 , 0.94379187, 0.01155688, 0.02730782,-0.00829399, 0.02644671,
  1.39624641, 0.00763968, 1.30097149, 0.04424858,-0.08577141,-0.04738005,
  0.09271217, 0.70742507,-0.07803198,-0.69756929,-0.08281219]

qacc:
[-5.91405701e-01,-3.64160270e+00, 1.36031708e+01,-2.14519599e+01,
  1.27351818e-01,-3.77828230e+00, 1.48627090e+01,-2.97294122e+01,
  6.36209587e+00, 7.38424613e-01,-6.43273783e+00, 1.95313330e+01,
 -1.57124900e-01, 4.50332261e-01, 1.34361411e+01,-4.66864500e+01,
  4.32194453e+00,-1.03308298e+00, 3.18523403e+00,-3.77986686e-01,
  1.44719064e+02, 5.79078108e+00]

qfrc_actuator:
[-1.24491140e-05, 9.72154751e-04, 1.18818177e-04,-9.56629305e-05,
  1.94241896e-05, 3.48986973e-02, 1.10209815e-02, 1.78229304e-03,
 -2.98477417e-05, 8.40509440e-04, 2.18627558e-04, 8.44483748e-05,
  0.00000000e+00,-1.48944116e-03, 0.00000000e+00,-1.80093051e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004677707314076324
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18671707e-14,  2.37343414e-14,  1.00000000e+00, -2.81659481e-28,
        1.00000000e+00, -2.37343414e-14, -1.00000000e+00,  0.00000000e+00,
        1.18671707e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13776973, -0.03535643,  0.06176458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.67672853e-05,-3.58457823e-05, 7.71998052e-06,-7.60037027e-05,
  3.83179723e-05,-2.99004995e-05, 2.58255692e-06, 3.73155101e-05,
  3.33814306e-03, 3.79271328e-05,-3.54578568e-05,-2.36203825e-04,
  2.83152677e-05, 2.23260772e-05,-4.90445361e+00, 2.10512634e-04,
  3.38413846e-03,-4.69149108e-04]


--- Step 2124 ---
qpos:
[ 0.01870288, 0.03003479,-0.0094641 ,-0.02529889,-0.00350374, 1.34066818,
 -0.02989087, 0.94379215, 0.01155781, 0.027308  ,-0.00829382, 0.02644798,
  1.39624899, 0.00764114, 1.30108728, 0.04423573,-0.08576103,-0.04741986,
  0.09277052, 0.7075909 ,-0.07758504,-0.69739622,-0.0832718 ]

qacc:
[ 1.16091652e+01,-2.25929912e+00, 4.38602311e+00, 2.96727488e+00,
  4.49947251e-02, 2.66838816e+00,-7.95611912e+00, 4.32496744e+00,
  9.01993628e-01, 2.48474136e+00,-1.23724301e+01, 2.66073986e+01,
 -1.74228664e-01, 4.15497584e-02, 3.45160405e-02,-1.08917847e+00,
  3.83688653e+00,-9.19953527e-01, 1.68567562e+00,-6.07003243e-01,
  1.28107236e+02, 4.64976793e+00]

qfrc_actuator:
[ 5.71145546e-05, 9.06725967e-04, 1.46921608e-04,-7.42220003e-05,
  1.07426173e-05, 3.49147457e-02, 1.09700088e-02, 1.77215732e-03,
 -2.54709260e-05, 8.36178851e-04, 1.99722012e-04, 1.23275810e-04,
  0.00000000e+00,-1.53611949e-03, 0.00000000e+00,-1.80090617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004619527227551705
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.00831519e-15,  1.20166304e-14,  1.00000000e+00, -7.21997029e-29,
        1.00000000e+00, -1.20166304e-14, -1.00000000e+00,  0.00000000e+00,
        6.00831519e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13785522, -0.03533306,  0.06176747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.30449585e-05,-4.55875889e-06,-5.93372461e-05,-1.27448483e-05,
  5.48852784e-06,-1.89199999e-05,-2.34839590e-05, 3.83573439e-05,
  3.31649050e-03,-2.12953996e-05,-4.35521992e-05,-1.79021335e-05,
  5.62641104e-06,-3.20882360e-05,-4.90453386e+00,-6.62098833e-05,
  3.38537590e-03,-4.90229504e-04]


--- Step 2125 ---
qpos:
[ 0.01870377, 0.03003509,-0.00946373,-0.02529877,-0.00350365, 1.34066898,
 -0.02989062, 0.94379298, 0.01155844, 0.02730814,-0.00829384, 0.02644829,
  1.39625083, 0.00764262, 1.30120221, 0.04422794,-0.08573693,-0.04746297,
  0.09283054, 0.70791612,-0.07712537,-0.69706043,-0.08374487]

qacc:
[ 1.01330701e+01, 1.25553935e+00,-8.42083922e+00, 2.04434167e+01,
  8.23874363e-03, 2.88979372e+00,-1.04404043e+01, 1.54821198e+01,
 -2.55863573e+00,-1.45529035e+00, 9.13058660e+00,-2.51931972e+01,
 -1.54969001e-01,-1.97915502e-02,-1.65616707e+01, 5.60897353e+01,
  3.43163748e+00,-8.25843594e-01, 4.19626533e-01,-7.83917050e-01,
  1.14203986e+02, 3.75097170e+00]

qfrc_actuator:
[ 1.15910068e-04, 8.67638734e-04, 1.27595417e-04,-4.36647650e-05,
  5.44537082e-06, 3.49239718e-02, 1.09396703e-02, 1.80159917e-03,
 -4.10326437e-05, 8.33571786e-04, 1.88525363e-04, 7.45853886e-05,
  0.00000000e+00,-1.54689490e-03, 0.00000000e+00,-1.52932365e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00452349664780885
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.45434696e-14, -1.22717348e-14,  1.00000000e+00,  3.01190950e-28,
        1.00000000e+00,  1.22717348e-14, -1.00000000e+00,  0.00000000e+00,
        2.45434696e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13799246, -0.03529819,  0.06177208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.41162049e-06,-5.29107956e-06,-3.83581104e-05, 2.72717469e-05,
 -1.54072297e-05,-1.64008071e-05,-1.66763523e-05,-4.95709324e-05,
  3.33207877e-03,-2.67141708e-05,-2.26556965e-05, 2.64908663e-04,
  3.35642616e-05,-8.99955882e-05,-4.90443546e+00,-3.01516348e-04,
  3.39212052e-03,-5.10099527e-04]


--- Step 2126 ---
qpos:
[ 0.01870399, 0.03003524,-0.00946407,-0.02529866,-0.00350359, 1.3406702 ,
 -0.02989121, 0.94379413, 0.01155853, 0.02730761,-0.00829316, 0.02644805,
  1.39625175, 0.0076437 , 1.30131681, 0.04422475,-0.08573222,-0.04750112,
  0.09288434, 0.70801533,-0.07669507,-0.69695415,-0.08418477]

qacc:
[-5.85778708e+00, 1.76364794e+00,-6.51428036e+00, 7.53164417e+00,
 -6.38456946e-03, 3.39098534e+00,-1.10568855e+01, 1.30876456e+01,
 -4.54037880e+00,-3.97587518e+00, 1.52735791e+01,-2.56509508e+01,
 -1.08576936e-01,-3.86600376e-01,-1.44076826e+01, 4.96723390e+01,
 -4.84862825e+00, 1.24231107e+00,-1.55466961e+00, 2.06104609e+00,
 -1.62520177e+02, 3.65905733e+00]

qfrc_actuator:
[ 7.91100039e-05, 8.79951447e-04, 9.82695856e-05,-4.35138263e-05,
  2.22301912e-06, 3.49646428e-02, 1.09040190e-02, 1.81859697e-03,
 -6.81944015e-05, 7.78712424e-04, 2.17433592e-04, 4.58121339e-05,
  0.00000000e+00,-1.58947207e-03, 0.00000000e+00,-1.29527971e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004539012113653408
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.11489349e-15,  9.17234023e-15,  1.00000000e+00, -5.60878836e-29,
        1.00000000e+00, -9.17234023e-15, -1.00000000e+00,  0.00000000e+00,
        6.11489349e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00593102, -0.07022001,  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:
[-3.50598493e-05,-4.16456048e-05,-5.04002348e-05,-4.19908143e-06,
 -1.79742247e-06, 3.10557788e-05,-4.02516844e-05, 1.63487369e-05,
 -2.76154943e-05,-6.96089226e-05, 2.17502617e-05,-3.10180715e-05,
  3.36863768e-03,-7.03547572e-05, 1.80939385e-05, 2.45749297e-04,
  9.69051984e-05,-1.49730099e-04,-4.90421373e+00,-5.04548567e-04,
  3.40385115e-03,-5.29021460e-04]


--- Step 2127 ---
qpos:
[ 0.01870342, 0.03003499,-0.00946415,-0.02529894,-0.00350369, 1.34067185,
 -0.02989205, 0.94379614, 0.01155796, 0.02730643,-0.00829216, 0.02644851,
  1.39625212, 0.00764414, 1.30143179, 0.04422172,-0.0857446 ,-0.04753492,
  0.09292792, 0.70791618,-0.07629047,-0.69704953,-0.08459552]

qacc:
[-6.73770341e+00,-2.00889540e+00, 8.05512909e+00,-1.48179325e+01,
 -7.19601784e-02, 2.68356929e+00,-9.82055398e+00, 1.81352310e+01,
 -5.70837056e+00,-2.81203366e-01,-3.23100069e+00, 1.55295583e+01,
 -6.04836463e-02,-4.77886483e-01, 5.84085207e-02, 5.69541135e-01,
 -4.27277605e+00, 1.08631465e+00,-2.55534608e+00, 1.94470140e+00,
 -1.42707041e+02, 3.19806279e+00]

qfrc_actuator:
[ 3.95994863e-05, 8.69621461e-04, 1.16740616e-04,-6.12106008e-05,
 -1.74804607e-05, 3.50060546e-02, 1.09011248e-02, 1.86364436e-03,
 -1.01959963e-04, 7.46416462e-04, 2.34094802e-04, 8.22428529e-05,
  0.00000000e+00,-1.61520321e-03, 0.00000000e+00,-1.29835697e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   3.43995183,   7.92171119,   3.43995183,
        80.11399189, -31.03869763,   7.92171119, -31.03869763,
        22.11471727,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0045327863115015715
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22465846e-14, -2.44931693e-14,  1.00000000e+00,  2.99957671e-28,
        1.00000000e+00,  2.44931693e-14, -1.00000000e+00,  0.00000000e+00,
        1.22465846e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00596054, -0.0702286 ,  0.06177231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.07645758e-05, 5.12030840e-05,-9.19576427e-07, 4.51817911e-05,
 -3.45992751e-05,-6.80554877e-05, 3.88832473e-06, 3.35980138e-05,
  3.41447918e-03,-7.56195610e-05, 3.21448757e-05, 1.22059342e-05,
  1.65706215e-05,-6.62783110e-05,-4.90451839e+00,-2.16124619e-04,
  3.41280883e-03,-5.36230506e-04]


--- Step 2128 ---
qpos:
[ 0.01870272, 0.03003417,-0.00946392,-0.02529941,-0.0035037 , 1.34067365,
 -0.0298926 , 0.94380039, 0.01155698, 0.0273049 ,-0.00829218, 0.02644947,
  1.39625211, 0.00764468, 1.30154641, 0.04422273,-0.08577213,-0.0475649 ,
  0.09295787, 0.70764181,-0.07590847,-0.69732295,-0.08498044]

qacc:
[-1.05121361e+00,-2.01769868e+00, 6.87915055e+00,-1.02101321e+01,
  3.99852694e-02, 3.26530737e+00,-1.50566834e+01, 3.90612745e+01,
 -3.44588210e+00, 3.38707461e+00,-1.47877073e+01, 2.50920703e+01,
 -3.63724368e-02, 1.01006355e-04,-1.27869939e+01, 4.39563025e+01,
 -3.78636716e+00, 9.55169582e-01,-3.40741312e+00, 1.84921856e+00,
 -1.26034184e+02, 2.81281354e+00]

qfrc_actuator:
[ 3.43466187e-05, 8.28246025e-04, 1.27700016e-04,-7.14880951e-05,
  6.34635052e-06, 3.50122269e-02, 1.09176211e-02, 1.97812154e-03,
 -1.21585355e-04, 7.10144450e-04, 1.72485473e-04, 1.03485347e-04,
  0.00000000e+00,-1.57717436e-03, 0.00000000e+00,-1.08605379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00447591203464006
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.24021989e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.24021989e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00610319, -0.07026475,  0.06177509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.15576591e-05, 3.56671886e-05, 2.77348214e-05, 1.17040621e-04,
 -2.06666501e-05,-7.20700599e-05,-7.40238886e-05, 1.91151369e-05,
  3.44192541e-03,-5.56324916e-06, 1.12757747e-05, 2.16043489e-04,
  5.01946280e-06,-6.81049584e-06,-4.90457666e+00, 3.30541906e-05,
  3.41475378e-03,-5.44203261e-04]


--- Step 2129 ---
qpos:
[ 0.01870231, 0.03003307,-0.00946396,-0.02529965,-0.0035034 , 1.34067531,
 -0.02989273, 0.94380497, 0.01155577, 0.02730297,-0.00829292, 0.02645032,
  1.39625196, 0.00764521, 1.30166119, 0.04422494,-0.08581316,-0.0475915 ,
  0.0929713 , 0.70721153,-0.07554643,-0.69775445,-0.08534231]

qacc:
[ 2.45573239e+00, 8.43211246e-01,-4.52891743e+00, 9.13405138e+00,
  1.34443919e-01,-7.71657663e-01, 1.64107727e+00, 2.37883304e+00,
 -1.96295177e+00, 1.26668798e+00,-4.83887568e+00, 4.41270120e+00,
 -1.71479636e-02,-2.56585600e-02,-3.36144314e+00, 1.21149304e+01,
 -3.37487874e+00, 8.44780336e-01,-4.13091676e+00, 1.77314236e+00,
 -1.12014247e+02, 2.48913912e+00]

qfrc_actuator:
[ 4.93009104e-05, 8.21849722e-04, 1.16246012e-04,-5.96021564e-05,
  3.83422216e-05, 3.49796234e-02, 1.09275699e-02, 1.99049818e-03,
 -1.32728606e-04, 6.89198472e-04, 1.36133617e-04, 9.78031291e-05,
  0.00000000e+00,-1.57239299e-03, 0.00000000e+00,-1.03252025e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004378896928649914
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26769714e-14,  1.26769714e-14,  1.00000000e+00, -1.60705604e-28,
        1.00000000e+00, -1.26769714e-14, -1.00000000e+00,  0.00000000e+00,
        1.26769714e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00633459, -0.07032245,  0.0617796 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.88266301e-05,-3.93496978e-06, 2.35191952e-05, 1.69831719e-05,
 -1.17761413e-05,-7.56766870e-05,-5.96794208e-05,-1.09580205e-05,
  3.46078336e-03,-6.19951752e-06, 2.67872840e-05, 6.64808148e-05,
  4.05531057e-05, 3.46713197e-05,-4.90446543e+00, 2.49856823e-04,
  3.41052553e-03,-5.52799587e-04]


--- Step 2130 ---
qpos:
[ 0.01870243, 0.03003211,-0.00946467,-0.02529943,-0.00350289, 1.34067685,
 -0.02989258, 0.94380725, 0.01155444, 0.02730073,-0.00829337, 0.02645101,
  1.39625184, 0.00764549, 1.30177641, 0.04422513,-0.08583493,-0.0476227 ,
  0.09300257, 0.70700389,-0.07516153,-0.69795904,-0.08572876]

qacc:
[ 4.49759618e+00, 3.00154379e+00,-1.23473205e+01, 2.12430833e+01,
  8.34127069e-02,-4.83961041e+00, 2.03331854e+01,-4.42207192e+01,
 -1.05184822e+00,-1.53749982e+00, 5.58015838e+00,-8.59166873e+00,
 -9.92392899e-03,-1.37348184e-01, 6.75919138e+00,-2.27109635e+01,
  4.81208292e+00,-1.14901626e+00, 4.46135964e+00,-1.76227061e+00,
  1.59815653e+02, 1.40502536e+00]

qfrc_actuator:
[ 7.60180258e-05, 8.54133237e-04, 9.18003834e-05,-3.47600737e-05,
  3.94733405e-05, 3.49594809e-02, 1.09333380e-02, 1.87163291e-03,
 -1.38794878e-04, 7.13157036e-04, 1.68312320e-04, 9.41201648e-05,
  0.00000000e+00,-1.58748194e-03, 0.00000000e+00,-1.14402075e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004344710600503912
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27767201e-14,  2.55534402e-14,  1.00000000e+00, -3.26489153e-28,
        1.00000000e+00, -2.55534402e-14, -1.00000000e+00,  0.00000000e+00,
        1.27767201e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13826291, -0.03522482,  0.06178121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.40753906e-05,-1.72113775e-05, 8.17751306e-06,-1.17891697e-04,
 -6.44142441e-06,-3.10886971e-05, 8.84534146e-06,-9.19990336e-06,
  3.46717972e-03,-2.06145640e-05, 1.60955701e-05,-1.05187357e-04,
  1.07611672e-04, 6.26976030e-05,-4.90423838e+00, 4.39890176e-04,
  3.40082911e-03,-5.61904689e-04]


--- Step 2131 ---
qpos:
[ 0.01870183, 0.03003124,-0.00946564,-0.02529996,-0.00350256, 1.34067829,
 -0.02989266, 0.94380846, 0.01155339, 0.02729873,-0.00829373, 0.02645193,
  1.39625133, 0.00764575, 1.30189113, 0.0442287 ,-0.08583969,-0.04765799,
  0.09304503, 0.70699277,-0.07475619,-0.69796351,-0.08613755]

qacc:
[-6.13968977e+00,-7.20594283e-01, 5.93648424e+00,-1.87140999e+01,
 -7.24044493e-02,-1.33014924e+00, 6.37804815e+00,-1.78768272e+01,
  2.40210310e+00, 5.64983205e-01,-2.56722464e+00, 6.38538813e+00,
 -4.31231443e-03,-1.17367613e-01,-1.09706853e+01, 3.72915622e+01,
  4.25544151e+00,-1.02313979e+00, 2.79509665e+00,-1.77077869e+00,
  1.41043582e+02, 9.16226474e-01]

qfrc_actuator:
[ 3.84274105e-05, 8.56036607e-04, 7.78139215e-05,-7.34768282e-05,
  4.32659862e-06, 3.49468475e-02, 1.09188169e-02, 1.81853338e-03,
 -1.24074384e-04, 7.64114334e-04, 1.87625733e-04, 1.09484036e-04,
  0.00000000e+00,-1.59649406e-03, 0.00000000e+00,-9.61246693e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004340719286260751
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.39423418e-15,  1.27884684e-14,  1.00000000e+00, -8.17724614e-29,
        1.00000000e+00, -1.27884684e-14, -1.00000000e+00,  0.00000000e+00,
        6.39423418e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13827306, -0.03522103,  0.06178156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.09196626e-05,-2.41045459e-05,-2.04135014e-05,-5.61049129e-05,
  1.45136053e-05, 3.50834668e-05, 1.36915483e-05, 1.41630782e-05,
  3.46582978e-03,-1.68807207e-05,-7.99645227e-06, 1.78127474e-04,
  1.99301596e-05, 1.96753915e-05,-4.90453962e+00, 1.55059728e-04,
  3.39249137e-03,-5.82118164e-04]


--- Step 2132 ---
qpos:
[ 0.01870044, 0.03003019,-0.00946582,-0.02530134,-0.0035025 , 1.34067982,
 -0.02989275, 0.94380899, 0.01155321, 0.02729719,-0.00829427, 0.02645302,
  1.39625091, 0.00764634, 1.3020058 , 0.04423407,-0.08582929,-0.04769695,
  0.09309302, 0.70715616,-0.07433251,-0.69779011,-0.08656674]

qacc:
[-6.75470872e+00,-4.13564696e+00, 1.79698832e+01,-3.36776141e+01,
 -1.15879854e-01,-1.02426407e+00, 4.88021966e+00,-1.21331208e+01,
  7.44474562e+00, 1.41269025e+00,-4.88957644e+00, 7.73143571e+00,
  8.66900402e-03, 2.20752634e-01,-5.51173065e+00, 1.91657229e+01,
  3.79016599e+00,-9.18029422e-01, 1.38448973e+00,-1.76959392e+00,
  1.25326506e+02, 5.49984997e-01]

qfrc_actuator:
[-1.21198231e-06, 8.57479989e-04, 1.23222050e-04,-1.13789549e-04,
 -1.67922840e-05, 3.49742578e-02, 1.09280310e-02, 1.78683171e-03,
 -7.94856519e-05, 7.95343510e-04, 1.81555917e-04, 1.18189221e-04,
  0.00000000e+00,-1.54873345e-03, 0.00000000e+00,-8.72791225e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004291319096138363
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29356848e-14,  1.29356848e-14,  1.00000000e+00, -1.67331941e-28,
        1.00000000e+00, -1.29356848e-14, -1.00000000e+00,  0.00000000e+00,
        1.29356848e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13834579, -0.03520252,  0.06178401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.34819176e-05, 8.38786509e-06, 5.30660067e-07,-3.43219581e-05,
  4.50183760e-05, 5.43594807e-05, 3.37753261e-06, 1.09604276e-05,
  3.48507184e-03, 3.19783004e-05, 1.44913592e-05, 9.69854570e-05,
  5.00138674e-07,-3.14345204e-05,-4.90460092e+00,-9.19826187e-05,
  3.39079353e-03,-6.01387175e-04]


--- Step 2133 ---
qpos:
[ 0.01869962, 0.03002905,-0.00946553,-0.0253025 ,-0.00350256, 1.34068147,
 -0.02989245, 0.94380843, 0.01155323, 0.02729574,-0.00829472, 0.02645424,
  1.39625092, 0.00764725, 1.30212083, 0.04423778,-0.08580528,-0.04773924,
  0.09314178, 0.70747552,-0.07389225,-0.69745736,-0.08701464]

qacc:
[ 4.90094069e+00,-1.01690466e+00, 2.49109935e+00, 7.17923667e-01,
 -5.03494548e-02,-2.75782577e+00, 1.14346986e+01,-2.27234216e+01,
  1.63750188e+00, 1.37875058e-01,-8.49017821e-01, 2.81520337e+00,
 -2.42225228e-03, 3.16333279e-01, 5.54037410e+00,-1.85750173e+01,
  3.40127077e+00,-8.30253499e-01, 1.93284449e-01,-1.76473548e+00,
  1.12172705e+02, 2.74058314e-01]

qfrc_actuator:
[ 2.92915696e-05, 8.58876690e-04, 1.50076708e-04,-1.01413544e-04,
 -1.15705737e-05, 3.49900343e-02, 1.09513488e-02, 1.73249761e-03,
 -7.09385733e-05, 7.78919278e-04, 1.78232911e-04, 1.22876072e-04,
  0.00000000e+00,-1.52051544e-03, 0.00000000e+00,-9.64961808e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0042059555375836
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.63964518e-14, -5.27929035e-14,  1.00000000e+00,  1.39354533e-27,
        1.00000000e+00,  5.27929035e-14, -1.00000000e+00,  0.00000000e+00,
        2.63964518e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13846774, -0.03517234,  0.0617881 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.45639443e-05, 1.94782802e-05, 2.40116321e-05,-5.48593647e-05,
  9.87870923e-06, 1.52161512e-05, 8.72088189e-06, 7.34684602e-06,
  3.48027644e-03, 4.34512845e-05, 1.49988400e-05,-8.54976975e-05,
  2.88214156e-05,-8.75170071e-05,-4.90449447e+00,-3.08759947e-04,
  3.39500385e-03,-6.19909790e-04]


--- Step 2134 ---
qpos:
[ 0.01869918, 0.03002783,-0.00946516,-0.02530347,-0.00350295, 1.34068278,
 -0.0298917 , 0.9438076 , 0.01155266, 0.02729412,-0.00829453, 0.02645584,
  1.39625101, 0.00764843, 1.30223568, 0.0442424 ,-0.08580049,-0.0477759 ,
  0.09318376, 0.7075745 ,-0.07349522,-0.69734977,-0.08740754]

qacc:
[ 3.19390645e+00, 5.48803885e-02,-1.14102972e+00, 4.28855602e+00,
 -1.41392133e-01,-2.13179675e+00, 6.96321332e+00,-8.90033000e+00,
 -4.98329495e+00,-1.22367142e+00, 2.43547202e+00, 3.31527006e+00,
 -2.14972695e-02, 2.13635436e-01,-2.98566215e+00, 1.00770642e+01,
 -4.80448924e+00, 1.40580318e+00,-1.69847025e+00, 5.54217700e+00,
 -1.60413045e+02, 1.66251058e+01]

qfrc_actuator:
[ 4.75794723e-05, 8.42470417e-04, 1.48026898e-04,-9.36613858e-05,
 -4.38475934e-05, 3.49455158e-02, 1.09649927e-02, 1.71853394e-03,
 -1.01436635e-04, 7.69589853e-04, 2.11874524e-04, 1.42879177e-04,
  0.00000000e+00,-1.52189042e-03, 0.00000000e+00,-9.14243927e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004231412234768105
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31188237e-14,  2.62376475e-14,  1.00000000e+00, -3.44207072e-28,
        1.00000000e+00, -2.62376475e-14, -1.00000000e+00,  0.00000000e+00,
        1.31188237e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00628491, -0.07266795,  0.06178721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.08827278e-05,-3.07077678e-05, 1.85748854e-05,-1.39440457e-05,
 -3.02089082e-05, 1.35439839e-06, 3.81322485e-05, 2.11010345e-05,
  3.45857314e-03, 2.63004312e-05,-5.48435022e-06, 4.71755532e-05,
  9.09508971e-05,-1.46605493e-04,-4.90427089e+00,-5.01098605e-04,
  3.40450085e-03,-6.37838141e-04]


--- Step 2135 ---
qpos:
[ 0.01869827, 0.03002643,-0.00946446,-0.02530434,-0.00350355, 1.34068388,
 -0.02989117, 0.94380871, 0.01155207, 0.02729186,-0.00829358, 0.02645669,
  1.39625109, 0.00764975, 1.30235043, 0.0442479 ,-0.08581266,-0.04780762,
  0.09321507, 0.70747966,-0.07313613,-0.69744049,-0.08775199]

qacc:
[-3.98766798e+00,-9.20858590e-01, 2.55631543e+00,-1.29204615e+00,
 -8.80029574e-02, 3.63886291e+00,-1.61836211e+01, 3.66237051e+01,
 -1.04926247e-01,-4.50352821e+00, 1.79764508e+01,-3.17024375e+01,
 -2.39457796e-02, 1.07520887e-01,-2.83306791e+00, 9.70915753e+00,
 -4.24204397e+00, 1.23362413e+00,-2.66356668e+00, 5.01269811e+00,
 -1.41179425e+02, 1.46124900e+01]

qfrc_actuator:
[ 2.30024837e-05, 8.33163896e-04, 1.64354885e-04,-8.87331251e-05,
 -4.51030123e-05, 3.49362372e-02, 1.09548509e-02, 1.81716204e-03,
 -1.01402424e-04, 6.93725304e-04, 2.31592153e-04, 1.00750278e-04,
  0.00000000e+00,-1.52335197e-03, 0.00000000e+00,-8.68448357e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0042380707370183734
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30982125e-14,  1.30982125e-14,  1.00000000e+00,  1.71563171e-28,
        1.00000000e+00, -1.30982125e-14, -1.00000000e+00,  0.00000000e+00,
       -1.30982125e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00628063, -0.07266776,  0.06178714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.54160230e-05,-2.30634748e-05,-1.44471172e-05, 9.79285044e-05,
 -8.57078576e-07,-6.62858987e-05, 2.54379071e-05,-4.03400521e-05,
  3.45427426e-03, 1.12084043e-05, 1.03985147e-06, 4.73064533e-05,
  9.07744621e-06,-6.16906427e-05,-4.90460024e+00,-2.22321266e-04,
  3.41977856e-03,-6.43999763e-04]


--- Step 2136 ---
qpos:
[ 0.01869775, 0.03002491,-0.00946359,-0.0253048 ,-0.00350399, 1.3406848 ,
 -0.02989078, 0.94381132, 0.01155183, 0.02728917,-0.00829269, 0.02645671,
  1.39625091, 0.00765059, 1.30246538, 0.04425224,-0.08583991,-0.04783499,
  0.09323245, 0.70721318,-0.07281053,-0.69770677,-0.08805349]

qacc:
[ 3.45749679e+00, 1.88106960e-01,-2.67502211e+00, 9.67613761e+00,
  6.95300510e-02, 2.73182799e+00,-1.22973699e+01, 2.83051998e+01,
  2.98515114e+00,-2.12622465e+00, 1.02900030e+01,-2.42833894e+01,
 -1.39073245e-02,-3.48507687e-01, 3.82572192e+00,-1.29823813e+01,
 -3.76673512e+00, 1.08885606e+00,-3.48560727e+00, 4.56066825e+00,
 -1.24996552e+02, 1.29180171e+01]

qfrc_actuator:
[ 4.44064463e-05, 8.28243348e-04, 1.73682203e-04,-6.77316535e-05,
 -9.98559703e-06, 3.49303552e-02, 1.09486882e-02, 1.89248762e-03,
 -8.33845259e-05, 6.67259638e-04, 2.24843998e-04, 5.78310734e-05,
  0.00000000e+00,-1.57809921e-03, 0.00000000e+00,-9.32470679e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00419489241643594
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.64660667e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.64660667e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00638819, -0.07269741,  0.06178924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.00967496e-05,-1.85306700e-05,-9.44659296e-06, 7.64831217e-05,
  1.79642875e-05,-5.99403117e-05,-1.86900544e-05,-4.56637574e-05,
  3.45487252e-03,-5.05034647e-05, 3.54821528e-06,-6.17784333e-05,
 -4.40768659e-06,-2.73035911e-06,-4.90468347e+00,-1.35251880e-06,
  3.42647607e-03,-6.50824489e-04]


--- Step 2137 ---
qpos:
[ 0.01869819, 0.03002372,-0.00946307,-0.02530537,-0.00350445, 1.34068575,
 -0.02989018, 0.94381306, 0.01155215, 0.0272866 ,-0.00829213, 0.02645617,
  1.39625012, 0.0076508 , 1.3025801 , 0.04425779,-0.0858806 ,-0.04785846,
  0.09323308, 0.7067937 ,-0.07251526,-0.69812931,-0.08831576]

qacc:
[ 8.13066507e+00, 1.15506930e+00,-3.02978086e+00, 1.40623108e+00,
 -8.55395227e-03,-2.05837989e+00, 8.55584873e+00,-1.76442196e+01,
  4.78498367e+00,-7.75715772e-02, 2.83134921e+00,-1.20597926e+01,
  1.06359706e-02,-5.68646783e-01,-4.04165908e+00, 1.36042012e+01,
 -3.36349500e+00, 9.74329881e-01,-4.18499701e+00, 4.26700551e+00,
 -1.11389533e+02, 1.20328650e+01]

qfrc_actuator:
[ 9.27171433e-05, 8.61482058e-04, 1.61072647e-04,-7.29490145e-05,
 -2.43441827e-05, 3.49443133e-02, 1.09626714e-02, 1.84696633e-03,
 -5.49352576e-05, 7.05957836e-04, 2.20466232e-04, 3.25703600e-05,
  0.00000000e+00,-1.62875000e-03, 0.00000000e+00,-8.65398902e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004112073037827223
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.41566946e-07,  5.41566986e-07,  1.00000000e+00,  2.93294779e-13,
        1.00000000e+00, -5.41566986e-07, -1.00000000e+00,  5.04870979e-29,
       -5.41566946e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0065802 , -0.07287389,  0.06179307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.48334110e-06, 4.15563045e-06, 1.15284831e-05,-4.45765908e-05,
  2.89495825e-05,-5.46358430e-07,-2.06215004e-05,-2.93616382e-05,
  3.46751719e-03,-7.71844121e-05,-8.53452746e-06, 6.33287988e-05,
  2.93811813e-05, 3.69060028e-05,-4.90459571e+00, 1.75202721e-04,
  3.42578076e-03,-6.58079366e-04]


--- Step 2138 ---
qpos:
[ 0.01869886, 0.03002271,-0.00946265,-0.02530634,-0.00350498, 1.34068712,
 -0.02988955, 0.94381318, 0.01155247, 0.02728408,-0.00829167, 0.02645497,
  1.39624884, 0.00765055, 1.30269463, 0.04426509,-0.08590183,-0.04788636,
  0.09325136, 0.70659532,-0.07218908,-0.69832596,-0.08861512]

qacc:
[ 1.97960402e+00,-2.92120925e-01, 3.06903021e+00,-9.94776771e+00,
 -3.42371252e-02,-2.26507235e+00, 1.14097708e+01,-2.89816013e+01,
 -5.54837845e-02,-1.01900614e+00, 6.52189108e+00,-1.77828066e+01,
  4.65514186e-02,-4.69649727e-01,-5.58232321e+00, 1.90694421e+01,
  4.86826943e+00,-1.10616076e+00, 4.41145635e+00,-3.97693459e+00,
  1.59711479e+02,-5.94822391e+00]

qfrc_actuator:
[ 1.03205692e-04, 8.63949313e-04, 1.53504320e-04,-9.35352904e-05,
 -3.27641256e-05, 3.49878046e-02, 1.09706914e-02, 1.76622881e-03,
 -5.60849515e-05, 7.12391165e-04, 2.17820622e-04, 2.14444055e-07,
  0.00000000e+00,-1.64109281e-03, 0.00000000e+00,-7.74849886e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004088632184248965
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.78847457e-15,  1.35769491e-14,  1.00000000e+00, -9.21667740e-29,
        1.00000000e+00, -1.35769491e-14, -1.00000000e+00,  0.00000000e+00,
        6.78847457e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13865025, -0.0351394 ,  0.06179413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.88718930e-06, 4.67008791e-05, 8.83826101e-06,-8.13034877e-05,
 -3.07669034e-07, 7.08931562e-07,-6.29036822e-06,-3.36597066e-05,
  3.49782074e-03,-5.78807339e-05, 5.23425424e-07, 9.24043337e-05,
  9.52044743e-05, 6.22024708e-05,-4.90439084e+00, 3.16550189e-04,
  3.41876555e-03,-6.65592042e-04]


--- Step 2139 ---
qpos:
[ 0.01869965, 0.03002163,-0.00946224,-0.02530719,-0.00350532, 1.34068886,
 -0.02988857, 0.94381231, 0.01155277, 0.02728192,-0.00829142, 0.02645371,
  1.39624737, 0.00765011, 1.30280909, 0.04427374,-0.08590582,-0.04791824,
  0.09328073, 0.70659251,-0.07183574,-0.69832304,-0.08894705]

qacc:
[ 1.04153384e+00, 2.09287137e-01,-1.42670990e+00, 3.76448197e+00,
  8.61205815e-02,-2.18309851e+00, 9.71259661e+00,-2.00279124e+01,
 -1.52064379e-01, 9.44506333e-01,-2.43105452e+00, 1.44492648e+00,
  7.21261406e-02,-2.53700888e-01,-4.21541460e+00, 1.45633662e+01,
  4.30798928e+00,-9.94605800e-01, 2.77295070e+00,-3.56798321e+00,
  1.41176529e+02,-5.11824624e+00]

qfrc_actuator:
[ 1.09091821e-04, 8.47972206e-04, 1.48860087e-04,-8.75051327e-05,
 -2.04688727e-06, 3.50130901e-02, 1.09929930e-02, 1.71871302e-03,
 -5.68981812e-05, 7.52725586e-04, 2.16100835e-04,-5.73607253e-07,
  0.00000000e+00,-1.63036752e-03, 0.00000000e+00,-7.06733583e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004097381187449886
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.77397937e-15,  1.35479587e-14,  1.00000000e+00, -9.17735929e-29,
        1.00000000e+00, -1.35479587e-14, -1.00000000e+00,  0.00000000e+00,
        6.77397937e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13864227, -0.03514518,  0.06179383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.48763110e-05, 5.03952518e-05, 3.00564110e-05,-4.77351461e-05,
 -8.28058875e-07, 3.80781903e-05,-3.48582347e-06,-1.62308085e-06,
  3.52174378e-03,-2.39757332e-05, 7.80994540e-06, 7.27140305e-05,
  8.80028392e-06, 2.37465534e-05,-4.90467380e+00, 9.38234501e-05,
  3.40779060e-03,-6.81854855e-04]


--- Step 2140 ---
qpos:
[ 0.01870086, 0.03002084,-0.00946178,-0.02530765,-0.00350553, 1.34069084,
 -0.02988755, 0.94381091, 0.01155375, 0.0272806 ,-0.00829147, 0.0264524 ,
  1.39624622, 0.00764943, 1.30292408, 0.04427879,-0.08589446,-0.04795372,
  0.09331564, 0.70676374,-0.07145842,-0.69814241,-0.0893078 ]

qacc:
[ 3.50644759e+00, 9.86705815e-01,-4.58007125e+00, 1.07976844e+01,
  5.32565546e-02,-6.58148735e-01, 3.63798337e+00,-9.51560088e+00,
  5.75326238e+00, 1.80992281e+00,-4.61093046e+00, 3.47321697e+00,
  7.84875981e-02,-1.41476284e-01, 1.16899882e+01,-3.97467989e+01,
  3.83954294e+00,-9.00652995e-01, 1.38502412e+00,-3.23763803e+00,
  1.25654608e+02,-4.43326373e+00]

qfrc_actuator:
[ 1.29986730e-04, 8.92112078e-04, 1.63668265e-04,-6.58768659e-05,
 -1.35726738e-06, 3.50095971e-02, 1.09880078e-02, 1.69113776e-03,
 -2.19915297e-05, 8.30838455e-04, 2.15099892e-04,-5.05325665e-07,
  0.00000000e+00,-1.62363799e-03, 0.00000000e+00,-9.00921476e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004060776724968143
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.73401642e-14, -2.73401642e-14,  1.00000000e+00,  7.47484579e-28,
        1.00000000e+00,  2.73401642e-14, -1.00000000e+00,  0.00000000e+00,
        2.73401642e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13869676, -0.03513486,  0.06179563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.53920938e-05, 2.88169146e-05, 6.88911865e-06,-2.62834864e-05,
  3.48890406e-05, 9.86957234e-05, 6.40469075e-06, 1.55506044e-06,
  3.53132044e-03,-7.51134556e-06, 8.95964852e-06,-1.89778574e-04,
 -9.67286370e-06,-2.48901297e-05,-4.90472018e+00,-1.10254538e-04,
  3.40385385e-03,-6.97918834e-04]


--- Step 2141 ---
qpos:
[ 0.01870264, 0.03002064,-0.0094616 ,-0.02530787,-0.00350551, 1.34069313,
 -0.02988751, 0.94380993, 0.01155548, 0.02727993,-0.00829152, 0.02645144,
  1.39624542, 0.00764869, 1.30303924, 0.04428049,-0.0858693 ,-0.04799248,
  0.09335141, 0.70709086,-0.07105974,-0.69780225,-0.08969423]

qacc:
[ 5.00760813e+00, 2.05210764e+00,-7.20605847e+00, 1.14215520e+01,
  9.42171595e-02, 3.73300386e+00,-1.25529715e+01, 1.55516562e+01,
  6.43983834e+00, 1.60114100e+00,-6.00372034e+00, 1.17869862e+01,
  6.06104217e-02,-5.55358799e-03, 1.03733704e+01,-3.59287677e+01,
  3.44783438e+00,-8.21501106e-01, 2.12089273e-01,-2.97259747e+00,
  1.12659694e+02,-3.87026445e+00]

qfrc_actuator:
[ 1.59550671e-04, 9.36500899e-04, 1.54584585e-04,-5.29391194e-05,
  1.68172295e-05, 3.50065602e-02, 1.09313385e-02, 1.71097865e-03,
  1.59079477e-05, 8.59976708e-04, 2.14696336e-04, 1.78506523e-05,
  0.00000000e+00,-1.61919061e-03, 0.00000000e+00,-1.07055047e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039881265880515465
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.39191046e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.39191046e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13880055, -0.03511178,  0.0617991 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.72715052e-05, 1.34461313e-05,-5.10243207e-05, 2.03017464e-05,
  3.89508583e-05, 8.57857790e-05, 2.08447014e-05, 2.28420948e-05,
  3.51553305e-03, 8.57379492e-06,-2.02925472e-05,-1.79852543e-04,
  1.95506677e-05,-8.00207963e-05,-4.90460070e+00,-2.97301812e-04,
  3.40617560e-03,-7.13790421e-04]


--- Step 2142 ---
qpos:
[ 0.01870373, 0.03002091,-0.00946175,-0.02530826,-0.00350514, 1.34069543,
 -0.02988833, 0.94380922, 0.01155697, 0.02727954,-0.00829114, 0.02645107,
  1.39624468, 0.00764831, 1.30315376, 0.04428448,-0.08586357,-0.04802509,
  0.09338038, 0.70719882,-0.07071856,-0.69768731,-0.09000627]

qacc:
[-5.96575300e+00, 1.22475479e+00,-2.74021153e+00, 1.20941654e-02,
  1.54358656e-01, 2.81103766e+00,-9.72187472e+00, 1.15472077e+01,
 -2.10600968e+00, 3.70159004e-01,-3.27210829e+00, 1.25810415e+01,
  4.37096159e-02, 1.86048257e-01,-7.86097329e+00, 2.61175580e+01,
 -4.85677621e+00, 1.53819664e+00,-1.69531975e+00, 7.94370617e+00,
 -1.61313810e+02, 2.85324665e+01]

qfrc_actuator:
[ 1.22965129e-04, 9.45100323e-04, 1.31472188e-04,-6.29859582e-05,
  4.53350944e-05, 3.49858845e-02, 1.08801478e-02, 1.72302458e-03,
  1.99558314e-06, 8.59585111e-04, 2.32230597e-04, 4.67841164e-05,
  0.00000000e+00,-1.59843417e-03, 0.00000000e+00,-9.40216124e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004046026230982748
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37199188e-14,  3.42997969e-15,  1.00000000e+00, -4.70590428e-29,
        1.00000000e+00, -3.42997969e-15, -1.00000000e+00,  0.00000000e+00,
        1.37199188e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00671157, -0.07474471,  0.06179666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.46343986e-05,-2.26242831e-05,-5.37755891e-05, 1.14261274e-05,
 -1.27458748e-05, 5.29111513e-05, 3.86231654e-05, 3.37779912e-05,
  3.49722189e-03, 3.26266979e-05,-3.09609276e-05, 1.17299377e-04,
  8.26983449e-05,-1.39277976e-04,-4.90436502e+00,-4.69112099e-04,
  3.41409031e-03,-7.29485112e-04]


--- Step 2143 ---
qpos:
[ 0.01870438, 0.03002124,-0.00946171,-0.02530875,-0.00350455, 1.34069736,
 -0.0298897 , 0.94380971, 0.01155793, 0.02727936,-0.00829046, 0.02645107,
  1.39624406, 0.00764798, 1.30326829, 0.04428826,-0.08587499,-0.04805229,
  0.09339874, 0.70711395,-0.0704277 ,-0.6977709 ,-0.09025281]

qacc:
[-3.82718067e+00,-6.23308487e-01, 2.76815407e+00,-4.83552714e+00,
  8.77303919e-02, 3.02376291e+00,-1.29053658e+01, 2.53547407e+01,
 -4.45510444e+00, 2.14677072e-01,-1.89735601e+00, 7.61909480e+00,
  4.31037956e-02, 1.93299115e-02, 6.30275533e-01,-2.19326328e+00,
 -4.28794277e+00, 1.35396850e+00,-2.65539515e+00, 7.17105601e+00,
 -1.42045099e+02, 2.50142053e+01]

qfrc_actuator:
[ 1.00992449e-04, 9.32116607e-04, 1.35618406e-04,-6.87575686e-05,
  4.43224066e-05, 3.49548087e-02, 1.08502868e-02, 1.78363415e-03,
 -2.45501092e-05, 8.59340391e-04, 2.42336793e-04, 6.39371357e-05,
  0.00000000e+00,-1.60379549e-03, 0.00000000e+00,-9.53743764e-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,   5.90307208,   6.304008  ,   5.90307208,
        51.63725966, -40.26603217,   6.304008  , -40.26603217,
        46.34146973,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004066789706959888
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36498701e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.36498701e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00667131, -0.07473207,  0.06179586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.53632179e-05,-5.37810889e-05,-4.00738587e-05, 5.86183478e-05,
 -2.69044144e-05, 3.87800769e-05, 2.69646996e-05, 2.14159107e-05,
  3.49416854e-03, 9.36187259e-06,-1.20622934e-06,-1.09961231e-05,
  2.60769009e-07,-5.28526255e-05,-4.90471707e+00,-2.15950599e-04,
  3.43082369e-03,-7.33984631e-04]


--- Step 2144 ---
qpos:
[ 0.01870476, 0.03002109,-0.00946136,-0.02530925,-0.00350399, 1.34069901,
 -0.02989151, 0.94381229, 0.01155822, 0.02727958,-0.00828996, 0.02645094,
  1.3962435 , 0.00764746, 1.30338296, 0.04429051,-0.08590164,-0.04807469,
  0.0934032 , 0.70685824,-0.07018113,-0.69803038,-0.09044134]

qacc:
[-2.28471170e+00,-1.55752197e+00, 4.66040719e+00,-4.92805808e+00,
 -1.29841832e-02, 4.44070414e+00,-1.92313822e+01, 4.11284373e+01,
 -5.73773206e+00, 8.03106646e-01,-1.51048265e+00,-7.74689710e-01,
  4.06604193e-02,-1.48254197e-01, 4.84679825e+00,-1.66604559e+01,
 -3.80697121e+00, 1.19875966e+00,-3.47378456e+00, 6.49862524e+00,
 -1.25830623e+02, 2.20608420e+01]

qfrc_actuator:
[ 8.78181606e-05, 8.70900197e-04, 1.37985659e-04,-7.19648862e-05,
  2.56029520e-05, 3.49533581e-02, 1.08332352e-02, 1.89009454e-03,
 -5.83018946e-05, 8.76890935e-04, 2.30196907e-04, 5.62553887e-05,
  0.00000000e+00,-1.62466863e-03, 0.00000000e+00,-1.03426010e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.73021932,   6.46152949,   5.73021932,
        56.95219215, -42.84748598,   6.46152949, -42.84748598,
        46.63440924,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0040367036588407484
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.06274064e-14, -1.37516043e-14,  1.00000000e+00,  2.83659930e-28,
        1.00000000e+00,  1.37516043e-14, -1.00000000e+00,  0.00000000e+00,
        2.06274064e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00674577, -0.07475259,  0.06179732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.73307181e-06,-3.72890124e-05,-3.04133389e-05, 1.05029275e-04,
 -3.45280537e-05, 4.57165751e-05,-7.08249121e-08,-4.66988142e-06,
  3.48808112e-03,-1.42886074e-05,-3.92175736e-06,-8.18013366e-05,
 -1.19936693e-05, 3.96010050e-06,-4.90481345e+00,-3.63297988e-05,
  3.43736124e-03,-7.39023669e-04]


--- Step 2145 ---
qpos:
[ 0.01870429, 0.03002052,-0.00946064,-0.02531013,-0.00350369, 1.34070088,
 -0.02989362, 0.94381331, 0.01155777, 0.02728035,-0.00828996, 0.02645072,
  1.39624316, 0.00764685, 1.30349775, 0.04429043,-0.08594189,-0.04809282,
  0.09339099, 0.70645005,-0.06997381,-0.69844656,-0.09057815]

qacc:
[-7.27984447e+00,-2.36017021e+00, 9.25640643e+00,-1.62580960e+01,
 -1.08696730e-01,-1.59693650e+00, 8.75050784e+00,-2.58146947e+01,
 -6.44330409e+00, 1.93353918e+00,-5.47826538e+00, 4.36430856e+00,
  3.47473643e-02,-3.04385130e-02, 7.22504225e+00,-2.50043655e+01,
 -3.39950739e+00, 1.06773307e+00,-4.16973221e+00, 5.91568261e+00,
 -1.12191579e+02, 1.95826095e+01]

qfrc_actuator:
[ 4.44180876e-05, 8.52271060e-04, 1.56818717e-04,-9.14408043e-05,
 -3.58553223e-06, 3.49874971e-02, 1.08240034e-02, 1.80966231e-03,
 -9.60202126e-05, 9.04838458e-04, 2.05074969e-04, 5.17769937e-05,
  0.00000000e+00,-1.61911362e-03, 0.00000000e+00,-1.15355869e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003966053968824379
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09948547e-14, -3.49914245e-15,  1.00000000e+00,  7.34639874e-29,
        1.00000000e+00,  3.49914245e-15, -1.00000000e+00,  0.00000000e+00,
        2.09948547e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00691074, -0.07479922,  0.06180053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.13961229e-05, 1.07126677e-05,-1.69031969e-05,-8.00063415e-05,
 -3.87121893e-05, 5.32729691e-05,-1.58552682e-05,-2.61241284e-06,
  3.48490246e-03, 1.12565705e-06,-1.33678296e-05,-1.24941336e-04,
  2.44099172e-05, 3.91419781e-05,-4.90473178e+00, 8.91182786e-05,
  3.43534774e-03,-7.44289242e-04]


--- Step 2146 ---
qpos:
[ 0.01870295, 0.0300201 ,-0.00945995,-0.02531129,-0.00350369, 1.34070311,
 -0.02989561, 0.94381194, 0.0115572 , 0.02728078,-0.00828966, 0.0264512 ,
  1.39624321, 0.00764638, 1.30361262, 0.04428756,-0.0859622 ,-0.04811518,
  0.09339705, 0.70626417,-0.06972754,-0.69863491,-0.09076484]

qacc:
[-7.39945866e+00,-2.40238947e-01, 2.34563935e+00,-7.18396912e+00,
 -1.24688452e-01,-3.92906006e+00, 1.83104130e+01,-4.38219460e+01,
 -8.70359021e-01, 1.50001078e-01,-4.10185471e+00, 1.58946449e+01,
  1.73368032e-02, 1.73977017e-01, 8.54976069e+00,-2.97265071e+01,
  4.98413135e+00,-1.05736441e+00, 4.57076615e+00,-6.19923239e+00,
  1.61620238e+02,-1.31793291e+01]

qfrc_actuator:
[ 1.32471567e-06, 8.94837628e-04, 1.67613673e-04,-1.02540026e-04,
 -2.10642420e-05, 3.50248608e-02, 1.08372378e-02, 1.69091987e-03,
 -1.00263627e-04, 8.49967891e-04, 2.08053276e-04, 8.47333787e-05,
  0.00000000e+00,-1.59773503e-03, 0.00000000e+00,-1.29472033e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039359581885793846
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.41035927e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.41035927e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13889151, -0.03512572,  0.06180184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.60315631e-05, 3.75689145e-05, 1.10617557e-05,-1.20769998e-04,
 -5.35546297e-06,-2.85091773e-05, 1.19319884e-05, 3.46402030e-05,
  3.47404419e-03, 2.67804701e-05,-2.19774558e-05,-1.50301588e-04,
  9.39487442e-05, 5.85913490e-05,-4.90452656e+00, 1.74460433e-04,
  3.42607554e-03,-7.49568846e-04]


--- Step 2147 ---
qpos:
[ 0.0187018 , 0.03001975,-0.00945884,-0.02531294,-0.00350409, 1.34070561,
 -0.02989717, 0.9438095 , 0.01155694, 0.02728108,-0.00828903, 0.02645135,
  1.39624364, 0.00764612, 1.30372744, 0.04428232,-0.08596488,-0.04814138,
  0.0934148 , 0.70627513,-0.06944751,-0.69862185,-0.09099444]

qacc:
[ 1.57912100e+00,-2.11526992e+00, 9.71259224e+00,-1.88851495e+01,
 -1.70774063e-01,-2.64322959e+00, 1.12669429e+01,-2.24229401e+01,
  2.55289971e+00,-1.78005794e+00, 7.45615676e+00,-1.35206640e+01,
 -7.60140516e-03, 2.47331457e-01, 7.10739910e+00,-2.49360161e+01,
  4.40710802e+00,-9.59691439e-01, 2.91889116e+00,-5.34876460e+00,
  1.42909704e+02,-1.09951955e+01]

qfrc_actuator:
[ 1.20248718e-05, 9.02695320e-04, 1.91591208e-04,-1.26324010e-04,
 -4.91290299e-05, 3.50461676e-02, 1.08636553e-02, 1.63940720e-03,
 -8.47695370e-05, 8.52575136e-04, 2.27290865e-04, 6.83930400e-05,
  0.00000000e+00,-1.58479901e-03, 0.00000000e+00,-1.41210437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003957067768898689
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.80567099e-14, -1.40283550e-14,  1.00000000e+00,  3.93589485e-28,
        1.00000000e+00,  1.40283550e-14, -1.00000000e+00,  0.00000000e+00,
        2.80567099e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1388664 , -0.03514143,  0.06180091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.93559249e-05, 4.06078743e-05, 3.14814650e-05,-5.28607021e-05,
  1.53271623e-05,-9.41004852e-06, 1.60068221e-05,-1.64776538e-05,
  3.45388413e-03, 3.31015136e-05,-2.81184347e-05,-1.28899397e-04,
  4.29630302e-06, 2.74269332e-05,-4.90480799e+00, 2.78202286e-05,
  3.41588370e-03,-7.60803382e-04]


--- Step 2148 ---
qpos:
[ 0.01870217, 0.03001927,-0.00945761,-0.02531516,-0.00350486, 1.34070829,
 -0.02989865, 0.94380648, 0.0115572 , 0.02728197,-0.00828903, 0.02645094,
  1.39624416, 0.00764619, 1.30384182, 0.04427803,-0.08595187,-0.04817108,
  0.09343861, 0.70646141,-0.069138  ,-0.69842938,-0.09126128]

qacc:
[ 1.30114671e+01,-1.72119580e+00, 8.25932742e+00,-1.82106773e+01,
 -1.57825187e-01,-9.81501429e-01, 4.64890480e+00,-1.07728658e+01,
  4.51206239e+00, 1.36727994e+00,-1.36599592e+00,-7.87562619e+00,
 -2.70742043e-02, 2.46852549e-01,-3.49131819e+00, 1.12755738e+01,
  3.92466520e+00,-8.76481361e-01, 1.51872645e+00,-4.67006966e+00,
  1.27235929e+02,-9.23445230e+00]

qfrc_actuator:
[ 8.98065526e-05, 8.72010425e-04, 1.87527916e-04,-1.57394368e-04,
 -6.55659061e-05, 3.50400352e-02, 1.08621193e-02, 1.61012227e-03,
 -5.77928161e-05, 9.07358603e-04, 2.02876963e-04, 4.09707339e-05,
  0.00000000e+00,-1.57706476e-03, 0.00000000e+00,-1.35475176e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039318041133769716
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82369872e-14, -1.41184936e-14,  1.00000000e+00,  3.98663723e-28,
        1.00000000e+00,  1.41184936e-14, -1.00000000e+00,  0.00000000e+00,
        2.82369872e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13890505, -0.03513932,  0.06180215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.56021879e-05, 2.08808662e-05, 8.43548759e-06,-2.83687592e-05,
  2.74239852e-05, 5.21075443e-05,-2.49683822e-05,-2.75955062e-05,
  3.43461806e-03, 3.00748523e-05,-2.81466269e-05, 4.63457266e-05,
 -1.53060187e-05,-1.64207483e-05,-4.90484777e+00,-1.20560640e-04,
  3.41232335e-03,-7.72598982e-04]


--- Step 2149 ---
qpos:
[ 0.01870277, 0.03001837,-0.00945689,-0.02531661,-0.00350578, 1.34071054,
 -0.02989987, 0.94380318, 0.0115571 , 0.02728327,-0.00828965, 0.02645091,
  1.39624476, 0.00764685, 1.30395573, 0.04427675,-0.08592477,-0.04820401,
  0.09346377, 0.70680484,-0.06880256,-0.69807576,-0.09156067]

qacc:
[ 2.05782798e+00, 2.44534815e+00,-1.27324785e+01, 2.70486417e+01,
 -6.40279365e-02,-1.72025606e+00, 5.53840286e+00,-7.83296819e+00,
 -3.16301846e+00, 3.05705264e+00,-1.17208170e+01, 1.90516331e+01,
 -3.59629670e-02, 4.30279096e-01,-9.79773017e+00, 3.32876307e+01,
  3.52120107e+00,-8.05560570e-01, 3.34549264e-01,-4.12926629e+00,
  1.14107944e+02,-7.81566636e+00]

qfrc_actuator:
[ 9.99151226e-05, 8.18363457e-04, 1.49016953e-04,-1.21547263e-04,
 -5.71426029e-05, 3.49819263e-02, 1.08617373e-02, 1.59410034e-03,
 -7.75378441e-05, 9.21770248e-04, 1.70857408e-04, 6.05299876e-05,
  0.00000000e+00,-1.53713381e-03, 0.00000000e+00,-1.19491726e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038695653961566684
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.86911555e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.86911555e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13899417, -0.03512306,  0.06180509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.85244725e-05,-4.57824296e-05, 3.82523368e-06,-1.58070884e-05,
 -1.89188331e-05, 3.71896779e-05,-2.52963961e-05, 2.03891579e-05,
  3.43028863e-03, 5.41872128e-05,-8.24136173e-06, 1.58702560e-04,
  1.42404626e-05,-6.85248419e-05,-4.90471831e+00,-2.66090705e-04,
  3.41483139e-03,-7.84764698e-04]


--- Step 2150 ---
qpos:
[ 0.01870211, 0.03001679,-0.00945598,-0.02531695,-0.00350661, 1.34071222,
 -0.0299007 , 0.94380007, 0.01155745, 0.0272846 ,-0.00829022, 0.02645112,
  1.39624593, 0.00764802, 1.30407004, 0.04427334,-0.08591747,-0.0482309 ,
  0.09348253, 0.70692633,-0.0685265 ,-0.6979504 ,-0.09178522]

qacc:
[-1.08048063e+01, 9.02048163e-01,-9.19769452e+00, 2.86937988e+01,
  4.27460596e-02,-1.49300371e+00, 3.56449747e+00,-5.52455945e-01,
  3.87574974e+00, 4.05167156e-01,-2.41293669e+00, 6.47713955e+00,
 -5.22023685e-02, 5.29164251e-01, 7.03013910e+00,-2.36982756e+01,
 -4.95041932e+00, 1.50744423e+00,-1.59879071e+00, 7.95292534e+00,
 -1.63422524e+02, 2.91594477e+01]

qfrc_actuator:
[ 3.45832574e-05, 7.86782126e-04, 1.61432157e-04,-6.44090500e-05,
 -3.38755268e-05, 3.49464063e-02, 1.08795949e-02, 1.60372936e-03,
 -5.36186300e-05, 9.11895368e-04, 1.70010696e-04, 7.20463345e-05,
  0.00000000e+00,-1.49604709e-03, 0.00000000e+00,-1.31334216e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003952695194530051
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.45767786e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.45767786e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00696017, -0.07479972,  0.06180144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.23185022e-05,-6.05921499e-05, 8.86791741e-06, 7.99569587e-06,
  2.33817643e-05, 6.52350724e-06, 4.41777974e-06, 1.26309088e-05,
  3.42573872e-03, 6.53084329e-05, 1.29587595e-05,-1.10854471e-04,
  7.87217684e-05,-1.26006898e-04,-4.90447041e+00,-4.06312402e-04,
  3.42287153e-03,-7.97175168e-04]


--- Step 2151 ---
qpos:
[ 0.01870137, 0.03001519,-0.00945518,-0.02531701,-0.00350725, 1.34071363,
 -0.02990119, 0.94379846, 0.01155878, 0.02728522,-0.00829014, 0.02645117,
  1.39624718, 0.00764949, 1.3041842 , 0.04427024,-0.08592764,-0.04825248,
  0.09349101, 0.70685254,-0.06830213,-0.69802622,-0.09194398]

qacc:
[-7.67609617e-01, 8.57958952e-01,-4.27475856e+00, 9.27149193e+00,
  7.44830586e-02, 1.27359054e+00,-7.66575421e+00, 2.41704345e+01,
  8.34465135e+00,-3.10188577e+00, 1.03233239e+01,-1.35021619e+01,
 -7.90388265e-02, 2.90760600e-01,-1.13081714e+00, 3.67433862e+00,
 -4.36797735e+00, 1.33057091e+00,-2.56988821e+00, 7.22774539e+00,
 -1.43888798e+02, 2.54381098e+01]

qfrc_actuator:
[ 3.19087872e-05, 8.22131613e-04, 1.68405410e-04,-4.84145513e-05,
 -1.96465497e-05, 3.49602771e-02, 1.09081604e-02, 1.68164929e-03,
 -4.17531375e-06, 8.34411421e-04, 1.87459062e-04, 6.09765100e-05,
  0.00000000e+00,-1.50767674e-03, 0.00000000e+00,-1.29299610e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.23299491,   4.71916957,   7.23299491,
        29.31969383, -31.70100579,   4.71916957, -31.70100579,
        57.2239827 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003983195956825385
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39363345e-14,  2.09045017e-14,  1.00000000e+00, -2.91332129e-28,
        1.00000000e+00, -2.09045017e-14, -1.00000000e+00,  0.00000000e+00,
        1.39363345e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00689511, -0.07477752,  0.06180015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.15064450e-05,-1.76872868e-05, 1.79511584e-05, 7.65411618e-05,
  5.01333261e-05,-7.24147289e-05, 1.97671755e-05,-1.03946464e-05,
  3.39721726e-03, 2.81099346e-05,-8.99625963e-06, 1.52017550e-05,
 -2.38027306e-06,-4.36775684e-05,-4.90481697e+00,-2.01400378e-04,
  3.43553853e-03,-8.00227980e-04]


--- Step 2152 ---
qpos:
[ 0.01870129, 0.03001413,-0.00945487,-0.02531727,-0.00350787, 1.3407148 ,
 -0.02990079, 0.94379844, 0.01156   , 0.02728513,-0.00828975, 0.02645077,
  1.39624825, 0.00765069, 1.30429845, 0.04426605,-0.08595332,-0.04826933,
  0.0934859 , 0.70660574,-0.06812305,-0.6982803 ,-0.09204456]

qacc:
[ 5.65705983e+00, 1.64308947e+00,-3.98272976e+00, 8.83369520e-01,
  1.27341697e-02, 6.52196087e-02,-3.86461342e+00, 2.20877170e+01,
 -8.87467170e-01,-2.73129415e+00, 1.03243372e+01,-1.81908722e+01,
 -7.84109303e-02,-1.26769733e-01, 3.44383695e+00,-1.18381084e+01,
 -3.87536696e+00, 1.18107826e+00,-3.39817711e+00, 6.58402108e+00,
 -1.27448563e+02, 2.23297398e+01]

qfrc_actuator:
[ 6.61610519e-05, 8.79503557e-04, 1.54586827e-04,-5.67128654e-05,
 -2.87085337e-05, 3.49682029e-02, 1.09607946e-02, 1.76365553e-03,
 -1.11295322e-05, 7.88101026e-04, 1.97503875e-04, 3.66538456e-05,
  0.00000000e+00,-1.55092199e-03, 0.00000000e+00,-1.35074308e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.1256079 ,   4.87980419,   7.1256079 ,
        32.71915808, -35.16627796,   4.87980419, -35.16627796,
        59.98701186,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003961725046835819
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.00593183e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.00593183e-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([ 0.00694771, -0.07478959,  0.06180116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.64634266e-06, 3.94293310e-06, 5.34585619e-05, 8.37746989e-05,
 -5.50952792e-06,-8.31691914e-05,-2.84739166e-06,-2.69477691e-05,
  3.39276249e-03,-2.97642086e-05,-4.06273067e-06,-5.84250479e-05,
 -1.21785108e-05, 7.51848773e-06,-4.90490274e+00,-6.57136080e-05,
  3.43836816e-03,-8.03701752e-04]


--- Step 2153 ---
qpos:
[ 0.01870092, 0.03001369,-0.00945509,-0.02531799,-0.00350837, 1.34071601,
 -0.02989975, 0.94379802, 0.01156078, 0.02728476,-0.00828886, 0.02645036,
  1.39624912, 0.00765147, 1.30441283, 0.04425985,-0.08599282,-0.04828196,
  0.09346437, 0.70620454,-0.06798393,-0.69869317,-0.09209335]

qacc:
[-2.41360498e+00, 1.40088533e+00,-1.88664788e+00,-5.51532257e+00,
  5.09612294e-02,-2.40745055e+00, 8.74258571e+00,-1.23493232e+01,
 -3.71397930e+00,-1.76575622e+00, 5.78689268e+00,-6.51423706e+00,
 -6.86031997e-02,-2.31161106e-01, 6.25099132e+00,-2.15947528e+01,
 -3.45789317e+00, 1.05444488e+00,-4.10301557e+00, 6.01595486e+00,
 -1.13615602e+02, 1.97336716e+01]

qfrc_actuator:
[ 5.08432193e-05, 9.14024175e-04, 1.28708099e-04,-7.92183573e-05,
 -1.61640889e-05, 3.49726214e-02, 1.09916872e-02, 1.74089209e-03,
 -3.34789432e-05, 8.14024067e-04, 2.38691342e-04, 4.02467072e-05,
  0.00000000e+00,-1.57719037e-03, 0.00000000e+00,-1.45407023e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.11815927,   4.89066309,   7.11815927,
        35.81621024, -39.55915051,   4.89066309, -39.55915051,
        66.21308259,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003898705324194153
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  7.1191776e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -7.1191776e-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([ 0.00709331, -0.07482866,  0.06180399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.46990066e-05, 1.95665903e-05, 4.02026954e-05,-1.91326527e-05,
 -2.25384504e-05,-2.23275556e-05, 2.27232414e-05,-5.93579390e-07,
  3.40198576e-03,-4.27492719e-05,-1.10802997e-05,-1.07701677e-04,
  2.74407828e-05, 3.63974530e-05,-4.90480727e+00, 1.99708077e-05,
  3.43294953e-03,-8.07293735e-04]


--- Step 2154 ---
qpos:
[ 0.01870038, 0.03001388,-0.0094557 ,-0.02531863,-0.00350873, 1.34071722,
 -0.02989857, 0.94379736, 0.01156129, 0.02728444,-0.0082874 , 0.02645029,
  1.39624942, 0.00765207, 1.30452661, 0.04425681,-0.08601203,-0.04829884,
  0.09346191, 0.706028  ,-0.06780137,-0.69887541,-0.09219867]

qacc:
[-1.57056828e+00, 2.02297439e+00,-6.32563982e+00, 7.70566669e+00,
  5.65750640e-02,-7.76169088e-01, 3.02212176e+00,-5.39276738e+00,
 -2.32559604e+00,-8.57696903e-01, 1.71581432e+00, 3.20549985e+00,
 -5.31562718e-02,-2.13899935e-01,-1.04262574e+01, 3.51715073e+01,
  5.07430241e+00,-1.06122482e+00, 4.76569232e+00,-7.39111719e+00,
  1.63843357e+02,-1.69510411e+01]

qfrc_actuator:
[ 4.19640127e-05, 9.52286181e-04, 1.13590937e-04,-7.44136520e-05,
 -8.51075622e-06, 3.49570192e-02, 1.09916648e-02, 1.72764826e-03,
 -4.69392889e-05, 8.47652965e-04, 2.80508031e-04, 6.03240013e-05,
  0.00000000e+00,-1.59301830e-03, 0.00000000e+00,-1.28160117e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038666417232008227
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87128497e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.87128497e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13901493, -0.03516888,  0.06180535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.63404004e-05, 2.50180744e-06, 7.81607059e-06,-1.19178510e-05,
 -1.41294490e-05, 2.58101845e-05, 3.99795115e-05, 1.98960196e-05,
  3.41176203e-03,-3.78729073e-05,-1.96905866e-05, 1.64478104e-04,
  1.00674410e-04, 4.93710318e-05,-4.90458637e+00, 6.94085894e-05,
  3.42052928e-03,-8.10803785e-04]


--- Step 2155 ---
qpos:
[ 0.01869939, 0.03001388,-0.00945584,-0.02531951,-0.00350898, 1.34071816,
 -0.02989786, 0.94379729, 0.01156164, 0.02728441,-0.00828582, 0.02645046,
  1.39624979, 0.00765282, 1.30464047, 0.04425379,-0.08601331,-0.04831957,
  0.0934718 , 0.70605038,-0.0675813 ,-0.69885383,-0.09235233]

qacc:
[-3.81439921e+00,-1.99337671e+00, 7.76823611e+00,-1.24760092e+01,
  4.94956458e-02, 1.93842582e+00,-7.96072947e+00, 1.39536990e+01,
 -1.41611623e+00, 5.80122188e-01,-2.49604566e+00, 6.23513036e+00,
 -3.47228266e-02, 1.48439994e-01, 3.68854666e-02, 6.82563517e-02,
  4.48337726e+00,-9.65197885e-01, 3.08840309e+00,-6.30859856e+00,
  1.44830814e+02,-1.40935509e+01]

qfrc_actuator:
[ 1.92089631e-05, 9.03789463e-04, 1.22740733e-04,-8.90698458e-05,
 -3.85362564e-06, 3.49116705e-02, 1.09555934e-02, 1.75561490e-03,
 -5.50541878e-05, 8.67933301e-04, 2.86910968e-04, 7.21939981e-05,
  0.00000000e+00,-1.54938347e-03, 0.00000000e+00,-1.28530877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.4756985 ,  -1.6581049 ,  -8.4756985 ,
        11.60868408, -15.19354527,  -1.6581049 , -15.19354527,
        86.30087604,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038965020064365002
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84928129e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.84928129e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13897733, -0.03519015,  0.06180398])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.43136192e-05,-4.28036795e-05,-3.50456275e-05, 2.79970660e-05,
 -8.52169315e-06, 4.38160394e-05, 1.73350264e-05, 1.47449037e-05,
  3.43982028e-03, 1.52261973e-05, 7.88921000e-06, 2.66338870e-06,
  7.13405260e-06, 2.63947607e-05,-4.90487739e+00,-2.18601572e-05,
  3.41282251e-03,-8.18318106e-04]


--- Step 2156 ---
qpos:
[ 0.01869883, 0.03001323,-0.00945528,-0.0253212 ,-0.00350913, 1.34071898,
 -0.02989788, 0.94379653, 0.01156119, 0.02728447,-0.00828376, 0.02645043,
  1.39625028, 0.00765391, 1.30475423, 0.04425177,-0.08599863,-0.04834384,
  0.09348836, 0.70624992,-0.06732862,-0.69865072,-0.09254768]

qacc:
[ 3.67479085e+00,-4.52803129e+00, 1.83313737e+01,-3.30867743e+01,
  3.89682435e-02, 5.95225583e-01,-7.12245774e-01,-7.39708945e+00,
 -6.72405142e+00,-1.64840923e+00, 6.89107722e+00,-1.12146096e+01,
 -4.25032127e-02, 2.90366975e-01,-3.15512505e+00, 1.08216307e+01,
  3.98923432e+00,-8.83007445e-01, 1.66599565e+00,-5.44541085e+00,
  1.28900820e+02,-1.17957713e+01]

qfrc_actuator:
[ 4.17245410e-05, 8.39295731e-04, 1.45769445e-04,-1.32874806e-04,
 -1.03113915e-06, 3.49019934e-02, 1.09161967e-02, 1.71880806e-03,
 -9.54660271e-05, 8.62177036e-04, 3.07806564e-04, 6.13516087e-05,
  0.00000000e+00,-1.52358833e-03, 0.00000000e+00,-1.23308902e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.41360954,  -1.94883331,  -8.41360954,
        12.92584464, -18.51878148,  -1.94883331, -18.51878148,
        88.5866577 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003878828302100845
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86226391e-14, -1.43113195e-14,  1.00000000e+00,  4.09627733e-28,
        1.00000000e+00,  1.43113195e-14, -1.00000000e+00,  0.00000000e+00,
        2.86226391e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13900508, -0.03519256,  0.06180483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.12796128e-05,-3.93763852e-05,-5.09388176e-05,-3.84697942e-05,
 -4.06458780e-05, 2.29387811e-05, 3.25739216e-05,-8.08135255e-06,
  3.43595767e-03, 3.37421107e-05, 1.34458704e-06, 5.27921619e-05,
 -1.39733214e-05,-1.16914784e-05,-4.90491891e+00,-1.27508916e-04,
  3.41109194e-03,-8.26834383e-04]


--- Step 2157 ---
qpos:
[ 0.01869854, 0.03001225,-0.00945455,-0.02532272,-0.00350936, 1.34071988,
 -0.02989858, 0.94379669, 0.01156095, 0.02728502,-0.00828219, 0.02645063,
  1.39625067, 0.00765499, 1.304868  , 0.04425005,-0.08596964,-0.04837136,
  0.09350676, 0.70660824,-0.06704735,-0.69828465,-0.09277926]

qacc:
[ 2.36129793e+00,-5.27934385e-01, 4.83301142e-01, 2.59152207e+00,
 -3.26080092e-02, 3.54338398e+00,-1.33209812e+01, 2.22257520e+01,
  1.75172317e+00, 2.51569255e+00,-8.97327288e+00, 1.33516472e+01,
 -4.41117351e-02, 1.81129020e-02,-8.78116791e-01, 3.11904602e+00,
  3.57588540e+00,-8.12621114e-01, 4.62351271e-01,-4.75725635e+00,
  1.15554023e+02,-9.94778163e+00]

qfrc_actuator:
[ 5.52047654e-05, 8.36749683e-04, 1.58934833e-04,-1.22484577e-04,
 -1.70840942e-05, 3.49314440e-02, 1.08930017e-02, 1.76845952e-03,
 -8.35556861e-05, 8.94163093e-04, 2.83725494e-04, 7.27315299e-05,
  0.00000000e+00,-1.54426267e-03, 0.00000000e+00,-1.21929649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038231745377818177
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90392974e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.90392974e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13908466, -0.03517999,  0.06180744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.38840131e-06,-3.45873786e-06,-3.78247294e-05, 4.60822084e-05,
  1.07292320e-05, 5.11544204e-05,-1.56336571e-05, 1.33297123e-05,
  3.43027143e-03,-4.31413110e-06, 4.57434589e-06, 1.64629459e-05,
  1.56520386e-05,-5.97460458e-05,-4.90478595e+00,-2.39375500e-04,
  3.41501774e-03,-8.36053258e-04]


--- Step 2158 ---
qpos:
[ 0.01869876, 0.03001104,-0.00945432,-0.02532338,-0.00350972, 1.34072123,
 -0.02989979, 0.94379774, 0.0115612 , 0.02728635,-0.00828194, 0.02645133,
  1.39625118, 0.00765604, 1.30498201, 0.0442465 ,-0.08596078,-0.04839294,
  0.09351918, 0.70674186,-0.06682706,-0.69814976,-0.09293545]

qacc:
[ 4.35548118e+00, 2.81288205e+00,-1.41016413e+01, 2.98997276e+01,
 -5.21877912e-02, 3.46244626e+00,-1.24462995e+01, 2.09258640e+01,
  4.12074511e+00, 5.70516219e+00,-2.10001030e+01, 3.12379999e+01,
 -4.35890879e-02, 5.69506089e-02, 5.89423389e+00,-2.00925548e+01,
 -5.03049025e+00, 1.48534825e+00,-1.49785479e+00, 7.96628176e+00,
 -1.65484942e+02, 2.97517670e+01]

qfrc_actuator:
[ 8.09971652e-05, 8.18061717e-04, 1.30943094e-04,-8.02450262e-05,
 -2.65774998e-05, 3.49842042e-02, 1.08797758e-02, 1.81538472e-03,
 -5.86861608e-05, 9.30582770e-04, 2.15689721e-04, 9.70960168e-05,
  0.00000000e+00,-1.53934208e-03, 0.00000000e+00,-1.31702872e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003921523276288842
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83110145e-14, -2.47721377e-14,  1.00000000e+00,  7.01324351e-28,
        1.00000000e+00,  2.47721377e-14, -1.00000000e+00,  0.00000000e+00,
        2.83110145e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00705099, -0.0747932 ,  0.06180306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.50417082e-05, 4.48272740e-05,-1.68554702e-05, 4.67809080e-05,
  2.52050572e-05, 6.23315846e-05,-5.89593733e-05, 2.62694766e-05,
  3.43456504e-03, 1.12387910e-06, 1.32463266e-06,-9.68170855e-05,
  8.12669585e-05,-1.14393501e-04,-4.90453114e+00,-3.52505684e-04,
  3.42422058e-03,-8.45770979e-04]


--- Step 2159 ---
qpos:
[ 0.01869928, 0.03000982,-0.00945481,-0.02532354,-0.00351004, 1.34072273,
 -0.02990104, 0.94379866, 0.01156071, 0.02728759,-0.00828161, 0.02645198,
  1.39625131, 0.0076569 , 1.3050957 , 0.04424449,-0.08596966,-0.04840927,
  0.09352166, 0.70667784,-0.06665966,-0.69821858,-0.09302547]

qacc:
[ 2.61738005e+00, 3.04521268e+00,-1.29865159e+01, 2.27984299e+01,
  1.16912531e-02, 1.12254727e-01, 1.71656724e-01,-1.82985213e+00,
 -6.28767147e+00,-3.83200998e-01, 1.41932978e+00,-2.26474139e+00,
 -4.12472833e-02,-1.69405511e-01,-5.15338694e+00, 1.73153472e+01,
 -4.43514954e+00, 1.31350172e+00,-2.48331507e+00, 7.27040550e+00,
 -1.45642227e+02, 2.58564037e+01]

qfrc_actuator:
[ 9.60797571e-05, 8.25224646e-04, 9.65919561e-05,-5.51528377e-05,
 -1.43055409e-05, 3.49795548e-02, 1.08726226e-02, 1.80707412e-03,
 -9.74157644e-05, 8.98184133e-04, 2.11057073e-04, 9.33804503e-05,
  0.00000000e+00,-1.57229006e-03, 0.00000000e+00,-1.23112877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.7803796 ,   3.74866244,   7.7803796 ,
        20.17028371, -23.9387456 ,   3.74866244, -23.9387456 ,
        58.32142623,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003958377410933953
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40237136e-14, -1.75296420e-14,  1.00000000e+00,  2.45830680e-28,
        1.00000000e+00,  1.75296420e-14, -1.00000000e+00,  0.00000000e+00,
        1.40237136e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00696999, -0.07476467,  0.06180145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.38446139e-06, 1.82505630e-05, 1.07089004e-06,-6.37133852e-06,
 -3.79638154e-05,-8.63852409e-06, 1.86895621e-06,-2.57929240e-06,
  3.42873171e-03,-2.98837367e-05,-1.28517666e-05, 8.00601032e-05,
 -4.63125973e-08,-3.69576752e-05,-4.90487520e+00,-1.87377351e-04,
  3.43389100e-03,-8.47656560e-04]


--- Step 2160 ---
qpos:
[ 0.0186993 , 0.03000898,-0.00945566,-0.02532347,-0.00351015, 1.34072367,
 -0.02990204, 0.94379953, 0.01155977, 0.02728817,-0.00828051, 0.02645296,
  1.39625126, 0.00765716, 1.30520973, 0.04423981,-0.08599426,-0.04842092,
  0.09351084, 0.70643879,-0.06653844,-0.69846779,-0.09305705]

qacc:
[-4.41641331e+00, 1.98611423e+00,-7.30091133e+00, 1.15044264e+01,
  9.43393763e-02,-1.52061642e+00, 4.16942087e+00,-3.90312133e+00,
 -3.89056875e+00,-2.39062197e+00, 5.89032835e+00,-1.07003725e+00,
 -1.95089178e-02,-3.98528767e-01, 8.58669754e+00,-2.93007620e+01,
 -3.93156416e+00, 1.16790282e+00,-3.32423236e+00, 6.64287183e+00,
 -1.28939658e+02, 2.26130052e+01]

qfrc_actuator:
[ 6.92289110e-05, 8.83273633e-04, 9.43660695e-05,-4.03337054e-05,
  1.09241111e-05, 3.49050546e-02, 1.08688608e-02, 1.80180149e-03,
 -1.20016644e-04, 8.42790777e-04, 2.43610314e-04, 1.08668156e-04,
  0.00000000e+00,-1.61004539e-03, 0.00000000e+00,-1.37498979e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.71435199,   3.88272459,   7.71435199,
        22.21393969, -26.97646936,   3.88272459, -26.97646936,
        62.23428834,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003942168533285821
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.04068722e-15, -1.05610308e-14,  1.00000000e+00,  7.43569148e-29,
        1.00000000e+00,  1.05610308e-14, -1.00000000e+00,  0.00000000e+00,
        7.04068722e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00700931, -0.0747713 ,  0.0618022 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.72303573e-05,-6.43934439e-05,-2.55684331e-07,-4.83881639e-06,
 -2.37113083e-05,-6.00136463e-05, 3.08909895e-05, 1.49284994e-05,
  3.44697770e-03,-5.84052260e-05, 1.16838562e-06,-1.41441221e-04,
 -8.68989208e-06, 8.25300443e-06,-4.90495318e+00,-8.81687874e-05,
  3.43394056e-03,-8.49867745e-04]


--- Step 2161 ---
qpos:
[ 0.01870002, 0.03000818,-0.00945619,-0.02532289,-0.00351014, 1.34072404,
 -0.02990273, 0.94379997, 0.01155856, 0.0272882 ,-0.00827895, 0.02645343,
  1.3962513 , 0.00765719, 1.30532392, 0.04423212,-0.08603288,-0.0484284 ,
  0.09348387, 0.70604361,-0.06645781,-0.69887763,-0.0930367 ]

qacc:
[ 6.12249387e+00, 2.11114680e-01,-2.85816468e+00, 1.12516776e+01,
  4.64253939e-02,-2.29211696e+00, 7.45367287e+00,-1.09733720e+01,
 -2.23125732e+00,-3.02090777e+00, 1.18777172e+01,-2.09948211e+01,
 -1.58761259e-02,-9.21424179e-02, 9.36457867e+00,-3.24224041e+01,
 -3.50471689e+00, 1.04424895e+00,-4.04014682e+00, 6.08141035e+00,
 -1.14882915e+02, 1.99124519e+01]

qfrc_actuator:
[ 1.06678436e-04, 8.82710622e-04, 1.11342088e-04,-1.38525584e-05,
  8.21690553e-06, 3.48780765e-02, 1.08846071e-02, 1.78057306e-03,
 -1.32922595e-04, 8.09726335e-04, 2.62232648e-04, 8.17504295e-05,
  0.00000000e+00,-1.59693865e-03, 0.00000000e+00,-1.52884427e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.73010478,   3.85126694,   7.73010478,
        23.68961769, -30.21427311,   3.85126694, -30.21427311,
        69.28121137,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038834827743125244
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42941670e-14, -2.14412505e-14,  1.00000000e+00,  3.06484814e-28,
        1.00000000e+00,  2.14412505e-14, -1.00000000e+00,  0.00000000e+00,
        1.42941670e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00714386, -0.0748057 ,  0.0618048 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.33824021e-05,-6.27984117e-05, 2.98005942e-06,-2.32824168e-05,
 -1.36200361e-05,-5.96509362e-05, 1.05251804e-05,-2.81352949e-05,
  3.45666527e-03,-1.53038384e-05,-1.86252113e-05,-1.62343879e-04,
  3.29740180e-05, 3.07290308e-05,-4.90484673e+00,-3.56752481e-05,
  3.42593598e-03,-8.52108304e-04]


--- Step 2162 ---
qpos:
[ 0.0187005 , 0.03000708,-0.00945655,-0.02532263,-0.00351008, 1.34072431,
 -0.02990339, 0.94379979, 0.01155755, 0.02728773,-0.00827688, 0.02645322,
  1.39625128, 0.00765752, 1.30543751, 0.04422663,-0.08605097,-0.04844017,
  0.09347659, 0.70587515,-0.06633109,-0.69905451,-0.09307659]

qacc:
[-2.09977659e+00,-1.53501614e+00, 6.24565983e+00,-1.18512398e+01,
  2.15306339e-02,-1.28005682e+00, 5.30261327e+00,-1.18291795e+01,
  1.72276546e+00,-3.51612089e+00, 1.44693749e+01,-2.67519609e+01,
 -2.28656731e-02, 1.83490015e-01,-7.57937671e+00, 2.52291039e+01,
  5.13474002e+00,-1.07557882e+00, 4.92622320e+00,-8.08666214e+00,
  1.65609870e+02,-1.90870501e+01]

qfrc_actuator:
[ 9.29249280e-05, 8.29406312e-04, 1.03793609e-04,-3.40121560e-05,
  6.52438321e-06, 3.48975800e-02, 1.08941434e-02, 1.75015658e-03,
 -1.22270864e-04, 7.90202795e-04, 2.90266183e-04, 4.79636782e-05,
  0.00000000e+00,-1.57119686e-03, 0.00000000e+00,-1.40323493e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038498639649282157
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.88379806e-14, -1.44189903e-14,  1.00000000e+00,  4.15814564e-28,
        1.00000000e+00,  1.44189903e-14, -1.00000000e+00,  0.00000000e+00,
        2.88379806e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13906253, -0.03524289,  0.0618062 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.21373156e-06,-1.53533440e-05,-3.09073160e-06,-3.27561210e-05,
  1.02345621e-05,-5.19412338e-05, 1.60143664e-05,-3.65306720e-05,
  3.45108226e-03, 2.19800243e-05,-2.86053280e-05, 1.13733788e-04,
  1.08788459e-04, 3.72932202e-05,-4.90461304e+00,-1.63252191e-05,
  3.41110417e-03,-8.54187038e-04]


--- Step 2163 ---
qpos:
[ 0.01869978, 0.03000612,-0.00945744,-0.02532262,-0.00350986, 1.34072445,
 -0.02990395, 0.94379889, 0.01155736, 0.02728752,-0.00827484, 0.02645324,
  1.39625141, 0.00765804, 1.3055511 , 0.04422096,-0.08605092,-0.04845586,
  0.09348222, 0.70590735,-0.06616464,-0.69902561,-0.09316788]

qacc:
[-1.03371620e+01, 1.16208480e+00,-2.76477663e+00,-9.05341522e-01,
  7.04896924e-02,-1.69431210e+00, 6.78673228e+00,-1.40594919e+01,
  7.03030247e+00, 9.16036708e-01,-3.77902205e+00, 7.67045057e+00,
 -2.24030651e-02, 1.87840088e-01, 5.82836927e-01,-2.00382987e+00,
  4.53383666e+00,-9.77743420e-01, 3.22493803e+00,-6.86615943e+00,
  1.46324166e+02,-1.58571331e+01]

qfrc_actuator:
[ 3.13703580e-05, 8.51307145e-04, 8.15549403e-05,-4.60199968e-05,
  2.32081738e-05, 3.48914847e-02, 1.09001167e-02, 1.71460485e-03,
 -8.00893466e-05, 8.49980064e-04, 3.05943380e-04, 6.36916037e-05,
  0.00000000e+00,-1.55605551e-03, 0.00000000e+00,-1.41576593e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.53865297,  -1.29544678,  -8.53865297,
        10.30888369, -11.02404869,  -1.29544678, -11.02404869,
        81.29895977,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038847305423555453
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.71583029e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.71583029e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13901775, -0.03526707,  0.06180458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.03553912e-05,-1.61787128e-05, 1.65769899e-06,-3.68640833e-05,
  4.24646424e-05, 3.24672090e-05, 5.63663517e-06, 1.33414463e-05,
  3.45432803e-03, 2.26150359e-05,-8.10613492e-07,-9.91901730e-06,
  1.21722207e-05, 2.28928338e-05,-4.90491513e+00,-6.17418093e-05,
  3.40606115e-03,-8.58609467e-04]


--- Step 2164 ---
qpos:
[ 0.01869833, 0.03000523,-0.00945833,-0.02532278,-0.0035096 , 1.34072462,
 -0.02990454, 0.94379861, 0.01155699, 0.02728778,-0.00827309, 0.02645377,
  1.39625161, 0.00765899, 1.30566442, 0.04421719,-0.08603474,-0.04847513,
  0.09349498, 0.70611822,-0.06596372,-0.69881352,-0.09330334]

qacc:
[-6.28623318e+00,-2.38324106e-01, 1.71401117e+00,-4.72007063e+00,
  1.41610687e-02, 1.18516281e+00,-5.08997962e+00, 1.14939601e+01,
 -1.57022294e+00, 2.45844003e+00,-1.00497612e+01, 1.91253449e+01,
 -3.20237557e-02, 3.17166612e-01,-6.14717144e+00, 2.09259562e+01,
  4.03130189e+00,-8.93891659e-01, 1.78175304e+00,-5.89243101e+00,
  1.30163426e+02,-1.32617368e+01]

qfrc_actuator:
[-4.55190574e-06, 8.64743654e-04, 8.66344552e-05,-5.30771732e-05,
  1.52764586e-05, 3.49056012e-02, 1.09038525e-02, 1.74731661e-03,
 -9.07052683e-05, 8.85780384e-04, 2.96811050e-04, 9.07359896e-05,
  0.00000000e+00,-1.52954797e-03, 0.00000000e+00,-1.31438873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.4919586 ,  -1.57270976,  -8.4919586 ,
        11.22905089, -13.99939985,  -1.57270976, -13.99939985,
        84.22712209,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038711411975953375
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.43397382e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.43397382e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13903957, -0.03527177,  0.06180523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.09690053e-06, 4.38202980e-06,-3.22314330e-07, 3.14175501e-05,
 -9.36029398e-06, 5.56903442e-05,-1.29308769e-06, 2.88845129e-05,
  3.44688507e-03, 3.91243440e-05,-3.52873155e-06, 1.00256380e-04,
 -1.01341304e-05,-8.73493509e-06,-4.90496088e+00,-1.30500465e-04,
  3.40639646e-03,-8.64324365e-04]


--- Step 2165 ---
qpos:
[ 0.01869714, 0.03000444,-0.00945917,-0.02532337,-0.00350966, 1.34072516,
 -0.02990526, 0.94379904, 0.01155684, 0.02728761,-0.00827077, 0.02645469,
  1.3962515 , 0.00766006, 1.3057774 , 0.04421699,-0.08603348,-0.04848905,
  0.09352684, 0.70615983,-0.06580654,-0.69877582,-0.0933817 ]

qacc:
[ 2.31117617e+00,-8.98541311e-01, 5.24556568e+00,-1.29626070e+01,
 -1.31469451e-01, 2.07339133e+00,-7.62072458e+00, 1.46188422e+01,
  1.91388727e+00,-1.34544238e+00, 2.36908782e+00, 3.61815525e+00,
 -2.74866291e-02, 1.33506678e-02,-1.13074103e+01, 3.88246656e+01,
 -3.72908186e+00, 1.33565484e+00, 4.77681913e+00, 7.06017111e+00,
 -1.24626461e+02, 2.17977577e+01]

qfrc_actuator:
[ 1.04214117e-05, 8.73123212e-04, 9.00415587e-05,-7.48977976e-05,
 -2.51107863e-05, 3.49494984e-02, 1.09063557e-02, 1.78444299e-03,
 -7.90651446e-05, 8.18110493e-04, 3.08544323e-04, 1.06435983e-04,
  0.00000000e+00,-1.54978333e-03, 0.00000000e+00,-1.12892435e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038188769481257265
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40374985e-07, -1.11291162e-14,  1.00000000e+00,  1.56224952e-21,
        1.00000000e+00,  1.11291162e-14, -1.00000000e+00,  1.88079096e-37,
        1.40374985e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04554945, -0.0605459 ,  0.06180766])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.79661281e-05, 4.72017782e-05, 4.24515270e-06, 3.79760491e-05,
  1.13869746e-05,-3.55923684e-05, 2.40522805e-05, 1.85985641e-05,
  3.44268015e-03,-2.34172375e-06, 8.08417912e-06, 1.90269603e-04,
  1.95153519e-05,-5.18410821e-05,-4.90482764e+00,-2.12097987e-04,
  3.41198649e-03,-8.70964307e-04]


--- Step 2166 ---
qpos:
[ 0.0186958 , 0.03000428,-0.00946052,-0.02532391,-0.00350994, 1.34072617,
 -0.02990594, 0.94379851, 0.01155752, 0.02728696,-0.00826819, 0.02645547,
  1.39625104, 0.00766082, 1.30589051, 0.044218  ,-0.08604761,-0.04849859,
  0.09354469, 0.70603052,-0.06569752,-0.69891396,-0.09340242]

qacc:
[-1.36989885e+00, 2.35783878e+00,-7.45004650e+00, 8.81324029e+00,
 -9.93808967e-02,-1.14239597e+00, 6.42495435e+00,-1.69577166e+01,
  7.10186026e+00,-1.67466299e+00, 5.60135342e+00,-8.00781736e+00,
 -4.29071584e-03,-2.73020566e-01,-3.50258677e+00, 1.24961835e+01,
 -3.84696654e+00, 1.09521404e+00,-3.50171919e+00, 5.72270582e+00,
 -1.25952112e+02, 2.34142033e+01]

qfrc_actuator:
[ 1.96526201e-06, 9.31658989e-04, 7.46421671e-05,-6.97353346e-05,
 -3.13827147e-05, 3.49753893e-02, 1.09082262e-02, 1.73511075e-03,
 -3.66493673e-05, 7.77833763e-04, 3.14324704e-04, 9.75098679e-05,
  0.00000000e+00,-1.58017391e-03, 0.00000000e+00,-1.07296672e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.21221003,  2.67327201, -8.21221003,  8.6638183 ,
        0.0843399 ,  2.67327201,  0.0843399 ,  8.89545324,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003804483013227153
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.18864762e-14, -2.55342222e-14,  1.00000000e+00,  5.58854146e-28,
        1.00000000e+00,  2.55342222e-14, -1.00000000e+00,  0.00000000e+00,
        2.18864762e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00733912, -0.07483096,  0.06180847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.87065820e-05, 5.39706016e-05, 1.27016485e-05,-4.69081668e-05,
  4.27371337e-05,-5.44343359e-05, 2.00655985e-06,-9.26453571e-06,
  3.45833085e-03,-3.85689415e-05, 2.26281142e-05, 6.70992281e-05,
 -9.10190297e-06,-9.73982417e-06,-4.90496574e+00,-1.33415442e-04,
  3.41504608e-03,-8.72891809e-04]


--- Step 2167 ---
qpos:
[ 0.01869402, 0.03000454,-0.00946203,-0.02532404,-0.00351025, 1.34072739,
 -0.02990597, 0.94379807, 0.01155802, 0.0272865 ,-0.00826638, 0.02645612,
  1.39625038, 0.00766119, 1.30600386, 0.04421837,-0.08604515,-0.04851172,
  0.09357082, 0.70608435,-0.06555164,-0.69886412,-0.09347088]

qacc:
[-3.74735544e+00, 1.86540969e+00,-7.58399016e+00, 1.46832895e+01,
 -9.34031873e-03,-1.32968473e+00, 4.49415042e+00,-2.95762018e+00,
 -1.61685097e+00, 2.14729972e+00,-6.76477841e+00, 5.67534960e+00,
  1.60597145e-02,-3.19778017e-01, 2.32736074e+00,-7.62364125e+00,
  4.14676683e+00,-8.95793287e-01, 2.06873579e+00,-6.43514323e+00,
  1.33646381e+02,-1.50113417e+01]

qfrc_actuator:
[-2.02302716e-05, 9.48715564e-04, 6.62425061e-05,-4.87053373e-05,
 -1.71369432e-05, 3.49902451e-02, 1.09451019e-02, 1.74180205e-03,
 -4.74759963e-05, 8.07473861e-04, 2.81095153e-04, 9.19242645e-05,
  0.00000000e+00,-1.59853559e-03, 0.00000000e+00,-1.11153762e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003781213189220131
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.93615559e-14, -2.93615559e-14,  1.00000000e+00,  8.62100965e-28,
        1.00000000e+00,  2.93615559e-14, -1.00000000e+00,  0.00000000e+00,
        2.93615559e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13917778, -0.03526665,  0.06180962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.71642287e-06, 4.57788291e-05, 4.75019619e-05, 7.59809755e-06,
 -9.59289450e-06,-7.73835402e-07,-4.45725220e-05,-8.03690356e-06,
  3.47521894e-03,-4.19466115e-05, 1.41602039e-05,-3.27594325e-05,
  6.52657717e-06, 1.70675266e-05,-4.90494968e+00,-8.56890713e-05,
  3.40953818e-03,-8.74436699e-04]


--- Step 2168 ---
qpos:
[ 0.01869303, 0.03000495,-0.00946351,-0.02532389,-0.00351065, 1.34072863,
 -0.02990514, 0.94379773, 0.01155804, 0.02728638,-0.00826567, 0.02645636,
  1.39624935, 0.00766113, 1.30611711, 0.04421963,-0.08605624,-0.04852   ,
  0.09361054, 0.70598499,-0.06544456,-0.69897222,-0.09348818]

qacc:
[ 6.70766412e+00, 6.75478719e-01,-3.28716703e+00, 7.88272670e+00,
 -3.68228102e-02,-2.13571931e+00, 6.79819015e+00,-4.84575853e+00,
 -4.11966457e+00, 2.67484533e+00,-7.10852834e+00, 1.40015576e+00,
  3.42272029e-02,-4.01773670e-01,-2.88230108e+00, 9.82065617e+00,
 -3.38791934e+00, 1.21048806e+00, 3.39544876e+00, 6.53834916e+00,
 -1.12772494e+02, 1.92859600e+01]

qfrc_actuator:
[ 2.06824814e-05, 9.40844098e-04, 6.19037116e-05,-3.62860161e-05,
 -2.62044955e-05, 3.49807849e-02, 1.09845947e-02, 1.74593537e-03,
 -7.18111118e-05, 8.25333564e-04, 2.25392453e-04, 7.06346162e-05,
  0.00000000e+00,-1.62721037e-03, 0.00000000e+00,-1.06342597e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037439579520251775
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.38187100e-08, -3.93838546e-15,  1.00000000e+00, -2.11958825e-22,
        1.00000000e+00,  3.93838546e-15, -1.00000000e+00,  4.70197740e-38,
       -5.38187100e-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([-0.04551508, -0.06055441,  0.06181144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.06713460e-05, 2.53758137e-05, 5.40744666e-05, 7.07951186e-06,
 -2.46137039e-05, 7.86792153e-06,-6.16469000e-05,-2.30254276e-05,
  3.48524692e-03,-5.05007144e-05,-6.93837233e-07, 4.72983323e-05,
 -7.19217653e-06,-1.10654180e-05,-4.90496842e+00,-1.36436344e-04,
  3.41132853e-03,-8.78943040e-04]


--- Step 2169 ---
qpos:
[ 0.01869287, 0.03000545,-0.00946494,-0.02532428,-0.00351114, 1.34073004,
 -0.0299044 , 0.94379712, 0.01155776, 0.02728636,-0.00826589, 0.02645636,
  1.39624835, 0.00766093, 1.30623048, 0.04422011,-0.08605202,-0.04853162,
  0.09365478, 0.70605449,-0.06530355,-0.69890702,-0.09354931]

qacc:
[ 7.23125794e+00,-1.13449896e+00, 6.45497467e+00,-1.58385531e+01,
 -3.99470468e-02, 3.46459443e-02, 7.02180413e-01,-3.71546428e+00,
 -2.52162927e+00, 2.25691027e+00,-6.83424125e+00, 4.12459006e+00,
  5.00649976e-02,-1.32718765e-01, 2.54404552e+00,-8.65117766e+00,
  3.82838113e+00,-8.33819389e-01, 1.13189489e+00,-5.91484101e+00,
  1.23202940e+02,-1.37671012e+01]

qfrc_actuator:
[ 6.29117801e-05, 9.35863754e-04, 5.98754909e-05,-6.45634693e-05,
 -3.14334447e-05, 3.49746081e-02, 1.09719397e-02, 1.73074578e-03,
 -8.61324726e-05, 8.18139013e-04, 1.74592423e-04, 5.80151563e-05,
  0.00000000e+00,-1.60863262e-03, 0.00000000e+00,-1.10661170e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037206415093377423
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.98395592e-14, -1.49197796e-14,  1.00000000e+00,  4.45199646e-28,
        1.00000000e+00,  1.49197796e-14, -1.00000000e+00,  0.00000000e+00,
        2.98395592e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13927433, -0.03526271,  0.06181269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.15344350e-05, 1.86413745e-05,-1.33240434e-06,-1.26745278e-05,
 -1.50356666e-05,-1.65285229e-05,-5.75709594e-05,-1.48642545e-05,
  3.50393252e-03,-1.07021382e-05, 2.28669488e-06,-4.12304024e-05,
  1.99793109e-06, 1.34666936e-05,-4.90496738e+00,-9.62966144e-05,
  3.40754606e-03,-8.80469698e-04]


--- Step 2170 ---
qpos:
[ 0.01869357, 0.03000576,-0.00946596,-0.02532498,-0.00351157, 1.34073213,
 -0.0299046 , 0.94379669, 0.01155766, 0.02728637,-0.00826594, 0.02645649,
  1.39624787, 0.007661  , 1.30634408, 0.04421806,-0.08603399,-0.04854633,
  0.09369915, 0.70627621,-0.06513279,-0.69868563,-0.09364843]

qacc:
[ 7.33301847e+00,-2.07593359e+00, 8.34335833e+00,-1.43763400e+01,
  2.76693740e-02, 3.73118648e+00,-1.14522013e+01, 1.14759093e+01,
  1.49626376e+00,-1.94024625e-01, 1.97170656e-01, 1.71442955e+00,
  3.79745103e-02, 2.70010054e-01, 7.99627339e+00,-2.74701101e+01,
  3.45061514e+00,-7.73979230e-01, 3.46693628e-02,-5.10913820e+00,
  1.10964448e+02,-1.15837905e+01]

qfrc_actuator:
[ 1.05557354e-04, 9.14865513e-04, 7.69536395e-05,-8.10536218e-05,
 -1.65646139e-05, 3.50234863e-02, 1.09285983e-02, 1.73978054e-03,
 -7.66878873e-05, 8.49271202e-04, 1.98016963e-04, 6.83385572e-05,
  0.00000000e+00,-1.56181382e-03, 0.00000000e+00,-1.23876022e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.45291001,  -1.77061831,  -8.45291001,
        11.46727231, -13.51472311,  -1.77061831, -13.51472311,
        73.15548518,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003662814355722785
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03106551e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.03106551e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13936116, -0.03524939,  0.06181554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.05322839e-06, 5.85373371e-05,-4.02213936e-05, 9.26426680e-06,
  9.00112207e-06, 9.35727440e-06, 1.24080905e-05, 7.33489873e-06,
  3.50183832e-03, 4.33493545e-05,-6.11495041e-06,-1.34751651e-04,
 -5.64182142e-06,-1.35220239e-05,-4.90496687e+00,-1.40518569e-04,
  3.41006812e-03,-8.84567988e-04]


--- Step 2171 ---
qpos:
[ 0.01869478, 0.03000585,-0.00946676,-0.02532553,-0.00351174, 1.34073457,
 -0.02990492, 0.94379497, 0.01155768, 0.02728655,-0.00826578, 0.02645637,
  1.39624754, 0.00766147, 1.30645726, 0.04421745,-0.08603278,-0.04855638,
  0.09373166, 0.70631236,-0.065016  ,-0.6986551 ,-0.09368471]

qacc:
[ 4.35502588e+00,-5.68135263e-01, 9.18515013e-01, 1.75939801e+00,
  1.09215973e-01,-1.44266299e+00, 7.91232344e+00,-2.19968192e+01,
  9.74193024e-01,-8.57696806e-01, 4.42048905e+00,-9.11923844e+00,
  1.38806788e-02, 2.71140085e-01,-4.96460271e+00, 1.64968063e+01,
 -4.20260052e+00, 1.16765323e+00,-2.96727378e+00, 5.78725386e+00,
 -1.36797010e+02, 2.61365807e+01]

qfrc_actuator:
[ 1.30352935e-04, 9.02267240e-04, 8.73682157e-05,-7.27183880e-05,
  1.02404171e-05, 3.50338198e-02, 1.09209967e-02, 1.67426253e-03,
 -7.10861769e-05, 8.67932274e-04, 2.11985855e-04, 5.66526637e-05,
  0.00000000e+00,-1.55166840e-03, 0.00000000e+00,-1.15593623e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003684884847118222
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50645552e-14, -1.50645552e-14,  1.00000000e+00,  2.26940824e-28,
        1.00000000e+00,  1.50645552e-14, -1.00000000e+00,  0.00000000e+00,
        1.50645552e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00767089, -0.07488128,  0.06181473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.15661680e-05, 3.51120892e-05,-4.58936629e-07,-6.47215078e-05,
  5.86779325e-06, 2.67739053e-05, 1.76835683e-05,-1.07134099e-05,
  3.47562174e-03, 3.98469464e-05,-1.96192434e-05, 7.40810980e-05,
  2.33389052e-05,-4.88631430e-05,-4.90484076e+00,-1.95386669e-04,
  3.41702650e-03,-8.89459511e-04]


--- Step 2172 ---
qpos:
[ 0.01869559, 0.03000587,-0.00946774,-0.02532595,-0.00351177, 1.34073666,
 -0.02990479, 0.94379355, 0.01155741, 0.02728692,-0.00826601, 0.02645615,
  1.39624706, 0.0076619 , 1.30657028, 0.04421813,-0.08604656,-0.04856221,
  0.09374931, 0.70618325,-0.06494611,-0.69879469,-0.09366535]

qacc:
[-3.44544636e+00, 6.39210765e-01,-2.92006513e+00, 5.27611061e+00,
  5.85754680e-02,-1.13213623e+00, 2.51194398e+00, 1.52334678e+00,
 -2.38327544e+00, 1.14963952e+00,-3.31143794e+00, 2.07555203e+00,
  1.47837505e-02,-8.87164684e-02,-4.16649091e+00, 1.41961773e+01,
 -3.74922118e+00, 1.05212332e+00,-3.71499312e+00, 5.47264006e+00,
 -1.21819423e+02, 2.27642933e+01]

qfrc_actuator:
[ 1.08938601e-04, 8.94792048e-04, 7.60488289e-05,-6.75998419e-05,
  8.48319717e-06, 3.49855717e-02, 1.09343782e-02, 1.68966817e-03,
 -8.55517400e-05, 8.61200852e-04, 1.84673500e-04, 4.98354497e-05,
  0.00000000e+00,-1.58151636e-03, 0.00000000e+00,-1.08911023e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.39532149,  2.02616731,  8.39532149, 10.79754979,
       -8.95476521,  2.02616731, -8.95476521, 45.73997908,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036658476958300115
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.57139355e-15,  1.89284839e-14,  1.00000000e+00, -1.43315001e-28,
        1.00000000e+00, -1.89284839e-14, -1.00000000e+00,  0.00000000e+00,
        7.57139355e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00772524, -0.07488795,  0.06181575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.68983099e-05,-3.08767903e-05, 1.82948780e-05, 1.49473389e-05,
 -1.42839294e-05, 1.14283592e-05,-1.99783683e-05,-5.26721789e-06,
  3.46785124e-03,-1.00175264e-05,-1.41418121e-06, 6.82755868e-05,
 -5.73220386e-06,-6.17827662e-06,-4.90498509e+00,-1.29026957e-04,
  3.41725460e-03,-8.90327144e-04]


--- Step 2173 ---
qpos:
[ 0.01869578, 0.03000566,-0.00946913,-0.02532524,-0.00351158, 1.34073844,
 -0.0299051 , 0.94379375, 0.01155698, 0.02728701,-0.00826638, 0.02645624,
  1.39624667, 0.00766219, 1.30668354, 0.04421725,-0.08607381,-0.04856423,
  0.09374956, 0.70590582,-0.06491731,-0.69908686,-0.09359635]

qacc:
[-5.21874696e+00, 3.18252015e+00,-1.65357973e+01, 3.69383516e+01,
  9.20523789e-02, 3.53963949e+00,-1.53647165e+01, 3.22993717e+01,
 -1.45894030e+00, 6.62628293e-01,-4.19171470e+00, 9.95358013e+00,
  2.13861338e-02,-8.07610586e-02, 5.08069081e+00,-1.72497056e+01,
 -3.36599354e+00, 9.53586420e-01,-4.35050169e+00, 5.16267164e+00,
 -1.09229855e+02, 1.99807255e+01]

qfrc_actuator:
[ 7.82558391e-05, 8.72599160e-04, 5.20043795e-05,-1.11706365e-05,
  2.51105507e-05, 3.49560017e-02, 1.09065908e-02, 1.77030964e-03,
 -9.39593812e-05, 8.21396674e-04, 1.68615743e-04, 6.36441842e-05,
  0.00000000e+00,-1.58181503e-03, 0.00000000e+00,-1.17433092e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.3770309 ,   2.1005071 ,   8.3770309 ,
        11.20113485, -10.22856227,   2.1005071 , -10.22856227,
        49.42888566,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003608963852065994
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53814650e-14, -2.69175638e-14,  1.00000000e+00,  4.14031566e-28,
        1.00000000e+00,  2.69175638e-14, -1.00000000e+00,  0.00000000e+00,
        1.53814650e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00786449, -0.07492009,  0.06181843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.12887807e-05,-3.34725933e-05,-2.87514084e-05, 5.53895300e-05,
  2.66122957e-05,-4.26382367e-05,-3.13114466e-05, 8.05976206e-05,
 -8.82009228e-06,-3.77818419e-05,-1.63408379e-05, 1.35054345e-05,
  3.47547455e-03,-7.93960335e-06, 4.81200282e-06,-8.20826407e-05,
  1.16315503e-05, 1.40962227e-05,-4.90495682e+00,-1.03848152e-04,
  3.41042860e-03,-8.91089186e-04]


--- Step 2174 ---
qpos:
[ 0.01869596, 0.03000489,-0.00947063,-0.02532384,-0.00351104, 1.34074019,
 -0.0299055 , 0.94379315, 0.01155679, 0.02728692,-0.00826695, 0.02645615,
  1.39624655, 0.00766255, 1.30679692, 0.04421436,-0.08608291,-0.04857013,
  0.09376213, 0.70582735,-0.06484727,-0.69917463,-0.09358108]

qacc:
[-2.05211310e-01, 1.01931710e+00,-7.63318204e+00, 2.02383622e+01,
  1.49684783e-01,-1.20668790e+00, 5.53980284e+00,-1.41233803e+01,
  2.10519579e+00,-7.57523039e-02, 7.22708067e-01,-3.54202712e+00,
  1.17588774e-02, 1.05548203e-01, 6.27477690e+00,-2.16669175e+01,
  4.53791353e+00,-9.70108911e-01, 3.08030348e+00,-7.33465334e+00,
  1.45362750e+02,-1.74303000e+01]

qfrc_actuator:
[ 7.78839201e-05, 8.23996273e-04, 3.83739651e-05, 2.17224638e-05,
  5.26338610e-05, 3.49732368e-02, 1.09080572e-02, 1.72888025e-03,
 -8.09751106e-05, 8.15396561e-04, 1.59214213e-04, 5.39551239e-05,
  0.00000000e+00,-1.56427594e-03, 0.00000000e+00,-1.27743384e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003591601945416384
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09116389e-14, -3.09116389e-14,  1.00000000e+00,  9.55529420e-28,
        1.00000000e+00,  3.09116389e-14, -1.00000000e+00,  0.00000000e+00,
        3.09116389e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13948172, -0.03526155,  0.06181923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.32482177e-05,-1.00649086e-05,-8.07526375e-06,-4.17582440e-05,
  1.27127993e-05,-2.99282454e-05,-1.87483209e-05,-1.16100259e-05,
  3.47061606e-03, 1.64540772e-05,-9.74409178e-06,-1.07713052e-04,
  6.18542077e-05, 1.87330789e-05,-4.90480604e+00,-1.07494621e-04,
  3.39750957e-03,-8.91587120e-04]


--- Step 2175 ---
qpos:
[ 0.01869613, 0.03000387,-0.00947151,-0.02532318,-0.00351016, 1.34074213,
 -0.02990546, 0.94379269, 0.01155676, 0.02728708,-0.00826757, 0.02645587,
  1.39624646, 0.00766317, 1.30690992, 0.04421292,-0.08607582,-0.04857959,
  0.09378145, 0.7059266 ,-0.06474145,-0.69908011,-0.0936119 ]

qacc:
[-3.23656270e-02,-3.58919913e+00, 1.54513458e+01,-2.91116865e+01,
  1.44152946e-01,-6.33279401e-01, 2.06454906e+00,-1.55783875e-01,
  1.33149531e+00, 9.10561019e-02, 9.02123591e-01,-4.11847103e+00,
 -1.13784851e-03, 1.69092307e-01,-4.97655383e+00, 1.65713724e+01,
  4.04598940e+00,-8.89971860e-01, 1.68866354e+00,-6.25005313e+00,
  1.29627800e+02,-1.45513209e+01]

qfrc_actuator:
[ 7.76061362e-05, 8.48736786e-04, 8.41247969e-05,-1.27778173e-05,
  6.87189472e-05, 3.50184042e-02, 1.09446464e-02, 1.74025293e-03,
 -7.32579023e-05, 8.65194429e-04, 1.71672249e-04, 4.82941852e-05,
  0.00000000e+00,-1.55393826e-03, 0.00000000e+00,-1.19491250e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.54263502, -1.26892232, -8.54263502, 10.08124769,
       -9.72724407, -1.26892232, -9.72724407, 74.12208707,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035926725800591863
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09024271e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.09024271e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13948481, -0.03527196,  0.06181924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.16425432e-05, 3.67542742e-05, 3.24743964e-05, 9.86607397e-06,
  8.07946985e-06, 2.87053238e-05, 3.57215010e-06,-7.81702910e-06,
  3.45678519e-03, 2.33491477e-05,-1.83549639e-05, 7.48220029e-05,
  3.53101663e-06, 8.83916966e-06,-4.90498293e+00,-1.12155889e-04,
  3.39727820e-03,-8.92893718e-04]


--- Step 2176 ---
qpos:
[ 0.01869594, 0.03000321,-0.0094719 ,-0.02532232,-0.003509  , 1.3407445 ,
 -0.02990574, 0.94379412, 0.01155648, 0.02728781,-0.00826854, 0.02645585,
  1.39624643, 0.00766396, 1.30702282, 0.04421211,-0.08605419,-0.04859234,
  0.09380282, 0.7061856 ,-0.06460431,-0.69882169,-0.0936826 ]

qacc:
[-2.99197235e+00,-4.93128810e-01, 1.62026970e+00, 7.67771641e-01,
  1.16525760e-01, 4.62411057e+00,-1.82841766e+01, 3.74426967e+01,
 -2.17083443e+00, 2.24097150e+00,-7.98442063e+00, 1.25622560e+01,
 -2.52131997e-03, 1.18007984e-01,-2.02474878e+00, 6.89384373e+00,
  3.63464919e+00,-8.21107444e-01, 5.10678372e-01,-5.38381429e+00,
  1.16447726e+02,-1.22412885e+01]

qfrc_actuator:
[ 5.96238458e-05, 9.17396055e-04, 1.29310547e-04, 2.20979036e-06,
  7.78127367e-05, 3.50446103e-02, 1.09308254e-02, 1.83593012e-03,
 -8.64620204e-05, 9.12614956e-04, 1.61673035e-04, 6.28696898e-05,
  0.00000000e+00,-1.54814276e-03, 0.00000000e+00,-1.16345053e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.49564744,  -1.55265948,  -8.49564744,
        10.9392652 , -12.60072798,  -1.55265948, -12.60072798,
        77.58344664,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0035554807554838697
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12256795e-14, -1.56128397e-14,  1.00000000e+00,  4.87521529e-28,
        1.00000000e+00,  1.56128397e-14, -1.00000000e+00,  0.00000000e+00,
        3.12256795e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13954029, -0.03526681,  0.06182103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.37037478e-05, 5.31749067e-05,-2.64923439e-06, 9.79649247e-05,
 -1.29574844e-05, 6.38804474e-05,-3.89454857e-06, 1.57784173e-05,
  3.45523130e-03, 1.60215110e-05,-1.01303172e-06, 3.30667692e-05,
  7.68245910e-07,-1.52125374e-05,-4.90496744e+00,-1.39323073e-04,
  3.40157231e-03,-8.95408996e-04]


--- Step 2177 ---
qpos:
[ 0.01869555, 0.03000317,-0.00947217,-0.02532095,-0.00350779, 1.34074721,
 -0.02990633, 0.94379463, 0.01155604, 0.02728897,-0.00826987, 0.02645602,
  1.39624627, 0.00766493, 1.30713545, 0.04421369,-0.08605049,-0.04860006,
  0.09381401, 0.706247  ,-0.06452263,-0.69876658,-0.09368714]

qacc:
[-1.84537108e+00, 1.54594923e+00,-6.47138191e+00, 1.46462747e+01,
  2.41429177e-02,-3.11109625e-01, 3.45322112e+00,-1.39732302e+01,
 -1.34933890e+00, 2.00815470e+00,-7.14101043e+00, 1.07561007e+01,
 -2.52737481e-03, 8.10342239e-02,-7.62703661e+00, 2.60847440e+01,
 -4.48273676e+00, 1.25678049e+00,-2.54397860e+00, 6.67209186e+00,
 -1.45566334e+02, 2.69199006e+01]

qfrc_actuator:
[ 4.91174163e-05, 9.58636454e-04, 1.38525262e-04, 2.84910458e-05,
  6.48878091e-05, 3.50413775e-02, 1.09050788e-02, 1.78511858e-03,
 -9.41203154e-05, 9.22684966e-04, 1.38512288e-04, 7.14688485e-05,
  0.00000000e+00,-1.54507878e-03, 0.00000000e+00,-1.03810918e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0035595435692660563
  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([ 0.00800061, -0.07492699,  0.06182094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.99391899e-06, 2.85966958e-05,-1.27735037e-05,-4.70149953e-05,
 -8.01471440e-06, 4.56437275e-05,-9.89598512e-06, 1.15100763e-05,
  3.45229940e-03, 1.09119159e-05, 1.23545851e-06, 1.26595555e-04,
  3.78134252e-05,-4.90931760e-05,-4.90481468e+00,-1.80315726e-04,
  3.41035552e-03,-8.98822041e-04]


--- Step 2178 ---
qpos:
[ 0.01869572, 0.03000387,-0.0094729 ,-0.0253196 ,-0.0035066 , 1.34074966,
 -0.02990671, 0.94379489, 0.01155586, 0.02729038,-0.00827142, 0.02645665,
  1.396246  , 0.0076662 , 1.30724779, 0.04421875,-0.08606274,-0.04860327,
  0.09381178, 0.70613292,-0.06448919,-0.69889217,-0.0936332 ]

qacc:
[ 4.83289490e+00, 2.22392887e+00,-6.47598790e+00, 6.42816880e+00,
 -1.42721609e-02,-1.31041347e+00, 4.36853556e+00,-6.42215706e+00,
  2.17700929e+00, 1.88757660e+00,-8.18886686e+00, 1.63137269e+01,
  4.22541891e-03, 1.45433275e-01,-1.09646142e+01, 3.77541396e+01,
 -3.98581145e+00, 1.12708227e+00,-3.35318674e+00, 6.20321621e+00,
 -1.29261872e+02, 2.34528750e+01]

qfrc_actuator:
[ 7.86062081e-05, 9.83025849e-04, 1.08586975e-04, 2.56529444e-05,
  5.66125085e-05, 3.50026510e-02, 1.09078054e-02, 1.77274049e-03,
 -8.06937657e-05, 9.28003326e-04, 1.25371453e-04, 9.41958052e-05,
  0.00000000e+00,-1.52598474e-03, 0.00000000e+00,-8.58450422e-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,   8.29248999,   2.412755  ,   8.29248999,
        12.29171641, -12.5632218 ,   2.412755  , -12.5632218 ,
        51.81538132,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0035676509059657593
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.77979022e-15, -7.77979022e-15,  1.00000000e+00,  6.05251358e-29,
        1.00000000e+00,  7.77979022e-15, -1.00000000e+00,  0.00000000e+00,
        7.77979022e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00798604, -0.0749151 ,  0.06182062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91958012e-05, 7.97220916e-05,-7.60182939e-06, 2.42399261e-06,
 -4.14106837e-06,-2.68353819e-05, 5.48647189e-06,-1.29796952e-05,
  1.32099866e-05, 2.92608119e-05,-4.53155113e-06, 2.45648240e-05,
  3.45794664e-03, 2.09261977e-05, 1.27530735e-05, 1.86434412e-04,
 -1.09887844e-06,-7.94602456e-06,-4.90498816e+00,-1.29026805e-04,
  3.41066711e-03,-8.98844862e-04]


--- Step 2179 ---
qpos:
[ 0.01869693, 0.03000508,-0.00947389,-0.02531862,-0.00350563, 1.34075123,
 -0.02990648, 0.94379538, 0.01155618, 0.02729204,-0.00827337, 0.02645722,
  1.39624604, 0.00766773, 1.30736052, 0.04422292,-0.08608925,-0.04860241,
  0.09379339, 0.70586187,-0.06449801,-0.69917929,-0.09352722]

qacc:
[ 8.92108633e+00, 6.11900599e-01, 3.80878027e-01,-6.84169430e+00,
 -8.84879811e-02,-2.39997587e+00, 5.96122303e+00,-1.94259707e+00,
  4.31218730e+00, 1.30737328e+00,-3.93587660e+00, 3.31102900e+00,
  3.88468939e-03, 2.42711374e-01, 3.29593323e+00,-1.06894566e+01,
 -3.56524557e+00, 1.01653693e+00,-4.04229529e+00, 5.76343095e+00,
 -1.15546554e+02, 2.05832322e+01]

qfrc_actuator:
[ 1.31397202e-04, 9.96943113e-04, 9.11961923e-05, 5.66487191e-06,
  3.34425282e-05, 3.49253294e-02, 1.09272196e-02, 1.78310622e-03,
 -5.49661336e-05, 9.30475240e-04, 1.00485226e-04, 8.95504396e-05,
  0.00000000e+00,-1.49746624e-03, 0.00000000e+00,-9.14546838e-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,   8.28464495,   2.4395563 ,   8.28464495,
        12.79418597, -14.11981426,   2.4395563 , -14.11981426,
        56.58674218,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003533253633709446
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.85552878e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.85552878e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00806803, -0.07493171,  0.06182218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.36679686e-05, 5.70208197e-05,-1.78179568e-06,-1.67947972e-05,
 -2.56180473e-05,-9.14992983e-05, 1.44066195e-05, 9.42241600e-06,
  2.61268989e-05, 1.89209524e-05,-1.85506960e-05,-3.07183523e-06,
  3.46387435e-03, 3.43224081e-05, 2.43959875e-05,-4.45904822e-05,
  1.33563641e-05, 9.31804053e-06,-4.90496587e+00,-1.20455609e-04,
  3.40331661e-03,-8.98765757e-04]


--- Step 2180 ---
qpos:
[ 0.01869807, 0.03000674,-0.00947476,-0.02531825,-0.00350505, 1.34075217,
 -0.029906  , 0.94379461, 0.01155682, 0.02729332,-0.008275  , 0.02645673,
  1.3962462 , 0.00766924, 1.30747345, 0.04422575,-0.08609684,-0.04860561,
  0.09378941, 0.70579791,-0.06446392,-0.6992537 ,-0.09347714]

qacc:
[-5.67085616e-01,-9.97774815e-01, 6.96188945e+00,-1.79751292e+01,
 -1.62746079e-01,-3.66230357e+00, 1.35633262e+01,-2.60471936e+01,
  2.63275026e+00,-3.60194346e+00, 1.66023177e+01,-3.52604677e+01,
 -9.69913942e-03, 2.72823111e-02, 4.33465734e+00,-1.47356352e+01,
  4.72886179e+00,-1.01398391e+00, 3.60183215e+00,-7.66458961e+00,
  1.51283799e+02,-1.81868256e+01]

qfrc_actuator:
[ 1.26457124e-04, 1.02224484e-03, 9.90630978e-05,-2.42455465e-05,
  1.52493894e-06, 3.48965888e-02, 1.09384119e-02, 1.71798005e-03,
 -3.99638035e-05, 8.77888816e-04, 1.04327960e-04, 3.33158974e-05,
  0.00000000e+00,-1.51662744e-03, 0.00000000e+00,-9.84835525e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00355622060658696
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.12191832e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.12191832e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13955198, -0.03530776,  0.06182105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.70598647e-05,-7.62666104e-05,-4.79183862e-06,-6.72319006e-05,
  1.57783723e-05,-4.59976638e-05, 5.36138301e-06,-5.61269972e-05,
  3.44759158e-03, 2.26983131e-06, 2.97077136e-06,-7.04341024e-05,
  6.53000615e-05, 1.00564174e-05,-4.90480573e+00,-1.41344899e-04,
  3.38943015e-03,-8.98409265e-04]


--- Step 2181 ---
qpos:
[ 0.01869846, 0.03000846,-0.00947535,-0.02531855,-0.00350484, 1.34075284,
 -0.02990585, 0.94379375, 0.01155728, 0.02729374,-0.00827552, 0.02645626,
  1.39624634, 0.00767044, 1.30758654, 0.04422638,-0.08608761,-0.04861251,
  0.09379394, 0.70591851,-0.06439264,-0.69913881,-0.09347492]

qacc:
[-6.48631567e+00,-2.07441967e+00, 1.03671977e+01,-2.24737385e+01,
 -1.62558566e-01, 3.83582740e-01,-1.52856844e+00, 5.40194101e-01,
 -1.39483259e+00,-4.18004153e+00, 1.31328570e+01,-1.37753398e+01,
 -1.24370672e-02,-1.74996021e-01, 6.89630212e+00,-2.37687339e+01,
  4.20528275e+00,-9.26059993e-01, 2.12938797e+00,-6.50985787e+00,
  1.34606801e+02,-1.51607610e+01]

qfrc_actuator:
[ 8.75690223e-05, 1.00099329e-03, 1.04060983e-04,-5.97280507e-05,
 -1.76293479e-05, 3.48970914e-02, 1.09270302e-02, 1.71547773e-03,
 -4.91516393e-05, 8.28299854e-04, 1.60349628e-04, 3.59178160e-05,
  0.00000000e+00,-1.54646370e-03, 0.00000000e+00,-1.09834863e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.56196103, -1.13119411, -8.56196103,  9.81627698,
       -8.9307149 , -1.13119411, -8.9307149 , 76.23257225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00357227566321152
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10788732e-14, -1.55394366e-14,  1.00000000e+00,  4.82948180e-28,
        1.00000000e+00,  1.55394366e-14, -1.00000000e+00,  0.00000000e+00,
        3.10788732e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13953254, -0.0353242 ,  0.0618203 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.69668906e-05,-4.46548509e-05,-2.88202620e-05,-6.49272206e-06,
 -8.73734139e-06,-7.66276656e-05, 4.52436961e-05,-2.74733839e-07,
  3.44169437e-03,-2.62879450e-05,-9.11462451e-06,-1.17684290e-04,
  5.94750504e-06, 5.43751306e-06,-4.90498863e+00,-1.22223543e-04,
  3.39094073e-03,-8.97947086e-04]


--- Step 2182 ---
qpos:
[ 0.01869838, 0.0300095 ,-0.00947497,-0.02531853,-0.00350482, 1.34075331,
 -0.02990591, 0.94379286, 0.01155728, 0.0272934 ,-0.00827509, 0.02645651,
  1.39624656, 0.00767127, 1.30769986, 0.04422328,-0.08606332,-0.04862282,
  0.093802  , 0.70620461,-0.0642889 ,-0.69885414,-0.09351401]

qacc:
[-3.98142061e+00,-2.95557148e+00, 7.87545703e+00,-3.40500464e+00,
 -7.38863030e-02, 2.56701670e-01,-1.06886313e+00, 6.09297672e-01,
 -3.87025904e+00,-2.15080376e+00, 3.18818949e+00, 8.33721662e+00,
 -1.28341865e-02,-1.96863578e-01, 1.15905137e+01,-4.00539255e+01,
  3.76709608e+00,-8.50576662e-01, 8.81608912e-01,-5.58655797e+00,
  1.20630966e+02,-1.27324646e+01]

qfrc_actuator:
[ 6.45348008e-05, 9.34254571e-04, 1.42629011e-04,-4.49903776e-05,
 -1.12197856e-05, 3.48972962e-02, 1.09203408e-02, 1.71436866e-03,
 -7.25005540e-05, 7.98896360e-04, 2.11256960e-04, 7.31536592e-05,
  0.00000000e+00,-1.56466646e-03, 0.00000000e+00,-1.28965759e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.52481533,  -1.38358246,  -8.52481533,
        10.51984338, -11.60488617,  -1.38358246, -11.60488617,
        80.13879595,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0035470956518413588
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.1299495e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.1299495e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13956979, -0.03532394,  0.06182147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.13471790e-05,-3.03380431e-05,-1.88968156e-05,-3.44679648e-06,
 -2.36326311e-05,-6.29298499e-05, 4.06449781e-05, 3.55138829e-05,
  3.44249539e-03,-2.94155555e-05,-1.97593672e-05,-1.99609204e-04,
  6.30290159e-06,-1.51733708e-05,-4.90496405e+00,-1.30034833e-04,
  3.39689573e-03,-8.98824612e-04]


--- Step 2183 ---
qpos:
[ 0.01869871, 0.03001002,-0.00947415,-0.02531763,-0.00350486, 1.34075419,
 -0.02990663, 0.94379192, 0.01155735, 0.02729311,-0.00827465, 0.02645752,
  1.39624642, 0.00767179, 1.30781271, 0.04422092,-0.08605777,-0.04862786,
  0.09380122, 0.70628396,-0.06424229,-0.69878222,-0.0934842 ]

qacc:
[ 3.56887973e+00,-9.22024947e-02,-4.34959673e+00, 1.92276715e+01,
 -3.01606777e-02, 2.24065497e+00,-6.58237563e+00, 5.01217797e+00,
  5.46760272e-01, 1.54174930e+00,-8.59115371e+00, 2.15277010e+01,
 -9.87412961e-03,-2.70921759e-01,-2.89557074e+00, 9.11093534e+00,
 -4.68806767e+00, 1.31788958e+00,-2.20976161e+00, 7.20064876e+00,
 -1.52255343e+02, 2.77897320e+01]

qfrc_actuator:
[ 8.65329476e-05, 9.11967604e-04, 1.65037023e-04,-8.41767769e-07,
 -7.28044807e-06, 3.49506059e-02, 1.08987289e-02, 1.71408371e-03,
 -6.84839790e-05, 8.35097719e-04, 2.23308371e-04, 1.12712365e-04,
  0.00000000e+00,-1.59344277e-03, 0.00000000e+00,-1.24120159e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0035604701155034363
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.79548057e-15,  3.11819223e-14,  1.00000000e+00,  2.43078069e-28,
        1.00000000e+00, -3.11819223e-14, -1.00000000e+00,  0.00000000e+00,
       -7.79548057e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00800898, -0.07488563,  0.06182089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12679130e-05,-4.50472938e-05, 1.62721982e-05, 4.34485407e-05,
 -8.67687074e-06, 3.27218695e-05,-2.97996842e-05,-1.83146125e-06,
  3.29880083e-06, 1.09265860e-05, 5.28667084e-06, 3.89596233e-05,
  3.43873152e-03,-3.91806403e-05,-3.34738125e-05, 3.42982343e-05,
  4.91292487e-05,-4.68627239e-05,-4.90479260e+00,-1.54855237e-04,
  3.40731506e-03,-9.00696528e-04]


--- Step 2184 ---
qpos:
[ 0.01869896, 0.03001063,-0.00947352,-0.02531693,-0.00350492, 1.34075539,
 -0.02990795, 0.94379169, 0.01155781, 0.0272932 ,-0.00827474, 0.0264583 ,
  1.39624606, 0.00767234, 1.30792516, 0.04422077,-0.08606886,-0.04862818,
  0.09378815, 0.7061802 ,-0.06424534,-0.69889892,-0.09339362]

qacc:
[-7.29861962e-01, 2.18661518e-01, 2.01113969e-01,-3.39453998e+00,
 -9.48062090e-03, 3.23499650e+00,-1.14938356e+01, 1.78896064e+01,
  3.32166913e+00, 1.54285962e+00,-3.81438990e+00, 4.43345529e-01,
  6.90555686e-03,-5.01076367e-02,-7.31117014e+00, 2.46811026e+01,
 -4.15655196e+00, 1.17803269e+00,-3.07150829e+00, 6.62945163e+00,
 -1.34858641e+02, 2.41945331e+01]

qfrc_actuator:
[ 8.15979779e-05, 9.34189994e-04, 1.60135515e-04,-1.07450062e-05,
 -4.85700842e-06, 3.49642409e-02, 1.08686902e-02, 1.74981364e-03,
 -4.83870995e-05, 8.56911239e-04, 1.94841883e-04, 1.00089231e-04,
  0.00000000e+00,-1.57523160e-03, 0.00000000e+00,-1.12285587e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.20545146,   2.69394566,   8.20545146,
        13.73455923, -15.52852276,   2.69394566, -15.52852276,
        55.93447418,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003584064544983487
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.74416177e-15,  3.87208088e-15,  1.00000000e+00, -2.99860207e-29,
        1.00000000e+00, -3.87208088e-15, -1.00000000e+00,  0.00000000e+00,
        7.74416177e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00795521, -0.07486308,  0.06181981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.70300496e-06, 2.58453090e-05,-2.70842215e-05, 3.57959338e-05,
  2.01951963e-05, 3.06898466e-05,-2.42143772e-05,-1.12164581e-05,
  3.45615736e-03,-5.86150081e-06,-1.25206864e-05, 1.15769630e-04,
  3.24404687e-06,-8.42980311e-06,-4.90498587e+00,-1.22380209e-04,
  3.40694831e-03,-8.99946217e-04]


--- Step 2185 ---
qpos:
[ 0.01869846, 0.03001136,-0.009473  ,-0.02531637,-0.00350499, 1.34075644,
 -0.02990949, 0.9437926 , 0.01155782, 0.02729291,-0.00827453, 0.02645792,
  1.39624584, 0.00767287, 1.30803782, 0.04421933,-0.08609476,-0.04862426,
  0.09375986, 0.70591307,-0.06429188,-0.69918374,-0.09324909]

qacc:
[-6.44463148e+00, 2.31606651e-01, 1.11098026e-02,-2.29018587e+00,
 -3.88579326e-04, 2.34452516e+00,-1.02174105e+01, 2.21879502e+01,
 -3.83793009e+00,-3.71410415e+00, 1.74114377e+01,-3.76128114e+01,
  1.43413303e-02, 8.46692013e-03, 4.23700665e+00,-1.43440849e+01,
 -3.70645774e+00, 1.05885708e+00,-3.80621970e+00, 6.10244450e+00,
 -1.20217908e+02, 2.12136440e+01]

qfrc_actuator:
[ 4.30827319e-05, 9.47238825e-04, 1.57055696e-04,-1.68474504e-05,
 -3.36358321e-06, 3.49362491e-02, 1.08515570e-02, 1.80643006e-03,
 -7.22533619e-05, 7.98726106e-04, 1.95878565e-04, 3.90844598e-05,
  0.00000000e+00,-1.56454384e-03, 0.00000000e+00,-1.19513842e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.2040317 ,   2.69826625,   8.2040317 ,
        14.35756169, -17.39520342,   2.69826625, -17.39520342,
        61.5261778 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003561611892079465
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.33789445e-14,  1.94824538e-14,  1.00000000e+00, -4.55479206e-28,
        1.00000000e+00, -1.94824538e-14, -1.00000000e+00,  0.00000000e+00,
        2.33789445e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00800655, -0.0748713 ,  0.06182078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.03109294e-07,-1.79237702e-05,-1.41099984e-05, 5.74283295e-05,
 -2.32623155e-05,-4.65009368e-05, 4.00354808e-06,-6.07481831e-05,
  3.46680114e-03, 3.37277869e-06, 5.73121660e-06,-6.77474871e-05,
  1.61647979e-05, 4.96217793e-06,-4.90496511e+00,-1.33356252e-04,
  3.39855003e-03,-8.99076653e-04]


--- Step 2186 ---
qpos:
[ 0.01869854, 0.03001196,-0.00947271,-0.02531584,-0.00350519, 1.34075763,
 -0.02991127, 0.94379312, 0.01155685, 0.02729231,-0.0082743 , 0.02645683,
  1.39624531, 0.00767304, 1.30815035, 0.04421839,-0.08610125,-0.0486245 ,
  0.09374748, 0.70585873,-0.06429443,-0.69924997,-0.09316196]

qacc:
[ 4.94046498e+00, 3.66552434e-01,-1.39774616e+00, 1.19611365e+00,
 -5.84995674e-02, 1.74484299e-01, 4.30580329e-01,-4.94087021e+00,
 -8.32046667e+00,-1.92969789e+00, 9.32418199e+00,-2.15318229e+01,
  1.77831939e-02,-3.24615655e-01,-1.72091227e+00, 5.69596521e+00,
  4.85542653e+00,-1.03587512e+00, 3.97644534e+00,-7.89245413e+00,
  1.55443738e+02,-1.86864496e+01]

qfrc_actuator:
[ 7.38823655e-05, 9.19195960e-04, 1.37321391e-04,-2.06527078e-05,
 -2.01932484e-05, 3.49546204e-02, 1.08420195e-02, 1.78609402e-03,
 -1.21811067e-04, 7.81907236e-04, 1.96233992e-04, 3.32515867e-06,
  0.00000000e+00,-1.61158520e-03, 0.00000000e+00,-1.16614578e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0035874139963327084
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09477252e-14, -1.54738626e-14,  1.00000000e+00,  4.78880847e-28,
        1.00000000e+00,  1.54738626e-14, -1.00000000e+00,  0.00000000e+00,
        3.09477252e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13952172, -0.0353813 ,  0.06181947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.68913908e-05, 7.41777911e-06,-1.29633679e-05,-1.99564581e-05,
 -5.02536234e-05,-4.45981083e-05,-1.08561476e-05,-3.87938059e-05,
  3.45950390e-03,-4.23829115e-05,-7.60472870e-06, 2.53259062e-05,
  7.00955814e-05, 1.21530388e-06,-4.90479478e+00,-1.73748536e-04,
  3.38336398e-03,-8.97899420e-04]


--- Step 2187 ---
qpos:
[ 0.01869863, 0.03001222,-0.00947251,-0.02531604,-0.00350556, 1.340759  ,
 -0.0299126 , 0.94379232, 0.0115553 , 0.02729222,-0.008275  , 0.02645493,
  1.39624424, 0.00767284, 1.30826249, 0.04422046,-0.0860905 ,-0.0486285 ,
  0.09374486, 0.70599371,-0.06425895,-0.69912204,-0.09312385]

qacc:
[ 2.06210529e-01,-1.67937272e+00, 8.36745459e+00,-2.04233598e+01,
 -6.88611328e-02,-3.25939739e+00, 1.36513420e+01,-2.73368516e+01,
 -5.05335307e+00, 1.64605007e+00,-1.45344544e+00,-1.14131155e+01,
  4.32817958e-02,-4.26167603e-01,-9.72170228e+00, 3.31296494e+01,
  4.30926779e+00,-9.43181621e-01, 2.44184929e+00,-6.67746697e+00,
  1.38058500e+02,-1.55384635e+01]

qfrc_actuator:
[ 7.42337930e-05, 8.84449426e-04, 1.25496603e-04,-5.86282743e-05,
 -3.01264389e-05, 3.49828443e-02, 1.08726637e-02, 1.72065784e-03,
 -1.50573814e-04, 8.43256188e-04, 1.60837331e-04,-3.50169629e-05,
  0.00000000e+00,-1.63966322e-03, 0.00000000e+00,-1.00665010e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.57496898, -1.02795126, -8.57496898,  9.61661931,
       -8.17710172, -1.02795126, -8.17710172, 76.84815204,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003611187340616759
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.53719943e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.53719943e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13949074, -0.03540098,  0.06181833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.99148855e-05, 2.91858226e-05, 3.00360516e-05,-6.60561694e-05,
 -3.02499568e-05, 3.25053851e-05,-4.72806839e-05,-4.13787866e-05,
  3.47488674e-03,-5.25244414e-05,-2.95553315e-06, 1.59429528e-04,
  9.13098959e-06, 2.31610698e-06,-4.90498568e+00,-1.28804476e-04,
  3.38656612e-03,-8.95591797e-04]


--- Step 2188 ---
qpos:
[ 0.01869839, 0.03001253,-0.00947234,-0.02531708,-0.00350607, 1.34076034,
 -0.02991324, 0.94379212, 0.01155376, 0.02729235,-0.00827589, 0.02645361,
  1.39624289, 0.00767237, 1.30837461, 0.04422408,-0.08606434,-0.04863596,
  0.09374681, 0.7062981 ,-0.06419033,-0.69882027,-0.09312796]

qacc:
[-2.93046773e+00,-1.62619809e+00, 9.46591500e+00,-2.41864047e+01,
 -6.04240277e-02,-8.25136113e-01, 1.39941413e+00, 5.87442797e+00,
  8.88881727e-02, 1.97584484e+00,-9.07941154e+00, 1.92120917e+01,
  7.36922859e-02,-3.18438284e-01,-4.70177240e+00, 1.63727970e+01,
  3.85204731e+00,-8.63636132e-01, 1.14063328e+00,-5.70537999e+00,
  1.23485690e+02,-1.30139091e+01]

qfrc_actuator:
[ 5.66383670e-05, 9.16958443e-04, 1.36129191e-04,-9.86558772e-05,
 -3.58417152e-05, 3.49813688e-02, 1.09090589e-02, 1.75352360e-03,
 -1.49104595e-04, 8.62036270e-04, 1.58194538e-04,-3.52066251e-06,
  0.00000000e+00,-1.63845733e-03, 0.00000000e+00,-9.31345330e-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,  -8.54281477,  -1.26771161,  -8.54281477,
        10.22891948, -10.73186479,  -1.26771161, -10.73186479,
        80.95591361,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0035916352397038914
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.54556762e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.54556762e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13951941, -0.03540318,  0.06181921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.74828763e-05, 1.85505348e-05, 4.35842492e-05, 3.30912975e-05,
  5.96854515e-07, 2.54176251e-05,-3.17054507e-06, 3.04549870e-05,
  3.50227794e-03,-3.28704711e-05, 1.41512261e-05, 8.33251513e-05,
  1.10346688e-05,-1.40338058e-05,-4.90495772e+00,-1.14955551e-04,
  3.39406260e-03,-8.94737600e-04]


--- Step 2189 ---
qpos:
[ 0.01869863, 0.03001311,-0.00947223,-0.02531829,-0.00350669, 1.34076175,
 -0.0299143 , 0.94379272, 0.01155293, 0.02729227,-0.00827637, 0.02645303,
  1.39624187, 0.00767155, 1.30848742, 0.04422322,-0.08605745,-0.04863799,
  0.09374084, 0.70638963,-0.06418031,-0.69873757,-0.09306115]

qacc:
[ 4.11264370e+00, 2.22831033e-01, 3.95363565e-01,-3.19458690e+00,
 -4.66948523e-02, 2.56152957e+00,-9.87476660e+00, 1.76869218e+01,
  6.15278438e+00, 1.03753995e-01,-3.94358434e+00, 1.63767807e+01,
  8.28257665e-02,-2.23529193e-01, 1.45457028e+01,-4.94152374e+01,
 -4.81862920e+00, 1.35535620e+00,-1.97691609e+00, 7.44903992e+00,
 -1.56743082e+02, 2.85762790e+01]

qfrc_actuator:
[ 8.18882882e-05, 9.54074373e-04, 1.42455423e-04,-1.03989765e-04,
 -3.89809755e-05, 3.49622082e-02, 1.08774880e-02, 1.79070748e-03,
 -1.12107545e-04, 8.37621871e-04, 1.74824856e-04, 3.33117907e-05,
  0.00000000e+00,-1.63738685e-03, 0.00000000e+00,-1.17257444e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003626324209051894
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53078291e-14, -3.06156582e-14,  1.00000000e+00,  4.68659263e-28,
        1.00000000e+00,  3.06156582e-14, -1.00000000e+00,  0.00000000e+00,
        1.53078291e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00785201, -0.0747991 ,  0.06181763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.34703883e-05, 6.12489392e-07,-2.20127323e-05, 3.97875992e-05,
  3.70214844e-05,-9.54643795e-06, 2.25541797e-05, 3.84090206e-05,
  3.51524867e-03,-1.83619347e-05, 1.27334058e-05,-2.35464715e-04,
  5.74007481e-05,-4.24601410e-05,-4.90477573e+00,-1.21175502e-04,
  3.40593420e-03,-8.94961504e-04]


--- Step 2190 ---
qpos:
[ 0.01869917, 0.03001376,-0.00947227,-0.02531917,-0.00350739, 1.34076323,
 -0.02991629, 0.94379378, 0.0115529 , 0.02729222,-0.00827698, 0.02645291,
  1.39624092, 0.00767049, 1.30860018, 0.04422051,-0.08606762,-0.04863519,
  0.09372337, 0.70629301,-0.06422119,-0.69884868,-0.09293192]

qacc:
[ 2.57611481e+00, 1.17740386e+00,-5.45362485e+00, 1.12775353e+01,
 -3.31191451e-02, 3.39937275e+00,-1.19465804e+01, 1.57612758e+01,
  6.77794135e+00, 1.34254412e+00,-6.63712470e+00, 1.46570868e+01,
  7.03378885e-02,-1.98841035e-01, 5.49921792e+00,-1.93673634e+01,
 -4.26325192e+00, 1.20900274e+00,-2.87797807e+00, 6.81464011e+00,
 -1.38559307e+02, 2.48612533e+01]

qfrc_actuator:
[ 9.66552508e-05, 9.40434778e-04, 1.28493007e-04,-8.88619643e-05,
 -4.05502487e-05, 3.49501066e-02, 1.08237142e-02, 1.81230561e-03,
 -7.22584294e-05, 8.40885837e-04, 1.66996354e-04, 5.51940617e-05,
  0.00000000e+00,-1.65394999e-03, 0.00000000e+00,-1.26102677e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.12176928,   2.93660359,   8.12176928,
        15.15909167, -18.03991942,   2.93660359, -18.03991942,
        58.5293978 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0036567595000761358
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.03608434e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.03608434e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00778109, -0.07477187,  0.06181621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.52974165e-06,-1.48809103e-05,-5.49917334e-05, 2.18948046e-05,
  4.09266918e-05, 4.25061678e-06,-5.68795689e-06, 2.30019020e-05,
  3.49922772e-03,-1.68144401e-05,-2.39987785e-05,-1.00797684e-04,
  7.34136354e-06,-8.25779022e-06,-4.90497858e+00,-1.11106469e-04,
  3.40439592e-03,-8.93474182e-04]


--- Step 2191 ---
qpos:
[ 0.01869988, 0.0300145 ,-0.00947306,-0.02531947,-0.00350814, 1.34076453,
 -0.02991859, 0.94379578, 0.01155301, 0.02729253,-0.00827782, 0.02645301,
  1.39623997, 0.00766947, 1.30871255, 0.04421874,-0.08609296,-0.04862806,
  0.09369131, 0.70602889,-0.06430661,-0.69913217,-0.09274736]

qacc:
[ 1.46134496e+00, 3.39000900e+00,-1.43002645e+01, 2.52807352e+01,
 -2.16587573e-02, 2.19256371e+00,-9.35019364e+00, 1.90254967e+01,
  1.12680405e+00, 1.58698664e+00,-5.95778631e+00, 1.00546087e+01,
  6.77543420e-02,-5.09424861e-02,-3.40888136e+00, 1.10725770e+01,
 -3.79285708e+00, 1.08429868e+00,-3.64669719e+00, 6.23324442e+00,
 -1.23251981e+02, 2.17773461e+01]

qfrc_actuator:
[ 1.05119611e-04, 9.31954237e-04, 8.47201350e-05,-6.18760623e-05,
 -4.11656968e-05, 3.49422121e-02, 1.08105563e-02, 1.86006252e-03,
 -6.65665671e-05, 8.78342172e-04, 1.62623433e-04, 6.81023125e-05,
  0.00000000e+00,-1.64556921e-03, 0.00000000e+00,-1.20539306e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.11969966,   2.94232124,   8.11969966,
        15.98184475, -20.27076432,   2.94232124, -20.27076432,
        64.57604681,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003638774624457039
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.28831778e-14, -2.28831778e-14,  1.00000000e+00,  5.23639828e-28,
        1.00000000e+00,  2.28831778e-14, -1.00000000e+00,  0.00000000e+00,
        2.28831778e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00782073, -0.07477685,  0.06181695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.24759500e-06,-2.62323109e-05,-2.16827737e-05, 4.62053478e-05,
  6.89048441e-06, 3.96672564e-05,-3.39335081e-06, 1.33412819e-05,
  3.49497205e-03, 3.40291398e-06,-2.36661672e-05, 4.66099943e-05,
  1.97928905e-05, 3.13903025e-07,-4.90495517e+00,-1.44134314e-04,
  3.39466345e-03,-8.91828429e-04]


--- Step 2192 ---
qpos:
[ 0.0187    , 0.03001544,-0.00947474,-0.02531911,-0.00350892, 1.34076529,
 -0.02992005, 0.94379865, 0.01155283, 0.02729331,-0.00827848, 0.02645254,
  1.39623954, 0.00766871, 1.30882512, 0.04421459,-0.08609859,-0.04862508,
  0.09367611, 0.70598112,-0.06434761,-0.69919339,-0.09262098]

qacc:
[-5.12116047e+00, 4.10632598e+00,-1.70901205e+01, 2.99303693e+01,
 -1.27589432e-02,-1.49753381e+00, 2.22622842e+00, 8.54775378e+00,
 -2.36694710e+00,-1.07519997e+00, 7.19780793e+00,-1.79030298e+01,
  5.85759450e-02, 2.38901221e-01, 7.50751455e+00,-2.58152499e+01,
  4.92877184e+00,-1.03933554e+00, 4.21540167e+00,-8.00757828e+00,
  1.58026081e+02,-1.88815600e+01]

qfrc_actuator:
[ 7.43045357e-05, 9.44259363e-04, 4.14673430e-05,-2.81508422e-05,
 -4.12045305e-05, 3.49193080e-02, 1.08570245e-02, 1.90511226e-03,
 -8.10258347e-05, 9.18233642e-04, 1.78229187e-04, 4.01617460e-05,
  0.00000000e+00,-1.60465344e-03, 0.00000000e+00,-1.33163900e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003648368689108339
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.08613394e-14, -1.52153348e-14,  1.00000000e+00,  9.26025657e-28,
        1.00000000e+00,  1.52153348e-14, -1.00000000e+00,  0.00000000e+00,
        6.08613394e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13944663, -0.03546797,  0.06181637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05583167e-05, 1.21105252e-06,-4.88416346e-05, 3.25140594e-05,
 -3.73191799e-06,-4.02720710e-05, 4.02280889e-05, 4.46981263e-05,
 -1.42439143e-05, 6.19456203e-05, 2.38491069e-05,-2.60977432e-05,
  3.49506571e-03, 4.22461138e-05,-6.50409550e-06,-1.26871176e-04,
  7.55700462e-05,-8.44936794e-06,-4.90477464e+00,-2.05728166e-04,
  3.37805375e-03,-8.89829043e-04]


--- Step 2193 ---
qpos:
[ 0.01869974, 0.03001595,-0.00947584,-0.02531872,-0.00350957, 1.3407656 ,
 -0.02992082, 0.94379997, 0.01155283, 0.02729409,-0.00827873, 0.02645143,
  1.39623933, 0.00766828, 1.3089374 , 0.04421096,-0.08608674,-0.04862588,
  0.09367146, 0.70612557,-0.06435029,-0.69905744,-0.09254416]

qacc:
[-3.15031354e+00,-2.07549798e+00, 6.45987060e+00,-6.49512366e+00,
  5.50294457e-02,-5.08937880e+00, 1.90860049e+01,-3.43041128e+01,
  1.48969241e+00,-2.45845062e+00, 1.14313921e+01,-2.30277338e+01,
  3.34757091e-02, 2.22833301e-01,-2.01094820e+00, 6.41967436e+00,
  4.36837658e+00,-9.44523420e-01, 2.63809271e+00,-6.74591933e+00,
  1.40166505e+02,-1.56486936e+01]

qfrc_actuator:
[ 5.61243297e-05, 9.15653352e-04, 6.99736093e-05,-2.62153482e-05,
 -2.31449199e-05, 3.48878357e-02, 1.08849807e-02, 1.82395414e-03,
 -7.17134442e-05, 8.88316965e-04, 1.87749584e-04, 6.18391922e-06,
  0.00000000e+00,-1.59771034e-03, 0.00000000e+00,-1.29778156e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.5833563 , -0.95539075, -8.5833563 ,  9.47568951,
       -7.54061418, -0.95539075, -7.54061418, 76.3822345 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036748367277524563
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02114926e-14, -1.51057463e-14,  1.00000000e+00,  4.56367141e-28,
        1.00000000e+00,  1.51057463e-14, -1.00000000e+00,  0.00000000e+00,
        3.02114926e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1394117 , -0.03548893,  0.06181509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.58525900e-05,-4.45372781e-05, 2.59719761e-05,-8.01493606e-05,
  8.91863334e-06, 8.50681892e-06, 2.43507609e-05,-3.10045521e-05,
  3.46888309e-03, 3.61824991e-05,-1.88318308e-05, 2.55318841e-05,
  1.28888432e-05,-1.13866411e-06,-4.90497418e+00,-1.33303363e-04,
  3.38287626e-03,-8.85583117e-04]


--- Step 2194 ---
qpos:
[ 0.01870031, 0.03001583,-0.00947588,-0.02531866,-0.00350991, 1.34076556,
 -0.02992177, 0.94379895, 0.01155329, 0.02729493,-0.00827883, 0.02644959,
  1.39623874, 0.00766788, 1.30904911, 0.04421142,-0.08605929,-0.04863013,
  0.09367202, 0.70644181,-0.06431963,-0.69874521,-0.09250991]

qacc:
[ 7.06064255e+00,-4.50533542e+00, 1.62351286e+01,-2.32008923e+01,
  1.32042815e-01,-3.95316448e+00, 1.71388679e+01,-4.16489766e+01,
  3.89749788e+00,-1.86622360e+00, 9.85713558e+00,-2.28248254e+01,
  3.45846211e-02,-1.21639058e-01,-1.32047880e+01, 4.49453558e+01,
  3.89923907e+00,-8.63156795e-01, 1.30033578e+00,-5.73618724e+00,
  1.25194695e+02,-1.30592550e+01]

qfrc_actuator:
[ 9.87969420e-05, 8.80786570e-04, 1.22682831e-04,-4.29846181e-05,
  5.62574373e-06, 3.48513476e-02, 1.08661496e-02, 1.70465514e-03,
 -4.84773234e-05, 8.87807046e-04, 1.93313636e-04,-3.11329490e-05,
  0.00000000e+00,-1.62907431e-03, 0.00000000e+00,-1.08105168e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.55328469,  -1.19503046,  -8.55328469,
        10.03983374, -10.04516602,  -1.19503046, -10.04516602,
        80.53341355,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003656680324819049
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03615008e-14, -1.51807504e-14,  1.00000000e+00,  4.60910364e-28,
        1.00000000e+00,  1.51807504e-14, -1.00000000e+00,  0.00000000e+00,
        3.03615008e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13943821, -0.03549197,  0.0618159 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.81375224e-05,-5.84528461e-05,-2.69359647e-05,-1.21733020e-04,
  2.35026015e-05, 7.92874986e-06, 9.24367080e-06,-3.67122435e-05,
  3.45781545e-03,-1.15100743e-05,-6.60695125e-06, 2.15546707e-04,
  1.52219825e-05,-1.23549985e-05,-4.90494717e+00,-9.57084751e-05,
  3.39180232e-03,-8.82881623e-04]


--- Step 2195 ---
qpos:
[ 0.01870104, 0.03001526,-0.0094753 ,-0.02531879,-0.00351007, 1.34076562,
 -0.02992352, 0.94379824, 0.01155402, 0.02729634,-0.00827938, 0.02644764,
  1.39623798, 0.0076674 , 1.30916082, 0.04421377,-0.08605139,-0.04862888,
  0.09366522, 0.70654169,-0.06434873,-0.69865564,-0.09240338]

qacc:
[ 1.41886152e+00,-2.73939072e+00, 9.72444282e+00,-1.37467753e+01,
  7.59984376e-02, 2.77581835e+00,-9.53301421e+00, 1.16853815e+01,
  2.32288043e+00, 1.80438338e+00,-4.90322501e+00, 3.34805786e+00,
  5.59728555e-02,-1.63672207e-01,-5.74319706e+00, 2.00608646e+01,
 -4.88736508e+00, 1.37560601e+00,-1.83605517e+00, 7.48321936e+00,
 -1.59325900e+02, 2.92395569e+01]

qfrc_actuator:
[ 1.05930809e-04, 8.60290956e-04, 1.53686016e-04,-5.28710822e-05,
  5.08357380e-06, 3.48829335e-02, 1.08375849e-02, 1.72364002e-03,
 -3.49919533e-05, 9.40383979e-04, 1.78844488e-04,-3.45941450e-05,
  0.00000000e+00,-1.63000214e-03, 0.00000000e+00,-9.89151407e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037143526972773094
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.47252021e-15, -2.61538208e-14,  1.00000000e+00,  1.95434954e-28,
        1.00000000e+00,  2.61538208e-14, -1.00000000e+00,  0.00000000e+00,
        7.47252021e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00763851, -0.07469707,  0.06181326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.34227103e-06,-3.94732777e-05, 2.59140716e-05,-1.07218810e-05,
  2.19938294e-05,-9.67619298e-06,-4.66347568e-05, 1.36128399e-05,
  1.41798442e-05, 5.73312264e-05,-1.29682019e-05,-3.51451169e-06,
  3.47625943e-03,-1.40929627e-05, 1.95127779e-05, 1.02754458e-04,
  6.33463918e-05,-3.64027773e-05,-4.90476136e+00,-8.10164696e-05,
  3.40497125e-03,-8.81325462e-04]


--- Step 2196 ---
qpos:
[ 0.01870047, 0.03001463,-0.00947475,-0.02531904,-0.00351027, 1.34076609,
 -0.02992586, 0.94379841, 0.01155387, 0.02729831,-0.00828049, 0.02644636,
  1.3962373 , 0.00766697, 1.30927267, 0.04421655,-0.08606077,-0.04862272,
  0.09364738, 0.70645058,-0.06442973,-0.69876277,-0.09223329]

qacc:
[-1.11433154e+01,-2.12084520e-01, 1.16020564e+00,-3.15407233e+00,
 -1.78775558e-02, 3.64666123e+00,-1.30410813e+01, 2.12687786e+01,
 -7.51729713e+00, 3.67312537e+00,-1.48211985e+01, 2.68508852e+01,
  6.28135898e-02,-1.48205492e-02,-1.09944291e+00, 4.14425297e+00,
 -4.31788978e+00, 1.22562016e+00,-2.76301489e+00, 6.81433017e+00,
 -1.40646818e+02, 2.54284517e+01]

qfrc_actuator:
[ 3.88119976e-05, 8.66239537e-04, 1.53926540e-04,-5.86333664e-05,
 -1.30390133e-05, 3.49373170e-02, 1.08216231e-02, 1.77064185e-03,
 -8.06160828e-05, 9.71031021e-04, 1.52910109e-04,-3.20109042e-07,
  0.00000000e+00,-1.61256285e-03, 0.00000000e+00,-9.71592704e-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,   8.02697089,   3.186615  ,   8.02697089,
        16.74208156, -20.4180178 ,   3.186615  , -20.4180178 ,
        60.06863093,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003745989264899864
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.22282342e-14, -7.40941141e-15,  1.00000000e+00,  1.64698133e-28,
        1.00000000e+00,  7.40941141e-15, -1.00000000e+00,  0.00000000e+00,
        2.22282342e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00756474, -0.07466908,  0.06181179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.12552864e-06, 4.03187037e-05,-2.27616842e-05, 4.56555520e-05,
 -4.51846780e-05, 5.98449294e-05,-1.58160673e-05, 3.62158125e-05,
  3.48498005e-03, 7.64875248e-06, 1.73359005e-05, 2.50874716e-05,
  1.13286621e-05,-7.93271697e-06,-4.90496506e+00,-9.64678032e-05,
  3.40197924e-03,-8.79100876e-04]


--- Step 2197 ---
qpos:
[ 0.01869875, 0.03001468,-0.00947485,-0.02531942,-0.00351043, 1.34076672,
 -0.02992773, 0.94379876, 0.01155284, 0.02730038,-0.00828119, 0.02644583,
  1.39623655, 0.00766655, 1.30938443, 0.04422088,-0.08608549,-0.04861218,
  0.09361532, 0.70618971,-0.0645561 ,-0.69904458,-0.09200697]

qacc:
[-9.85957494e+00, 2.46646923e+00,-6.93100690e+00, 5.29208936e+00,
  1.37334528e-02,-7.19143694e-01, 2.22491150e+00, 9.82962052e-02,
 -7.58692013e+00, 5.68319936e-01,-4.99687838e+00, 1.73514166e+01,
  6.29302402e-02,-8.41941841e-02,-4.84230851e+00, 1.67081860e+01,
 -3.83554340e+00, 1.09782129e+00,-3.55404194e+00, 6.20311544e+00,
 -1.24920007e+02, 2.22617477e+01]

qfrc_actuator:
[-1.82044339e-05, 9.41116570e-04, 1.36122766e-04,-6.19181863e-05,
 -6.05466894e-06, 3.49517520e-02, 1.08488381e-02, 1.78049436e-03,
 -1.25158096e-04, 9.70542443e-04, 1.73627086e-04, 3.81071549e-05,
  0.00000000e+00,-1.61971003e-03, 0.00000000e+00,-8.91419147e-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,   8.01730276,   3.21086177,   8.01730276,
        17.87689888, -23.07298598,   3.21086177, -23.07298598,
        66.24803526,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037278406074793477
  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([ 0.00760447, -0.07467408,  0.06181253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.95666554e-06, 3.36578849e-05, 3.38529380e-05, 1.14529538e-05,
 -4.58405380e-05, 3.11904324e-05, 3.23783146e-05, 4.11522206e-05,
  3.48042404e-03,-1.96778654e-06, 7.84129517e-06, 8.31087125e-05,
  2.39537366e-05,-5.06589043e-06,-4.90493584e+00,-1.53620732e-04,
  3.39079411e-03,-8.76658959e-04]


--- Step 2198 ---
qpos:
[ 0.0186974 , 0.0300154 ,-0.00947525,-0.02531985,-0.00351069, 1.34076772,
 -0.02992931, 0.94379887, 0.01155197, 0.02730218,-0.00828111, 0.02644546,
  1.39623589, 0.00766622, 1.30949623, 0.04422581,-0.08609035,-0.04860575,
  0.09360065, 0.70614708,-0.06463823,-0.69910215,-0.09183891]

qacc:
[ 3.09474565e+00, 1.61930963e+00,-4.22477558e+00, 3.17495976e+00,
 -3.86725851e-02,-7.25789978e-01, 3.43027133e+00,-5.97664011e+00,
  1.42143422e+00,-2.24458514e+00, 6.86213187e+00,-5.41371657e+00,
  6.55275257e-02, 7.88745063e-03,-1.73300699e+00, 6.14688244e+00,
  4.96350547e+00,-1.02842967e+00, 4.34519763e+00,-8.01196252e+00,
  1.59372500e+02,-1.87602969e+01]

qfrc_actuator:
[ 2.21732517e-06, 9.85613676e-04, 1.25864960e-04,-6.36653514e-05,
 -1.95689512e-05, 3.49778148e-02, 1.08656396e-02, 1.76840226e-03,
 -1.15429402e-04, 9.33850927e-04, 2.03841994e-04, 4.31651437e-05,
  0.00000000e+00,-1.60608320e-03, 0.00000000e+00,-8.63730236e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003715080626452809
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.98842242e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.98842242e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13936303, -0.0355584 ,  0.06181297])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.11750015e-05, 5.16468107e-05, 2.75757450e-05,-9.82341345e-06,
  8.39972384e-06,-1.08828785e-05, 4.20555340e-05, 8.31563259e-06,
  3.48383526e-03, 1.12294574e-05, 1.04585542e-05, 3.27638418e-05,
  8.11682411e-05,-1.93016195e-05,-4.90474568e+00,-2.37761611e-04,
  3.37276784e-03,-8.73804096e-04]


--- Step 2199 ---
qpos:
[ 0.01869699, 0.03001646,-0.00947592,-0.02532026,-0.00351107, 1.34076888,
 -0.02993061, 0.94379955, 0.01155122, 0.02730356,-0.00828104, 0.02644487,
  1.39623547, 0.00766617, 1.30960801, 0.04423137,-0.08607763,-0.04860305,
  0.09359694, 0.70629817,-0.06468225,-0.69896099,-0.09172037]

qacc:
[ 8.08970937e+00, 1.23266979e+00,-3.89891973e+00, 4.56095709e+00,
 -5.03542914e-02, 4.32822415e-01,-2.30647810e+00, 8.42826737e+00,
  1.05899870e+00,-9.20506203e-01, 3.35971992e+00,-6.60819160e+00,
  5.74603832e-02, 1.72227485e-01,-1.95433543e+00, 6.79941232e+00,
  4.39543799e+00,-9.33601682e-01, 2.74210676e+00,-6.71789738e+00,
  1.41236431e+02,-1.54834682e+01]

qfrc_actuator:
[ 5.02989758e-05, 9.76107847e-04, 1.02301006e-04,-6.45031231e-05,
 -2.75189118e-05, 3.49750864e-02, 1.08761776e-02, 1.79675061e-03,
 -1.09340810e-04, 8.75778273e-04, 1.85967301e-04, 2.85129697e-05,
  0.00000000e+00,-1.58007493e-03, 0.00000000e+00,-8.31690016e-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, -8.58919232, -0.90141673, -8.58919232,  9.36973207,
       -6.98793606, -0.90141673, -6.98793606, 75.22124566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003741178408585774
  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([-0.13932874, -0.03557943,  0.06181171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.45521059e-05, 3.09358887e-05, 2.34917382e-05, 3.04809317e-05,
  6.33446680e-06,-5.51798656e-05,-1.46773373e-05,-1.35054180e-05,
  3.47884247e-03, 3.28534200e-05, 5.93827179e-06, 3.46041511e-05,
  1.70304666e-05,-5.30622657e-06,-4.90495334e+00,-1.36354697e-04,
  3.37913085e-03,-8.67505698e-04]


--- Step 2200 ---
qpos:
[ 0.01869716, 0.0300178 ,-0.00947685,-0.02532067,-0.00351141, 1.34076973,
 -0.0299313 , 0.94380162, 0.01155089, 0.02730459,-0.00828119, 0.02644412,
  1.39623531, 0.0076664 , 1.30971983, 0.04423694,-0.08604923,-0.04860376,
  0.09359876, 0.70662226,-0.06469318,-0.69864233,-0.09164423]

qacc:
[ 4.96256933e+00, 1.06879134e+00,-3.26947356e+00, 3.44257339e+00,
  1.60362750e-02, 3.04378878e-01,-4.35641344e+00, 2.01623024e+01,
  3.61551507e+00,-2.30920335e-01, 8.44508170e-01,-3.11095441e+00,
  4.38983275e-02, 1.96515913e-01, 4.26425217e-02,-5.18995769e-02,
  3.91994640e+00,-8.52186202e-01, 1.38244428e+00,-5.68212207e+00,
  1.26032640e+02,-1.28634556e+01]

qfrc_actuator:
[ 7.87447053e-05, 9.87537511e-04, 8.85957383e-05,-6.48570458e-05,
 -1.43134542e-05, 3.49373801e-02, 1.09006080e-02, 1.86640928e-03,
 -8.77090718e-05, 8.58383000e-04, 1.75230222e-04, 2.00807101e-05,
  0.00000000e+00,-1.56462169e-03, 0.00000000e+00,-8.32825909e-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, -8.5598376 , -1.14715171, -8.5598376 ,  9.90631403,
       -9.47613905, -1.14715171, -9.47613905, 79.3455912 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037219751441998905
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.98288672e-14, -2.98288672e-14,  1.00000000e+00,  8.89761321e-28,
        1.00000000e+00,  2.98288672e-14, -1.00000000e+00,  0.00000000e+00,
        2.98288672e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13935682, -0.03558236,  0.06181257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.60674703e-06,-1.50873516e-05, 3.40503821e-05, 7.19848797e-05,
  2.18035031e-05,-5.19124190e-05,-2.44269816e-05,-1.15699478e-05,
  3.46734373e-03, 3.41291627e-05, 4.52487034e-06, 1.04398256e-06,
  1.91810479e-05,-1.05731906e-05,-4.90492989e+00,-7.30416420e-05,
  3.38939060e-03,-8.62818705e-04]


--- Step 2201 ---
qpos:
[ 0.01869767, 0.03001931,-0.00947793,-0.02532039,-0.00351181, 1.34077007,
 -0.02993121, 0.94380418, 0.01155082, 0.02730539,-0.00828127, 0.02644358,
  1.39623551, 0.00766682, 1.30983186, 0.04424078,-0.08604048,-0.04859893,
  0.09359351, 0.70672845,-0.06476477,-0.69854785,-0.09149491]

qacc:
[ 2.91211537e+00, 2.08874669e+00,-1.00871279e+01, 2.23084449e+01,
 -2.40562473e-02,-1.91732343e+00, 4.45052635e+00, 2.07282955e+00,
  2.24161655e+00,-4.21766260e-02,-1.23569214e+00, 5.08897809e+00,
  2.66645141e-02, 1.80618339e-01, 5.53784950e+00,-1.89228515e+01,
 -4.91160368e+00, 1.38531337e+00,-1.76735582e+00, 7.35868326e+00,
 -1.60474960e+02, 2.98056682e+01]

qfrc_actuator:
[ 9.53957155e-05, 9.93686868e-04, 8.08942592e-05,-2.93980258e-05,
 -2.40291536e-05, 3.48968507e-02, 1.09329201e-02, 1.88878607e-03,
 -7.48537048e-05, 8.65492553e-04, 1.86722174e-04, 3.31740738e-05,
  0.00000000e+00,-1.55560990e-03, 0.00000000e+00,-9.24502987e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037986354786424398
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46134452e-14,  2.19201677e-14,  1.00000000e+00, -3.20329169e-28,
        1.00000000e+00, -2.19201677e-14, -1.00000000e+00,  0.00000000e+00,
        1.46134452e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00743425, -0.07459779,  0.06180908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.99414837e-06,-4.00530908e-05, 3.53494825e-05, 2.45939927e-05,
  1.34803062e-05,-2.74893309e-05,-2.65026318e-06, 9.79706180e-06,
  3.45360223e-03, 2.92273624e-05, 1.13779678e-07,-9.15581611e-05,
  6.78970679e-05,-2.92171862e-05,-4.90474482e+00,-3.52094570e-05,
  3.40373774e-03,-8.59326889e-04]


--- Step 2202 ---
qpos:
[ 0.01869769, 0.03002052,-0.00947863,-0.02531931,-0.00351229, 1.34077036,
 -0.02993079, 0.94380523, 0.01155057, 0.027306  ,-0.00828098, 0.02644318,
  1.3962362 , 0.00766793, 1.3099437 , 0.04424483,-0.08604907,-0.04858917,
  0.09357742, 0.70664246,-0.06488904,-0.69865126,-0.09128129]

qacc:
[-4.21474317e+00, 1.74292644e-01,-4.47923247e+00, 1.76877212e+01,
 -3.37411014e-02,-3.52713503e+00, 1.45167329e+01,-2.99303664e+01,
 -1.60585160e+00,-1.01986182e+00, 2.73314470e+00,-9.31935532e-01,
 -2.39634176e-03, 5.66940021e-01,-8.99567606e-01, 2.78533240e+00,
 -4.33559017e+00, 1.23361005e+00,-2.70883512e+00, 6.67516299e+00,
 -1.41536783e+02, 2.59235173e+01]

qfrc_actuator:
[ 6.94722949e-05, 9.61171174e-04, 9.45533835e-05, 9.09592568e-06,
 -2.96651054e-05, 3.49082097e-02, 1.09518119e-02, 1.81213662e-03,
 -8.50245212e-05, 8.69584071e-04, 2.11367698e-04, 4.11133577e-05,
  0.00000000e+00,-1.49721989e-03, 0.00000000e+00,-9.08997176e-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,   7.90666574,   3.47439402,   7.90666574,
        18.7337465 , -22.97857718,   3.47439402, -22.97857718,
        60.92862752,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038283463264758427
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45000338e-14, -7.25001691e-15,  1.00000000e+00,  1.05125490e-28,
        1.00000000e+00,  7.25001691e-15, -1.00000000e+00,  0.00000000e+00,
        1.45000338e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00736549, -0.07457125,  0.06180771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.77071281e-06,-3.14294259e-06, 1.58039344e-05,-7.62421782e-05,
 -9.78355538e-06,-1.14304247e-05, 1.89720288e-05, 6.85925449e-06,
  3.43557473e-03, 7.85433033e-05,-1.23224157e-05, 9.87449368e-06,
  1.53648647e-05,-7.81366024e-06,-4.90494300e+00,-7.89233092e-05,
  3.39915978e-03,-8.56330050e-04]


--- Step 2203 ---
qpos:
[ 0.01869705, 0.03002125,-0.0094787 ,-0.02531812,-0.00351269, 1.34077052,
 -0.02993068, 0.94380541, 0.01155054, 0.02730656,-0.00828043, 0.02644252,
  1.39623722, 0.00766982, 1.31005521, 0.04425102,-0.08607305,-0.04857499,
  0.09354729, 0.70638579,-0.06505938,-0.6989302 ,-0.09101082]

qacc:
[-5.59611117e+00,-2.13703289e+00, 6.20209346e+00,-4.82232271e+00,
  3.05701858e-02,-8.55584392e-01, 4.39083725e+00,-1.39724000e+01,
  1.92717469e+00,-1.33942448e+00, 5.76267167e+00,-1.05992067e+01,
 -3.19139070e-02, 5.93538750e-01,-6.95087650e+00, 2.36291086e+01,
 -3.84773329e+00, 1.10434962e+00,-3.51228603e+00, 6.05142729e+00,
 -1.25590501e+02, 2.26947711e+01]

qfrc_actuator:
[ 3.64542069e-05, 9.23594346e-04, 1.20548872e-04, 1.35365166e-05,
 -1.50549538e-05, 3.48794285e-02, 1.09272704e-02, 1.76662176e-03,
 -7.31588001e-05, 8.71905796e-04, 2.25813752e-04, 2.82069073e-05,
  0.00000000e+00,-1.46305176e-03, 0.00000000e+00,-7.94925881e-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,   7.88315605,   3.52741089,   7.88315605,
        20.32207442, -26.11555172,   3.52741089, -26.11555172,
        67.00012553,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038076632736891297
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91575947e-14,  1.45787973e-14,  1.00000000e+00, -4.25082664e-28,
        1.00000000e+00, -1.45787973e-14, -1.00000000e+00,  0.00000000e+00,
        2.91575947e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00741135, -0.07457799,  0.06180857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.83622812e-06,-2.97210483e-05,-2.55930150e-05,-4.69110397e-05,
  1.15762922e-05, 1.13841145e-07, 1.46495562e-05,-1.26071015e-05,
  3.41056550e-03, 7.77232189e-05,-5.34125320e-06, 1.12807829e-04,
  2.84076112e-05,-1.14373278e-05,-4.90490593e+00,-1.62099826e-04,
  3.38650829e-03,-8.53040534e-04]


--- Step 2204 ---
qpos:
[ 0.01869671, 0.0300214 ,-0.00947838,-0.02531651,-0.00351284, 1.34077021,
 -0.02993136, 0.94380647, 0.01155031, 0.02730713,-0.00828025, 0.0264414 ,
  1.39623839, 0.00767169, 1.31016707, 0.04425516,-0.08607714,-0.04856483,
  0.09353475, 0.70634811,-0.06518617,-0.69898413,-0.0907981 ]

qacc:
[ 2.58148416e+00,-1.02590997e+00, 7.89955934e-01, 6.20432531e+00,
  1.10190408e-01, 3.05698823e+00,-1.25428972e+01, 2.15011688e+01,
 -1.73739028e+00, 1.25558130e-01, 1.49506986e+00,-8.80496505e+00,
 -4.55400816e-02, 8.75726720e-02, 6.73375769e+00,-2.27759026e+01,
  4.97369915e+00,-1.00663072e+00, 4.39676573e+00,-7.91464904e+00,
  1.59858995e+02,-1.83332260e+01]

qfrc_actuator:
[ 5.27967028e-05, 8.83298381e-04, 1.35801557e-04, 3.34057741e-05,
  1.15825936e-05, 3.48266742e-02, 1.08771811e-02, 1.81078364e-03,
 -8.39150691e-05, 8.55350832e-04, 1.98594799e-04, 3.12918176e-06,
  0.00000000e+00,-1.49702716e-03, 0.00000000e+00,-9.07768513e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003774024673944526
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.94174819e-14, -1.47087409e-14,  1.00000000e+00,  4.32694120e-28,
        1.00000000e+00,  1.47087409e-14, -1.00000000e+00,  0.00000000e+00,
        2.94174819e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13929134, -0.03564727,  0.06180996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.18585362e-05,-7.56126655e-05,-6.01915419e-05, 4.14310053e-05,
 -1.04150240e-05,-1.40269006e-05,-2.58393532e-05,-2.48128212e-05,
  3.39456658e-03, 5.12331297e-06, 9.18756109e-06,-1.07499582e-04,
  8.65280994e-05,-3.15609773e-05,-4.90470690e+00,-2.70115234e-04,
  3.36714085e-03,-8.49267729e-04]


--- Step 2205 ---
qpos:
[ 0.01869554, 0.03002131,-0.00947824,-0.02531467,-0.00351284, 1.34076973,
 -0.02993251, 0.94380836, 0.01154926, 0.02730773,-0.00828045, 0.02644033,
  1.39623934, 0.00767328, 1.31027889, 0.04425861,-0.08606362,-0.04855833,
  0.09353332, 0.70650472,-0.06527553,-0.69883875,-0.09063433]

qacc:
[-7.17539570e+00, 6.94926334e-01,-3.87528691e+00, 8.22907997e+00,
  5.86247619e-02, 2.45530712e+00,-9.97297254e+00, 1.83018620e+01,
 -6.98057309e+00, 1.22298138e+00,-4.48012361e+00, 5.90121825e+00,
 -4.90816548e-02,-1.83243138e-01, 2.04944485e+00,-7.24060104e+00,
  4.40248843e+00,-9.13363759e-01, 2.78087297e+00,-6.60101137e+00,
  1.41593871e+02,-1.50514173e+01]

qfrc_actuator:
[ 9.30084925e-06, 8.77158201e-04, 1.26830182e-04, 4.44337050e-05,
  9.71401325e-06, 3.48486818e-02, 1.08656304e-02, 1.85407336e-03,
 -1.25660173e-04, 8.62941411e-04, 1.82419227e-04, 6.55618211e-06,
  0.00000000e+00,-1.53590683e-03, 0.00000000e+00,-9.40394951e-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, -8.59412468, -0.85311069, -8.59412468,  9.27708403,
       -6.45453282, -0.85311069, -6.45453282, 73.65847678,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003798197082059543
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.92302637e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.92302637e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13926002, -0.03566776,  0.0618088 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.69557239e-05,-3.03443252e-05,-3.19740352e-05, 4.02125410e-05,
 -4.20512067e-05,-6.67862297e-06,-2.31202322e-05, 1.45014980e-06,
  3.38630931e-03,-3.30980293e-05,-1.08071257e-05,-3.81702227e-05,
  2.14006881e-05,-1.04021461e-05,-4.90492143e+00,-1.38035023e-04,
  3.37496605e-03,-8.40769360e-04]


--- Step 2206 ---
qpos:
[ 0.01869385, 0.03002105,-0.0094777 ,-0.02531312,-0.00351307, 1.34076906,
 -0.02993292, 0.94380931, 0.01154841, 0.02730866,-0.00828102, 0.02643928,
  1.39623991, 0.00767412, 1.31039086, 0.04425995,-0.08606499,-0.04854645,
  0.09355082, 0.70649265,-0.06540855,-0.69886717,-0.09041318]

qacc:
[-4.38140398e+00,-1.93013549e+00, 7.77819426e+00,-1.31996002e+01,
 -9.22293139e-02,-3.87826266e+00, 1.42738699e+01,-2.31616777e+01,
  1.66096020e+00, 1.48432209e+00,-4.70555235e+00, 5.22933932e+00,
 -3.16929552e-02,-5.23765042e-01, 6.57718938e+00,-2.27293760e+01,
 -3.72427088e+00, 1.34433739e+00, 4.72919693e+00, 6.99403114e+00,
 -1.24190913e+02, 2.22091975e+01]

qfrc_actuator:
[-1.58250557e-05, 8.91413751e-04, 1.57017218e-04, 3.24292022e-05,
 -2.69932007e-05, 3.48621799e-02, 1.09127025e-02, 1.80778811e-03,
 -1.14292975e-04, 9.02738918e-04, 1.73021766e-04, 9.00923672e-06,
  0.00000000e+00,-1.59519882e-03, 0.00000000e+00,-1.04969670e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037771467002156596
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.31877845e-07, -8.22090130e-14,  1.00000000e+00,  4.37251527e-20,
        1.00000000e+00,  8.22090130e-14, -1.00000000e+00, -6.01853108e-36,
        5.31877845e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04552591, -0.0605263 ,  0.06180975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.66882741e-05,-8.32643621e-06, 3.86812842e-05,-4.72023063e-05,
  1.01356063e-05, 3.13140749e-05,-1.35762496e-05, 1.39812476e-06,
  3.39705420e-03,-7.78433535e-05,-1.15107742e-05,-1.13343759e-04,
  2.31856499e-05,-8.96570680e-06,-4.90490261e+00,-4.69008951e-05,
  3.38648106e-03,-8.33927156e-04]


--- Step 2207 ---
qpos:
[ 0.0186936 , 0.03002065,-0.00947679,-0.02531207,-0.00351375, 1.34076848,
 -0.02993311, 0.94380831, 0.01154839, 0.02730972,-0.0082819 , 0.02643759,
  1.39624045, 0.00767428, 1.31050321, 0.04425627,-0.0860503 ,-0.04853788,
  0.09357494, 0.7066577 ,-0.06550778,-0.69871385,-0.09023626]

qacc:
[ 1.23255347e+01,-2.29074216e+00, 9.95270214e+00,-1.90487856e+01,
 -1.91433211e-01,-3.79180209e+00, 1.65325061e+01,-3.69492373e+01,
  7.09017466e+00,-2.94985864e-01, 3.93261776e+00,-1.44353981e+01,
 -1.71106443e-02,-4.00658906e-01, 1.57364383e+01,-5.42409624e+01,
  4.01496978e+00,-8.27315973e-01, 1.65719025e+00,-5.94323681e+00,
  1.29069953e+02,-1.34832378e+01]

qfrc_actuator:
[ 5.88449288e-05, 8.82410835e-04, 1.74665677e-04, 7.02172575e-06,
 -6.65493911e-05, 3.48706675e-02, 1.09229090e-02, 1.70919130e-03,
 -7.17447598e-05, 8.90540589e-04, 1.50079612e-04,-2.46072464e-05,
  0.00000000e+00,-1.61291417e-03, 0.00000000e+00,-1.30982687e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003766757960656203
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.94742332e-14, -2.94742332e-14,  1.00000000e+00,  8.68730422e-28,
        1.00000000e+00,  2.94742332e-14, -1.00000000e+00,  0.00000000e+00,
        2.94742332e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13931046, -0.03567712,  0.06181031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.53279552e-05, 1.00348881e-05, 1.15978774e-05,-9.88071583e-05,
  4.28586412e-05, 2.54435217e-06,-1.81007496e-05,-3.27161270e-05,
  3.41634113e-03,-5.85041284e-05,-2.08307381e-05,-2.68576584e-04,
  2.07272458e-05,-1.07104587e-05,-4.90491881e+00,-1.24363998e-04,
  3.37635185e-03,-8.29954473e-04]


--- Step 2208 ---
qpos:
[ 0.0186939 , 0.03002046,-0.00947636,-0.02531132,-0.00351474, 1.34076804,
 -0.02993354, 0.94380755, 0.01154785, 0.02731043,-0.00828286, 0.0264359 ,
  1.39624089, 0.00767429, 1.31061517, 0.04425183,-0.08605218,-0.0485247 ,
  0.09358688, 0.70663928,-0.06566079,-0.69874902,-0.08999661]

qacc:
[ 4.71852087e+00, 1.01777428e+00,-1.99978603e+00,-2.49648051e+00,
 -1.32028887e-01, 1.22727926e+00,-4.27590013e+00, 6.30196209e+00,
 -4.46195665e+00,-2.04897566e-01, 7.32018867e-02, 3.38355350e-01,
 -1.93829341e-02,-1.00807202e-01, 1.72469428e+00,-6.87142704e+00,
 -4.14137765e+00, 1.15258329e+00,-3.04420570e+00, 5.41360716e+00,
 -1.35180773e+02, 2.65035728e+01]

qfrc_actuator:
[ 8.51342586e-05, 8.95009903e-04, 1.49160011e-04,-8.34306709e-06,
 -7.19880561e-05, 3.48759266e-02, 1.09112193e-02, 1.72260785e-03,
 -9.99651729e-05, 8.47218333e-04, 1.36847489e-04,-2.59703597e-05,
  0.00000000e+00,-1.60544870e-03, 0.00000000e+00,-1.33715473e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003761577663972976
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.37870598e-15, -3.68935299e-15,  1.00000000e+00, -2.72226510e-29,
        1.00000000e+00,  3.68935299e-15, -1.00000000e+00,  0.00000000e+00,
       -7.37870598e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00752777, -0.07457254,  0.06181066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.81343236e-05, 1.01102001e-05,-1.13049812e-05, 1.17651723e-05,
 -2.69600365e-05,-4.70498388e-05,-1.60681395e-05,-2.51551792e-06,
  3.41732187e-03,-1.70373727e-05,-4.20812463e-05,-4.55584220e-05,
  2.60354198e-05,-9.57406672e-06,-4.90488865e+00,-3.56039943e-05,
  3.38775665e-03,-8.22758875e-04]


--- Step 2209 ---
qpos:
[ 0.01869348, 0.03002046,-0.00947603,-0.02531043,-0.00351564, 1.34076759,
 -0.02993434, 0.94380662, 0.01154663, 0.02731101,-0.0082841 , 0.02643489,
  1.39624122, 0.0076745 , 1.31072659, 0.04424938,-0.08606883,-0.04850736,
  0.09358368, 0.70645739,-0.06586076,-0.69895205,-0.08970138]

qacc:
[-6.18882757e+00, 8.08010748e-01,-3.00288588e+00, 5.18053604e+00,
  3.55650916e-02, 7.16392115e-01,-2.00415773e+00,-1.33188577e-01,
 -5.79785208e+00, 2.00208814e+00,-1.02041254e+01, 2.23646445e+01,
 -1.71064479e-02, 1.12540272e-01,-6.78330224e+00, 2.25950821e+01,
 -3.69093347e+00, 1.03999849e+00,-3.78828574e+00, 5.00851712e+00,
 -1.20358750e+02, 2.31764457e+01]

qfrc_actuator:
[ 4.71987872e-05, 9.20278718e-04, 1.51733888e-04, 6.76164816e-08,
 -3.91631818e-05, 3.48614308e-02, 1.08867734e-02, 1.71307296e-03,
 -1.34119200e-04, 8.56653278e-04, 1.29343914e-04, 9.39036527e-06,
  0.00000000e+00,-1.58312754e-03, 0.00000000e+00,-1.22705085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.20515942,   2.69483501,   8.20515942,
        13.51318417, -14.84880886,   2.69483501, -14.84880886,
        53.84760793,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00373184907511033
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.43748610e-15, -1.48749722e-14,  1.00000000e+00,  1.10632399e-28,
        1.00000000e+00,  1.48749722e-14, -1.00000000e+00,  0.00000000e+00,
        7.43748610e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00760224, -0.07458541,  0.06181207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.71018377e-05, 2.42849616e-05, 6.66895617e-07, 7.58019209e-06,
  1.02895387e-05,-1.07597614e-05,-2.34097489e-05,-9.29193051e-06,
 -3.49583628e-05,-2.03244311e-05,-1.92813522e-05, 3.27448559e-05,
  3.42220240e-03, 1.30637901e-05,-2.48850664e-05, 1.02072168e-04,
  2.28259205e-05,-1.30690404e-05,-4.90490041e+00,-1.28352367e-04,
  3.37709663e-03,-8.18537524e-04]


--- Step 2210 ---
qpos:
[ 0.01869261, 0.03002045,-0.00947533,-0.02530912,-0.00351648, 1.34076694,
 -0.02993528, 0.94380421, 0.01154604, 0.02731116,-0.00828502, 0.0264343 ,
  1.39624131, 0.00767481, 1.31083766, 0.04424988,-0.08606726,-0.04849364,
  0.09359316, 0.70647587,-0.06602234,-0.69894942,-0.08945725]

qacc:
[-3.85924745e+00,-1.52304592e-01,-1.32156894e+00, 8.26809861e+00,
  2.88714395e-02,-2.40457710e+00, 1.05571607e+01,-2.61992424e+01,
  5.42743895e+00,-5.90648583e-01,-5.73897577e-01, 7.86101515e+00,
 -8.14360609e-03,-2.26057506e-03,-9.51162723e+00, 3.24793957e+01,
  4.55298334e+00,-9.04317255e-01, 3.17144127e+00,-6.92379814e+00,
  1.46075643e+02,-1.57085896e+01]

qfrc_actuator:
[ 2.50381765e-05, 9.17561080e-04, 1.70955016e-04, 2.24376047e-05,
 -3.69094509e-05, 3.48351575e-02, 1.08726456e-02, 1.63680889e-03,
 -1.00458188e-04, 8.26651723e-04, 1.43255539e-04, 3.06084989e-05,
  0.00000000e+00,-1.58769229e-03, 0.00000000e+00,-1.07243344e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037570642936518295
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.95502802e-14, -2.95502802e-14,  1.00000000e+00,  8.73219058e-28,
        1.00000000e+00,  2.95502802e-14, -1.00000000e+00,  0.00000000e+00,
        2.95502802e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13933722, -0.03570634,  0.06181091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.33408190e-06,-3.70811977e-05,-1.91690894e-05,-7.74924613e-05,
  3.26298343e-05,-4.39671766e-05, 8.48149324e-06, 2.03222045e-05,
  3.42719405e-03,-1.52267339e-06,-6.85478198e-07, 1.56983164e-04,
  6.23853970e-05,-3.27815809e-05,-4.90475816e+00,-2.44590412e-04,
  3.36016748e-03,-8.13777426e-04]


--- Step 2211 ---
qpos:
[ 0.01869148, 0.03002031,-0.0094743 ,-0.02530787,-0.00351741, 1.34076595,
 -0.02993553, 0.94380157, 0.01154586, 0.02731047,-0.00828554, 0.02643403,
  1.39624115, 0.0076747 , 1.31094897, 0.04424988,-0.08604947,-0.04848322,
  0.09360963, 0.70667305,-0.06615081,-0.69876358,-0.08925652]

qacc:
[-2.21171886e+00,-1.24377246e+00, 4.49273595e+00,-6.16660306e+00,
 -3.85683156e-02,-2.73056485e+00, 8.85728597e+00,-1.02219417e+01,
  3.51023971e+00,-1.59348725e+00, 2.78239032e+00, 2.48310535e+00,
  1.04923449e-02,-3.33055671e-01, 1.90091785e+00,-6.13826377e+00,
  4.05417423e+00,-8.25583532e-01, 1.74942339e+00,-5.76755068e+00,
  1.30081638e+02,-1.28580168e+01]

qfrc_actuator:
[ 1.23613172e-05, 8.98196504e-04, 1.81987560e-04, 1.73186351e-05,
 -5.30160960e-05, 3.48375333e-02, 1.09178953e-02, 1.62840669e-03,
 -8.04069840e-05, 7.55599525e-04, 1.51781201e-04, 4.33144336e-05,
  0.00000000e+00,-1.62611765e-03, 0.00000000e+00,-1.10591333e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.57475157, -1.0297633 , -8.57475157,  9.53374862,
       -7.4724486 , -1.0297633 , -7.4724486 , 70.85880893,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037502658100061897
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.96038489e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.96038489e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13935067, -0.03571455,  0.06181126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.11825619e-05,-2.42134875e-05, 3.35404331e-05,-1.18811054e-05,
  2.09897763e-05,-9.29996999e-05, 1.19990640e-06, 1.15122976e-05,
  3.43964855e-03,-4.47690823e-05, 1.53158353e-05,-2.52292980e-05,
  2.05729964e-05,-1.22744787e-05,-4.90489534e+00,-1.04401953e-04,
  3.36941912e-03,-8.03792629e-04]


--- Step 2212 ---
qpos:
[ 0.01868986, 0.03002008,-0.00947307,-0.02530773,-0.00351817, 1.34076479,
 -0.02993533, 0.94379953, 0.01154455, 0.02730936,-0.0082864 , 0.02643459,
  1.39624107, 0.00767421, 1.31106066, 0.04424682,-0.08601714,-0.04847583,
  0.09362829, 0.70703062,-0.06625048,-0.69841322,-0.08909294]

qacc:
[-4.18150419e+00,-2.94544749e+00, 1.50008485e+01,-3.43502988e+01,
  6.81026961e-02,-4.06661176e-01,-1.81697570e-01, 7.29370860e+00,
 -9.70630138e+00, 2.15581217e+00,-1.19999203e+01, 2.73888051e+01,
  1.91094642e-02,-2.27153837e-01, 9.81573189e+00,-3.35224205e+01,
  3.63701473e+00,-7.57781975e-01, 5.45798689e-01,-4.84073291e+00,
  1.16681592e+02,-1.05887960e+01]

qfrc_actuator:
[-1.23894170e-05, 8.86712857e-04, 1.87994984e-04,-3.94663341e-05,
 -2.67486847e-05, 3.48395605e-02, 1.09447280e-02, 1.66007060e-03,
 -1.39560063e-04, 7.49250767e-04, 1.39115156e-04, 8.63718775e-05,
  0.00000000e+00,-1.63112331e-03, 0.00000000e+00,-1.26771569e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.53634473,  -1.31057066,  -8.53634473,
        10.19386157, -10.14469472,  -1.31057066, -10.14469472,
        74.71338933,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037048583907362057
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99666791e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.99666791e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.139417  , -0.03570755,  0.06181341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.96581662e-05,-5.16052410e-06, 2.55623408e-05, 3.16389983e-05,
 -5.85740394e-05,-5.75751048e-05,-3.13165645e-05, 3.93400204e-05,
  3.45132093e-03,-2.87350009e-05, 6.38093363e-07,-1.62052348e-04,
  3.34390885e-05,-8.02217849e-06,-4.90484155e+00, 5.30028026e-07,
  3.38219359e-03,-7.95227816e-04]


--- Step 2213 ---
qpos:
[ 0.0186883 , 0.03001974,-0.00947177,-0.02530791,-0.00351886, 1.34076389,
 -0.02993553, 0.9437979 , 0.01154253, 0.02730814,-0.00828702, 0.02643559,
  1.39624084, 0.00767365, 1.31117203, 0.04424454,-0.08600387,-0.04846306,
  0.09363888, 0.70717698,-0.06641167,-0.6982798 ,-0.08885679]

qacc:
[ 5.22001483e-01,-9.81014055e-01, 4.64152037e+00,-1.02286446e+01,
  3.39500245e-02, 2.10523666e+00,-7.29001823e+00, 1.08286166e+01,
 -5.95943669e+00, 4.56843849e-02,-2.19157783e+00, 9.33137948e+00,
  1.74280912e-02,-1.11034857e-01,-2.83238383e+00, 9.18509770e+00,
 -4.76678725e+00, 1.34513585e+00,-2.01719745e+00, 6.26354857e+00,
 -1.55590765e+02, 3.05422361e+01]

qfrc_actuator:
[-8.54656345e-06, 8.79964156e-04, 1.90983343e-04,-5.51796939e-05,
 -2.85304431e-05, 3.48590922e-02, 1.09249682e-02, 1.67952036e-03,
 -1.73843528e-04, 7.81634673e-04, 1.67568962e-04, 1.11475302e-04,
  0.00000000e+00,-1.63371157e-03, 0.00000000e+00,-1.21971694e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003762130818398726
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47552422e-14, -7.37762108e-15,  1.00000000e+00,  1.08858585e-28,
        1.00000000e+00,  7.37762108e-15, -1.00000000e+00,  0.00000000e+00,
        1.47552422e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00754937, -0.07453793,  0.06181089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.83499517e-06, 2.26335979e-05,-1.69342243e-05, 2.07736702e-05,
 -3.60237438e-05,-4.57134253e-06, 1.40874950e-05, 2.23234488e-05,
  3.44768156e-03,-1.27599284e-05,-2.07608107e-05, 3.83604368e-05,
  8.52396728e-05,-1.53353324e-05,-4.90465264e+00, 8.09205830e-05,
  3.39865157e-03,-7.87727766e-04]


--- Step 2214 ---
qpos:
[ 0.0186868 , 0.03001936,-0.00947025,-0.0253076 ,-0.00351965, 1.34076343,
 -0.02993635, 0.9437965 , 0.01154081, 0.02730705,-0.00828684, 0.02643646,
  1.39624046, 0.00767303, 1.31128317, 0.04424347,-0.08600747,-0.04844548,
  0.09363781, 0.70713673,-0.0666264 ,-0.69833822,-0.08855676]

qacc:
[ 5.04340771e-01, 2.93597862e-01,-3.16114395e+00, 1.11674428e+01,
 -4.43744665e-02, 2.68834934e+00,-8.55596539e+00, 9.93161931e+00,
  2.52219212e+00,-2.30795815e+00, 8.97214213e+00,-1.24362867e+01,
  2.65874666e-02,-9.96811341e-02,-4.03176053e+00, 1.36137617e+01,
 -4.21704998e+00, 1.20266185e+00,-2.91678556e+00, 5.69861146e+00,
 -1.37486071e+02, 2.66184735e+01]

qfrc_actuator:
[-5.65352250e-06, 8.93869354e-04, 2.09974550e-04,-2.88370126e-05,
 -4.71256507e-05, 3.48887714e-02, 1.08956793e-02, 1.69160320e-03,
 -1.57682707e-04, 8.19376024e-04, 2.20241063e-04, 1.08127239e-04,
  0.00000000e+00,-1.63498708e-03, 0.00000000e+00,-1.15496123e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.82920778,   3.64558396,   7.82920778,
        19.24143242, -22.77530511,   3.64558396, -22.77530511,
        57.54830691,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037835333879703767
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46717752e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.46717752e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00750387, -0.07451744,  0.06180996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.27824283e-05, 3.95159158e-05,-2.61804447e-05, 1.27442792e-05,
  1.50983419e-05, 3.90818149e-05, 5.42539833e-05,-2.61910072e-06,
  3.45474635e-03,-9.75980929e-06,-6.49353794e-06, 6.39623847e-05,
  2.67533192e-05,-7.82526289e-06,-4.90485225e+00,-1.65754425e-05,
  3.39263493e-03,-7.82924386e-04]


--- Step 2215 ---
qpos:
[ 0.01868569, 0.0300193 ,-0.0094689 ,-0.0253077 ,-0.00352045, 1.34076317,
 -0.02993692, 0.94379593, 0.01153929, 0.02730643,-0.00828615, 0.02643691,
  1.39623995, 0.00767218, 1.31139433, 0.0442425 ,-0.08602608,-0.04842358,
  0.09362199, 0.70693042,-0.06688807,-0.69856718,-0.08820016]

qacc:
[ 3.34203974e+00, 1.15318202e-01, 1.86692396e+00,-8.65222654e+00,
 -1.99982101e-03, 9.59646155e-01,-4.51767439e+00, 1.33379393e+01,
  1.76979747e+00,-1.65986058e+00, 8.59346508e+00,-1.70038338e+01,
  3.76368605e-02,-2.24228028e-01,-2.72339297e-01, 9.73904116e-01,
 -3.75192096e+00, 1.08124559e+00,-3.68373400e+00, 5.17397774e+00,
 -1.22248919e+02, 2.33556775e+01]

qfrc_actuator:
[ 1.44006747e-05, 9.20142027e-04, 2.02867894e-04,-4.89473228e-05,
 -4.01507984e-05, 3.49064921e-02, 1.09143163e-02, 1.73477187e-03,
 -1.47473055e-04, 8.60138872e-04, 2.51297356e-04, 8.80898246e-05,
  0.00000000e+00,-1.65322779e-03, 0.00000000e+00,-1.15192065e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.76066209,   3.78931402,   7.76066209,
        21.38880463, -26.11749379,   3.78931402, -26.11749379,
        62.12600392,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037570883349641454
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.38752277e-15, -3.69376138e-15,  1.00000000e+00,  2.72877463e-29,
        1.00000000e+00,  3.69376138e-15, -1.00000000e+00,  0.00000000e+00,
        7.38752277e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00756698, -0.07452872,  0.06181116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.77611804e-07, 3.48438323e-05, 2.37608432e-05, 4.38803467e-05,
  1.06602860e-05, 7.37478613e-05, 4.57274664e-05,-1.65372038e-05,
  3.46165719e-03,-2.54224196e-05, 2.30623594e-06, 5.36230939e-06,
  3.09512151e-05,-2.28234358e-05,-4.90482837e+00,-1.47290027e-04,
  3.37920069e-03,-7.77649054e-04]


--- Step 2216 ---
qpos:
[ 0.01868517, 0.0300197 ,-0.00946828,-0.02530836,-0.00352106, 1.34076304,
 -0.0299364 , 0.94379688, 0.01153791, 0.0273063 ,-0.00828564, 0.02643717,
  1.39623956, 0.00767119, 1.31150568, 0.0442399 ,-0.08605812,-0.04839776,
  0.09358884, 0.70657519,-0.06719122,-0.69894865,-0.08779315]

qacc:
[ 5.06440174e+00, 1.43533407e+00,-1.88130044e+00,-7.05771872e+00,
  7.59592617e-02,-1.30760150e-01,-2.48181082e+00, 1.96858330e+01,
  1.13350707e+00, 7.43310007e-01,-8.69307521e-01,-2.63561662e+00,
  4.16783425e-02,-9.10896702e-02, 5.21029274e+00,-1.78325036e+01,
 -3.35755174e+00, 9.77503249e-01,-4.33619662e+00, 4.69104843e+00,
 -1.09430492e+02, 2.06446870e+01]

qfrc_actuator:
[ 4.43954471e-05, 9.35734425e-04, 1.62671196e-04,-7.84908475e-05,
 -1.78919239e-05, 3.49348672e-02, 1.09788267e-02, 1.81366663e-03,
 -1.40864841e-04, 8.66807542e-04, 2.33845294e-04, 7.61371480e-05,
  0.00000000e+00,-1.64593691e-03, 0.00000000e+00,-1.23853021e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.7589293 ,   3.79286078,   7.7589293 ,
        23.38783224, -30.17658929,   3.79286078, -30.17658929,
        70.36760993,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003692447878894549
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50336993e-14, -7.51684967e-15,  1.00000000e+00,  1.13006058e-28,
        1.00000000e+00,  7.51684967e-15, -1.00000000e+00,  0.00000000e+00,
        1.50336993e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0077159 , -0.07456511,  0.06181404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.19185482e-05, 5.36186784e-05, 7.53174714e-05, 8.16542704e-05,
  6.94381551e-06, 5.66583349e-05, 2.83791936e-06,-7.53381591e-06,
  3.46849945e-03,-6.28430033e-06,-9.31370798e-07,-8.65981978e-05,
  7.87300808e-05,-5.24027444e-05,-4.90464952e+00,-2.97818342e-04,
  3.35957023e-03,-7.71741610e-04]


--- Step 2217 ---
qpos:
[ 0.01868502, 0.03002011,-0.00946775,-0.02530866,-0.00352117, 1.34076311,
 -0.029935  , 0.94379704, 0.01153696, 0.02730617,-0.0082851 , 0.02643733,
  1.39623969, 0.00767024, 1.31161741, 0.04423293,-0.08606925,-0.04837587,
  0.09357595, 0.70644944,-0.06745179,-0.69909439,-0.08744413]

qacc:
[ 3.12083927e+00, 1.02165889e+00,-5.12579283e+00, 1.14365193e+01,
  2.14524427e-01,-3.48555088e+00, 1.33083528e+01,-2.07836118e+01,
  3.71490762e+00,-2.68119826e-01, 1.34437352e+00,-3.00804899e+00,
  2.61292373e-02, 1.36210809e-01, 1.37824561e+01,-4.73831064e+01,
  5.22831735e+00,-9.79478607e-01, 5.06793011e+00,-7.86103433e+00,
  1.67291537e+02,-1.73810900e+01]

qfrc_actuator:
[ 6.22426762e-05, 9.26905267e-04, 1.56487183e-04,-6.01091062e-05,
  3.11078636e-05, 3.49341094e-02, 1.10166816e-02, 1.77095061e-03,
 -1.18675385e-04, 8.35058100e-04, 2.23277778e-04, 6.89820864e-05,
  0.00000000e+00,-1.62333744e-03, 0.00000000e+00,-1.46600303e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037767796376105486
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46980117e-14,  1.46980117e-14,  1.00000000e+00, -2.16031547e-28,
        1.00000000e+00, -1.46980117e-14, -1.00000000e+00,  0.00000000e+00,
        1.46980117e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13933249, -0.03579262,  0.06181004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.19541053e-05, 4.60933115e-05, 5.93102311e-05,-3.70007341e-05,
  2.24129443e-05, 1.93788374e-07, 1.21823604e-06,-4.77743005e-06,
  3.46204272e-03, 2.29339311e-05,-1.25132930e-05,-2.32982449e-04,
  1.56255720e-04,-9.10784990e-05,-4.90436361e+00,-4.59320336e-04,
  3.33468811e-03,-7.65121657e-04]


--- Step 2218 ---
qpos:
[ 0.01868542, 0.03002053,-0.00946761,-0.02530803,-0.00352075, 1.34076316,
 -0.02993322, 0.9437957 , 0.01153664, 0.02730598,-0.00828438, 0.02643775,
  1.39624005, 0.0076696 , 1.31172878, 0.04422563,-0.08606191,-0.04835752,
  0.09357647, 0.70652689,-0.06767604,-0.69903195,-0.08714381]

qacc:
[ 4.79512470e+00, 2.99859135e+00,-1.46352242e+01, 3.14164189e+01,
  2.27642734e-01,-3.60970436e+00, 1.48176425e+01,-3.02343884e+01,
  5.28400485e+00,-1.08111861e-01,-8.43450283e-01, 5.03907729e+00,
 -2.12617377e-03, 2.54291309e-01, 4.96697380e-01,-2.48311767e+00,
  4.61644030e+00,-8.86389338e-01, 3.34985442e+00,-6.44346965e+00,
  1.47794630e+02,-1.39893316e+01]

qfrc_actuator:
[ 9.05461687e-05, 9.21435043e-04, 1.34873328e-04,-1.36672001e-05,
  6.02476977e-05, 3.48979984e-02, 1.10205442e-02, 1.69247003e-03,
 -8.74916639e-05, 8.33811577e-04, 2.34462284e-04, 8.24339475e-05,
  0.00000000e+00,-1.60942062e-03, 0.00000000e+00,-1.47280974e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.60938739, -0.68207445, -8.60938739,  9.01616956,
       -4.79404605, -0.68207445, -4.79404605, 69.14852561,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038192264148218177
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.26732919e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.26732919e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13927675, -0.03582018,  0.06180805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.57535252e-05,-1.22319201e-07, 1.85421373e-05,-7.62116676e-05,
  3.18405503e-05,-1.08841868e-06, 1.12023034e-05, 1.34069574e-05,
  3.43613719e-03, 3.50930287e-05,-3.36202996e-05,-2.18563340e-05,
  5.17679529e-05,-4.06390090e-05,-4.90472508e+00,-2.27149950e-04,
  3.34339833e-03,-7.50163961e-04]


--- Step 2219 ---
qpos:
[ 0.01868651, 0.03002094,-0.00946769,-0.02530755,-0.00351986, 1.34076283,
 -0.0299313 , 0.94379555, 0.01153668, 0.02730613,-0.008284  , 0.02643865,
  1.39624047, 0.00766927, 1.31183978, 0.04421958,-0.08603815,-0.04834239,
  0.09358455, 0.7067853 ,-0.06786907,-0.69878422,-0.08688466]

qacc:
[ 5.83660327e+00, 2.82258782e-01,-4.13874881e-01,-1.78562091e+00,
  1.93322471e-01, 1.16230794e+00,-6.83940060e+00, 1.99468136e+01,
  3.19723355e+00, 2.41474066e+00,-1.00130410e+01, 1.87456261e+01,
 -1.42410732e-02, 2.18139677e-01,-4.34246688e+00, 1.44150381e+01,
  4.10471191e+00,-8.06280954e-01, 1.89207548e+00,-5.31040675e+00,
  1.31456176e+02,-1.13052815e+01]

qfrc_actuator:
[ 1.24781672e-04, 9.17984850e-04, 1.22080563e-04,-2.21206576e-05,
  7.72377257e-05, 3.48585773e-02, 1.10219258e-02, 1.75333286e-03,
 -6.90211275e-05, 8.68687394e-04, 2.23015376e-04, 1.07937027e-04,
  0.00000000e+00,-1.60099865e-03, 0.00000000e+00,-1.40276039e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.58467823, -0.94343871, -8.58467823,  9.41596773,
       -7.0938898 , -0.94343871, -7.0938898 , 73.18614343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038123792409526097
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.28038158e-15,  1.45607632e-14,  1.00000000e+00, -1.06007912e-28,
        1.00000000e+00, -1.45607632e-14, -1.00000000e+00,  0.00000000e+00,
        7.28038158e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13928898, -0.03582849,  0.06180836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.58475935e-05,-3.81540431e-05, 1.22879536e-06, 5.96364173e-05,
  1.94019133e-05, 3.71634106e-05,-9.83680460e-06, 2.61014641e-05,
  3.42423191e-03, 2.82149285e-05,-1.80912534e-05, 6.44730533e-05,
  2.47200014e-05,-1.32553832e-05,-4.90481582e+00,-4.76425499e-05,
  3.35526961e-03,-7.37082281e-04]


--- Step 2220 ---
qpos:
[ 0.01868732, 0.03002096,-0.00946743,-0.02530819,-0.00351863, 1.34076216,
 -0.02992968, 0.94379683, 0.01153764, 0.02730662,-0.00828379, 0.02643984,
  1.39624108, 0.00766906, 1.3119509 , 0.04421238,-0.08599969,-0.04833021,
  0.09359527, 0.70720586,-0.068035  ,-0.69837028,-0.0866606 ]

qacc:
[-2.44527802e+00,-3.78579731e+00, 1.75404960e+01,-3.73726046e+01,
  1.47296850e-01, 2.80954496e+00,-1.26499448e+01, 2.78736524e+01,
  7.76329336e+00, 1.49791318e+00,-5.92410970e+00, 1.09326812e+01,
 -2.07081004e-02, 1.52640110e-01, 3.68785654e+00,-1.26392299e+01,
  3.67655082e+00,-7.37308625e-01, 6.57752608e-01,-4.40141315e+00,
  1.17762858e+02,-9.17846736e+00]

qfrc_actuator:
[ 1.08973572e-04, 8.80251724e-04, 1.32320404e-04,-8.05542788e-05,
  8.68037072e-05, 3.48352876e-02, 1.10041545e-02, 1.82470413e-03,
 -2.26787537e-05, 8.89345039e-04, 2.16201353e-04, 1.22585040e-04,
  0.00000000e+00,-1.59599366e-03, 0.00000000e+00,-1.46558279e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.55089445, -1.21201522, -8.55089445, 10.01783001,
       -9.74639016, -1.21201522, -9.74639016, 77.39816834,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003766039705031296
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.94798545e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.94798545e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13935529, -0.0358216 ,  0.06181051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.25678614e-05,-4.23614351e-05,-2.33481447e-05, 7.16450397e-05,
  4.69239349e-05, 4.05212751e-05, 5.45187487e-07, 1.64042312e-05,
  3.42093452e-03, 1.80527760e-05,-1.99463662e-06,-6.17347810e-05,
  5.18459682e-05,-2.15423943e-06,-4.90471665e+00, 9.48283247e-05,
  3.37068017e-03,-7.25388387e-04]


--- Step 2221 ---
qpos:
[ 0.0186862 , 0.03002059,-0.00946704,-0.02530918,-0.00351744, 1.34076154,
 -0.02992894, 0.94379758, 0.01153915, 0.02730741,-0.00828363, 0.02644085,
  1.39624169, 0.00766923, 1.31206162, 0.04420748,-0.0859811 ,-0.04831231,
  0.09359927, 0.70740552,-0.06826581,-0.69818281,-0.08635958]

qacc:
[-1.64536380e+01,-1.54339256e+00, 6.19480607e+00,-1.19153395e+01,
 -1.85022606e-02, 1.51300978e+00,-3.76417543e+00,-2.99921311e+00,
  4.67519819e+00, 1.65060902e-01, 7.35534511e-01,-3.99541641e+00,
 -3.22464496e-02, 2.69309383e-01,-7.58806344e+00, 2.56988536e+01,
 -4.97019711e+00, 1.43163011e+00,-1.67667627e+00, 6.23089255e+00,
 -1.62648286e+02, 3.25898402e+01]

qfrc_actuator:
[ 1.05769318e-05, 8.57830041e-04, 1.38153918e-04,-9.69232952e-05,
  5.63358685e-05, 3.48395308e-02, 1.09575104e-02, 1.79513818e-03,
  4.19659189e-06, 9.01338645e-04, 2.12129769e-04, 1.12972856e-04,
  0.00000000e+00,-1.57522921e-03, 0.00000000e+00,-1.33992309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037231550149578047
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.49097072e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.49097072e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00764554, -0.07451176,  0.06181251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.31380659e-06,-2.15987602e-05,-5.54858511e-05,-2.98597815e-05,
  2.82651033e-05, 3.54654526e-05, 4.92164050e-06,-7.54355656e-06,
  3.41115094e-03, 3.25875845e-05,-9.91494216e-06, 1.21484504e-04,
  1.17346602e-04,-2.69365459e-06,-4.90448436e+00, 2.10992633e-04,
  3.38975608e-03,-7.14733296e-04]


--- Step 2222 ---
qpos:
[ 0.0186846 , 0.03001994,-0.00946693,-0.02530999,-0.00351628, 1.34076123,
 -0.02992891, 0.94379725, 0.01154028, 0.0273085 ,-0.00828325, 0.02644172,
  1.39624191, 0.00766947, 1.31217196, 0.04420645,-0.08598007,-0.0482893 ,
  0.09359277, 0.70741042,-0.0685532 ,-0.69819519,-0.08599089]

qacc:
[-4.13828658e+00, 7.89157315e-01,-4.03585744e+00, 7.60192731e+00,
 -1.43655877e-02, 5.01245564e-01, 1.09591697e+00,-1.37193549e+01,
 -3.22741541e+00,-4.98290319e-01, 2.97797489e+00,-6.04298148e+00,
 -2.38617319e-02,-4.58285932e-02,-1.22340051e+01, 4.19839946e+01,
 -4.38765984e+00, 1.27625065e+00,-2.62707030e+00, 5.59230907e+00,
 -1.43427321e+02, 2.84536917e+01]

qfrc_actuator:
[-1.13576407e-05, 8.44764693e-04, 1.23665747e-04,-8.84000896e-05,
  5.53580603e-05, 3.48778061e-02, 1.09297554e-02, 1.74191631e-03,
 -1.61156044e-05, 9.25792221e-04, 2.27409751e-04, 1.06910879e-04,
  0.00000000e+00,-1.59857727e-03, 0.00000000e+00,-1.13969051e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.19841629,   4.77174809,   7.19841629,
        30.50331041, -32.98736286,   4.77174809, -32.98736286,
        58.39942018,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037638434061764703
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47485284e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.47485284e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00755297, -0.07447893,  0.06181068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.11858247e-06, 1.45799007e-05,-3.91692117e-05,-5.61893354e-05,
 -1.94690134e-05, 4.49614039e-05, 2.29381563e-05,-4.52390313e-06,
  3.41112531e-03,-1.00026764e-05, 7.86806389e-06, 2.05492612e-04,
  4.01177675e-05,-4.02171130e-06,-4.90473254e+00, 6.74459842e-05,
  3.38304297e-03,-7.08582319e-04]


--- Step 2223 ---
qpos:
[ 0.01868413, 0.03001894,-0.00946638,-0.02531142,-0.00351516, 1.34076098,
 -0.02992892, 0.94379661, 0.01154116, 0.02730975,-0.00828316, 0.02644222,
  1.39624163, 0.00766919, 1.31228243, 0.04420682,-0.08599462,-0.04826171,
  0.09357252, 0.70724241,-0.06889028,-0.69838484,-0.08556236]

qacc:
[ 9.69104584e+00,-2.99567911e+00, 1.25856501e+01,-2.37387579e+01,
 -1.19867812e-02,-3.51538113e-01, 1.84898929e+00,-5.14353216e+00,
 -2.16020037e+00, 2.17129872e-01, 1.08107559e+00,-7.15646189e+00,
  5.72479475e-03,-4.55426423e-01,-4.06025268e+00, 1.44363097e+01,
 -3.89472976e+00, 1.14403558e+00,-3.43820494e+00, 5.00758669e+00,
 -1.27247321e+02, 2.50011910e+01]

qfrc_actuator:
[ 4.74207949e-05, 8.37347233e-04, 1.50604323e-04,-1.18568339e-04,
  5.43292710e-05, 3.48829506e-02, 1.09312759e-02, 1.72851960e-03,
 -2.85276903e-05, 9.04337417e-04, 2.00790174e-04, 8.52605065e-05,
  0.00000000e+00,-1.64822040e-03, 0.00000000e+00,-1.07471185e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.05914299,   4.97546753,   7.05914299,
        35.13189487, -37.59159163,   4.97546753, -37.59159163,
        61.97093347,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037529094317847664
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47914977e-14, -2.58851210e-14,  1.00000000e+00,  3.82879707e-28,
        1.00000000e+00,  2.58851210e-14, -1.00000000e+00,  0.00000000e+00,
        1.47914977e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0075784 , -0.07448046,  0.06181114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.46193934e-06, 3.86050800e-06,-1.73295737e-06,-1.54108202e-05,
 -1.29633415e-05, 8.18304835e-06,-1.46805855e-05,-1.90221430e-05,
  3.43038714e-03,-6.25563462e-05, 2.42446057e-05, 7.69541765e-05,
  3.28612043e-05,-2.81088817e-05,-4.90473273e+00,-1.08788340e-04,
  3.36879594e-03,-7.01860731e-04]


--- Step 2224 ---
qpos:
[ 0.01868367, 0.03001827,-0.0094661 ,-0.02531325,-0.00351434, 1.34076037,
 -0.02992847, 0.94379583, 0.01154119, 0.02731065,-0.00828314, 0.0264425 ,
  1.3962411 , 0.00766845, 1.31239316, 0.04420665,-0.08599016,-0.04823753,
  0.09356691, 0.70728295,-0.069191  ,-0.69836032,-0.08518383]

qacc:
[ 1.43355167e-01, 3.80250646e-01, 9.07506203e-01,-7.44754705e+00,
 -1.33496772e-01,-1.94333332e+00, 6.09372162e+00,-6.76994067e+00,
 -7.20694897e+00,-6.46352639e-01, 2.56160903e+00,-5.86764907e+00,
  3.20293982e-02,-3.85066402e-01, 1.98476949e+00,-6.42061544e+00,
  4.75120994e+00,-8.48796984e-01, 3.66207165e+00,-6.57985549e+00,
  1.51831058e+02,-1.40759388e+01]

qfrc_actuator:
[ 4.66948637e-05, 8.86767782e-04, 1.48532277e-04,-1.35722531e-04,
  1.77727296e-05, 3.48506039e-02, 1.09499674e-02, 1.72091762e-03,
 -7.16801803e-05, 8.55371774e-04, 1.84946001e-04, 7.22937482e-05,
  0.00000000e+00,-1.65983937e-03, 0.00000000e+00,-1.10772032e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037296042723500705
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.48839253e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.48839253e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13941497, -0.03585495,  0.06181211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.86022053e-05,-3.10125234e-05, 1.87969906e-05,-7.89531622e-06,
 -4.35237903e-05,-4.82863583e-05,-1.66356301e-05,-1.34976387e-05,
  3.45543236e-03,-4.87300045e-05, 1.57456586e-05,-2.64844033e-05,
  7.42136836e-05,-6.66677122e-05,-4.90456153e+00,-3.03413210e-04,
  3.34831897e-03,-6.94396663e-04]


--- Step 2225 ---
qpos:
[ 0.01868287, 0.03001794,-0.00946651,-0.02531454,-0.00351404, 1.34075959,
 -0.02992788, 0.943796  , 0.01154071, 0.02731102,-0.00828242, 0.02644329,
  1.3962407 , 0.00766771, 1.31250398, 0.04420577,-0.08596882,-0.04821643,
  0.09356996, 0.70750911,-0.06946066,-0.69814542,-0.08484724]

qacc:
[-3.02310619e+00, 3.47434673e+00,-1.39283106e+01, 2.38474927e+01,
 -2.16748419e-01, 9.86771735e-01,-5.47856055e+00, 1.59293227e+01,
 -4.38854865e+00,-1.63651683e+00, 2.71751360e+00, 5.21103666e+00,
  3.79885918e-02,-1.55759674e-02, 2.27651201e+00,-7.77168243e+00,
  4.21983972e+00,-7.73623954e-01, 2.16258791e+00,-5.34816987e+00,
  1.34917084e+02,-1.11844161e+01]

qfrc_actuator:
[ 2.86769765e-05, 8.98742544e-04, 1.11833881e-04,-1.09546795e-04,
 -2.20490470e-05, 3.48493967e-02, 1.09607278e-02, 1.77001558e-03,
 -9.70780354e-05, 8.43592121e-04, 2.28741046e-04, 1.00032317e-04,
  0.00000000e+00,-1.63073120e-03, 0.00000000e+00,-1.14488955e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.61538272, -0.60162904, -8.61538272,  8.91685121,
       -4.0166076 , -0.60162904, -4.0166076 , 66.1545504 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003736643096849006
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.4855888e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.4855888e-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([-0.13940782, -0.03586953,  0.06181177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.26349985e-05,-1.49222612e-05, 6.60055315e-06, 4.85329189e-05,
 -2.66852896e-05,-4.28449341e-05, 3.12952013e-05, 2.48301506e-05,
  3.46729904e-03, 3.67533948e-06, 6.72772986e-07,-3.74383485e-05,
  3.13297366e-05,-2.43758586e-05,-4.90471133e+00,-6.93329056e-05,
  3.36110707e-03,-6.77629626e-04]


--- Step 2226 ---
qpos:
[ 0.01868289, 0.03001743,-0.00946634,-0.02531519,-0.00351424, 1.340759  ,
 -0.02992788, 0.94379676, 0.01154061, 0.02731109,-0.00828177, 0.02644408,
  1.39624044, 0.00766715, 1.31261469, 0.04420512,-0.08596526,-0.04819016,
  0.09356289, 0.70753749,-0.06978764,-0.69813312,-0.08444254]

qacc:
[ 7.09654672e+00,-5.48211787e-01,-1.15012297e+00, 1.15883712e+01,
 -2.10258289e-01, 2.89460772e+00,-1.03308227e+01, 1.56823666e+01,
  3.31517023e+00,-1.82460138e-01, 3.43619093e-02, 4.22535526e-01,
  2.98763301e-02, 1.24633439e-01,-8.46975382e-01, 2.74125727e+00,
 -4.44378608e+00, 1.29360632e+00,-2.52848170e+00, 5.22392574e+00,
 -1.45510313e+02, 2.86783843e+01]

qfrc_actuator:
[ 7.16546731e-05, 8.88100356e-04, 1.43651802e-04,-7.58849122e-05,
 -4.57544032e-05, 3.48668538e-02, 1.09313528e-02, 1.79883438e-03,
 -7.63069174e-05, 8.18939846e-04, 2.18798087e-04, 9.83071039e-05,
  0.00000000e+00,-1.61296140e-03, 0.00000000e+00,-1.13090973e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003746832487440786
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01667180e-07, -1.01667275e-07,  1.00000000e+00, -1.03362251e-14,
        1.00000000e+00,  1.01667275e-07, -1.00000000e+00,  1.57772181e-30,
       -1.01667180e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00759409, -0.07432688,  0.06181131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.07204844e-05, 1.19548123e-05,-3.01190066e-05, 2.96893097e-05,
  1.99743785e-05,-4.11174158e-05,-1.40934173e-05,-1.99839728e-06,
  3.46129483e-03, 2.19802935e-05,-6.14690982e-06, 1.14463599e-05,
  4.78290177e-05, 4.31371353e-08,-4.90465412e+00, 1.20943452e-04,
  3.37700409e-03,-6.62398617e-04]


--- Step 2227 ---
qpos:
[ 0.01868378, 0.0300172 ,-0.00946623,-0.02531545,-0.00351485, 1.34075885,
 -0.02992861, 0.94379681, 0.01154042, 0.0273108 ,-0.00828147, 0.02644452,
  1.39624037, 0.00766636, 1.31272575, 0.04420128,-0.08597766,-0.04815971,
  0.09354275, 0.70738667,-0.07015477,-0.69830345,-0.08399221]

qacc:
[ 7.36709956e+00, 1.34665458e+00,-5.93335884e+00, 1.26385891e+01,
 -1.72236443e-01, 1.29059029e+00,-2.07367059e+00,-6.70192405e+00,
 -8.15694990e-01,-2.16920711e-01, 1.55643721e+00,-6.73533382e+00,
  2.35265556e-02,-1.13283333e-01, 1.01752984e+01,-3.48411594e+01,
 -3.99135188e+00, 1.04404353e+00,-3.26739900e+00, 3.18254689e+00,
 -1.30446199e+02, 1.62147149e+01]

qfrc_actuator:
[ 1.14690298e-04, 9.17534454e-04, 1.44571504e-04,-5.58170861e-05,
 -5.96005894e-05, 3.48951897e-02, 1.08963354e-02, 1.76220925e-03,
 -8.17910095e-05, 7.86549826e-04, 1.94866007e-04, 7.91989890e-05,
  0.00000000e+00,-1.63769591e-03, 0.00000000e+00,-1.29992639e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003743869023469598
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.44816452e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.44816452e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00763637, -0.07249989,  0.06181142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.97288740e-05, 2.99525889e-05,-3.52339508e-05,-3.64603351e-05,
 -4.91171181e-06,-5.83851894e-05,-3.42415727e-05,-2.14009164e-05,
  3.45353612e-03,-1.22136846e-05,-3.17300830e-06,-1.69551865e-04,
  3.39263957e-05,-2.91978941e-05,-4.90466787e+00,-7.99964401e-05,
  3.36298142e-03,-6.54917452e-04]


--- Step 2228 ---
qpos:
[ 0.01868482, 0.03001719,-0.00946637,-0.02531544,-0.00351575, 1.34075885,
 -0.02992969, 0.94379643, 0.01153982, 0.02731   ,-0.00828082, 0.02644437,
  1.39624042, 0.00766555, 1.31283671, 0.04419612,-0.08597111,-0.04813263,
  0.09353721, 0.70744459,-0.07048819,-0.69825967,-0.08358825]

qacc:
[ 1.40417831e+00, 1.51781329e+00,-6.09687248e+00, 1.08774982e+01,
 -1.28831356e-01, 4.43544670e-01,-3.04571860e-01,-4.86595881e+00,
 -3.46992188e+00,-2.87982784e+00, 1.18442162e+01,-2.24907103e+01,
  1.19846967e-02, 6.69187034e-03, 3.84526051e+00,-1.36768917e+01,
  4.73737816e+00,-8.40768319e-01, 3.64977885e+00,-5.93497868e+00,
  1.51650692e+02,-1.18931413e+01]

qfrc_actuator:
[ 1.21890799e-04, 9.17362180e-04, 1.27364761e-04,-4.39093780e-05,
 -6.74224755e-05, 3.48942442e-02, 1.08760466e-02, 1.74063959e-03,
 -1.02700396e-04, 7.67443055e-04, 2.16097288e-04, 5.00105814e-05,
  0.00000000e+00,-1.63433001e-03, 0.00000000e+00,-1.36237996e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037689768409561453
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47284405e-14, -1.47284405e-14,  1.00000000e+00,  2.16926960e-28,
        1.00000000e+00,  1.47284405e-14, -1.00000000e+00,  0.00000000e+00,
        1.47284405e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13936983, -0.03591676,  0.06181018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.72081639e-05, 7.63606855e-06,-1.95073885e-05,-2.25490634e-05,
 -2.10718363e-05,-5.97428974e-05, 4.21173943e-06,-3.32926034e-05,
  3.44377394e-03, 2.76015769e-06,-2.29673197e-05,-7.29178638e-05,
  6.76806516e-05,-7.01831591e-05,-4.90452696e+00,-2.91785367e-04,
  3.34751712e-03,-6.46968596e-04]


--- Step 2229 ---
qpos:
[ 0.01868595, 0.03001702,-0.00946595,-0.02531564,-0.00351673, 1.34075867,
 -0.02993061, 0.94379579, 0.01153863, 0.02730913,-0.00828014, 0.02644417,
  1.3962406 , 0.00766539, 1.31294703, 0.04419423,-0.08594773,-0.0481086 ,
  0.09354027, 0.7076882 ,-0.07079282,-0.69802557,-0.08322314]

qacc:
[ 6.96300899e-01,-2.19384651e+00, 8.36704395e+00,-1.26996895e+01,
 -2.89644916e-02,-1.11674447e+00, 3.88254460e+00,-6.19483937e+00,
 -5.04373459e+00,-2.48427190e-01, 9.18561113e-01,-1.59218787e+00,
 -3.95790653e-04, 4.26809572e-01,-1.08401515e+01, 3.65661093e+01,
  4.20767839e+00,-7.63594998e-01, 2.14835439e+00,-4.78896895e+00,
  1.34726220e+02,-9.32383357e+00]

qfrc_actuator:
[ 1.25693540e-04, 8.99374194e-04, 1.52747015e-04,-5.46779661e-05,
 -5.38168566e-05, 3.48758284e-02, 1.08822779e-02, 1.72811110e-03,
 -1.32513255e-04, 7.92113975e-04, 2.28370945e-04, 5.06763093e-05,
  0.00000000e+00,-1.57871614e-03, 0.00000000e+00,-1.18396186e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.59630628, -0.83084002, -8.59630628,  9.21270906,
       -5.96317173, -0.83084002, -5.96317173, 70.3344632 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037732355388548217
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.94236343e-14, -4.41354514e-14,  1.00000000e+00,  1.29862538e-27,
        1.00000000e+00,  4.41354514e-14, -1.00000000e+00,  0.00000000e+00,
        2.94236343e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13936616, -0.03592942,  0.06180996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.38233169e-06,-1.86860049e-05, 4.84445177e-06,-1.33957910e-05,
 -3.04515496e-05,-9.28189829e-06,-6.97915485e-07,-2.39524107e-06,
  3.43768929e-03, 5.94862384e-05,-1.98934782e-05, 1.71131886e-04,
  3.07892373e-05,-2.34821029e-05,-4.90465812e+00,-4.04141643e-05,
  3.35992294e-03,-6.28761151e-04]


--- Step 2230 ---
qpos:
[ 0.01868711, 0.03001674,-0.00946518,-0.02531666,-0.00351768, 1.34075849,
 -0.02993096, 0.94379532, 0.01153777, 0.02730853,-0.00827982, 0.02644431,
  1.39624108, 0.00766579, 1.31305732, 0.04419344,-0.08594248,-0.04807982,
  0.09353383, 0.70772824,-0.07114429,-0.69799895,-0.08280517]

qacc:
[ 3.29145716e-01,-2.81460256e+00, 1.32468311e+01,-2.77738937e+01,
  1.26763870e-02,-1.28857433e+00, 3.84557502e+00,-1.43038786e+00,
  2.89190300e+00, 2.02974381e+00,-8.12039780e+00, 1.42654332e+01,
 -1.18144691e-02, 4.45414786e-01,-3.35940141e+00, 1.17085919e+01,
 -4.53182371e+00, 1.18916261e+00,-2.37236924e+00, 3.29938857e+00,
 -1.48285215e+02, 1.92370446e+01]

qfrc_actuator:
[ 1.27477734e-04, 8.88751945e-04, 1.67478746e-04,-9.64398935e-05,
 -4.52214461e-05, 3.49004609e-02, 1.09217895e-02, 1.73875305e-03,
 -1.14064392e-04, 8.25066315e-04, 2.17695873e-04, 6.89303055e-05,
  0.00000000e+00,-1.54566989e-03, 0.00000000e+00,-1.13137723e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003756198765479078
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47785447e-14,  2.95570893e-14,  1.00000000e+00, -4.36810765e-28,
        1.00000000e+00, -2.95570893e-14, -1.00000000e+00,  0.00000000e+00,
        1.47785447e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00760539, -0.07247629,  0.06181075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.64122419e-06, 1.48416519e-05, 3.60151228e-05, 9.90946775e-06,
  1.75517303e-05, 2.75249690e-05,-1.27584029e-05, 1.77873924e-05,
  3.43142119e-03, 6.02850897e-05, 9.78679611e-06, 5.95348972e-05,
  5.23913551e-05, 5.71466194e-06,-4.90458521e+00, 1.68579954e-04,
  3.37572308e-03,-6.11969729e-04]


--- Step 2231 ---
qpos:
[ 0.01868828, 0.03001643,-0.00946455,-0.02531779,-0.00351827, 1.3407581 ,
 -0.02993039, 0.94379359, 0.0115375 , 0.02730814,-0.0082799 , 0.02644467,
  1.39624176, 0.00766629, 1.31316787, 0.04419128,-0.08595354,-0.0480474 ,
  0.09351478, 0.70758361,-0.07152312,-0.69815948,-0.08236027]

qacc:
[ 1.02689442e-01, 1.03674249e-01, 8.35395081e-02,-1.94206672e+00,
  1.49590350e-01,-4.87529659e+00, 1.81692208e+01,-3.01664362e+01,
  4.86849048e+00, 1.89177853e+00,-7.33931259e+00, 1.18612759e+01,
 -2.65658813e-02, 1.41898644e-01, 4.53579184e+00,-1.52723848e+01,
 -4.07823457e+00, 9.08501741e-01,-3.15348132e+00, 8.95359995e-01,
 -1.32767592e+02, 4.77059149e+00]

qfrc_actuator:
[ 1.28061192e-04, 8.82555853e-04, 1.58041668e-04,-1.02851967e-04,
 -4.19781490e-06, 3.48798194e-02, 1.09630424e-02, 1.67421858e-03,
 -8.51063713e-05, 8.27156237e-04, 1.93617956e-04, 7.96274181e-05,
  0.00000000e+00,-1.56185150e-03, 0.00000000e+00,-1.20668470e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003756729965305766
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.95529100e-14,  1.47764550e-14,  1.00000000e+00, -4.36687244e-28,
        1.00000000e+00, -1.47764550e-14, -1.00000000e+00,  0.00000000e+00,
        2.95529100e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00802665, -0.07019241,  0.06181069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.31758489e-05,-5.08716834e-06, 4.85452283e-05,-6.28038450e-05,
  2.94799240e-05, 1.56298572e-05,-1.93469228e-05, 1.17807959e-05,
  3.41571330e-03, 1.56634245e-05, 9.19452169e-06,-7.11979230e-05,
  3.01961070e-05,-2.73106566e-05,-4.90463291e+00,-5.53610285e-05,
  3.36673244e-03,-6.04397231e-04]


--- Step 2232 ---
qpos:
[ 0.0186898 , 0.03001606,-0.00946403,-0.02531899,-0.0035186 , 1.34075779,
 -0.02992967, 0.94379113, 0.01153722, 0.02730765,-0.00827984, 0.02644448,
  1.39624246, 0.00766701, 1.31327825, 0.04418993,-0.08594577,-0.04801842,
  0.09351022, 0.70764806,-0.07187228,-0.69810592,-0.08195558]

qacc:
[ 2.93717721e+00, 9.89704144e-02,-1.91008859e-01,-7.27103835e-01,
  1.12162310e-01,-1.54008525e+00, 6.68226693e+00,-1.44725564e+01,
  4.91306327e-02,-1.71085003e+00, 8.30696501e+00,-1.82632535e+01,
 -3.77921029e-02, 1.75662560e-01,-2.68441537e+00, 9.02951295e+00,
  4.70951082e+00,-8.60732508e-01, 3.62129340e+00,-4.87387010e+00,
  1.51392855e+02,-8.31473754e+00]

qfrc_actuator:
[ 1.45686573e-04, 8.78982217e-04, 1.52212125e-04,-1.06172128e-04,
  2.68950258e-06, 3.48854605e-02, 1.09692623e-02, 1.63693927e-03,
 -8.57159960e-05, 8.10689292e-04, 1.97205726e-04, 5.02545358e-05,
  0.00000000e+00,-1.55406632e-03, 0.00000000e+00,-1.16142402e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003797637608098592
  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([-0.13933752, -0.0359683 ,  0.06180874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.24022353e-05, 1.04366974e-05, 8.90471473e-06,-3.74669098e-05,
  2.58291670e-07,-1.11944366e-05, 4.84429502e-06,-2.91442636e-05,
  3.40578013e-03, 1.86782171e-05,-6.46537083e-06, 4.18297706e-05,
  5.65680740e-05,-6.95983972e-05,-4.90452854e+00,-2.71858281e-04,
  3.35797129e-03,-5.96471743e-04]


--- Step 2233 ---
qpos:
[ 0.01869186, 0.03001571,-0.00946336,-0.02532025,-0.00351874, 1.34075787,
 -0.02992943, 0.943791  , 0.0115366 , 0.02730727,-0.00828009, 0.02644394,
  1.39624322, 0.00766804, 1.31338848, 0.04418978,-0.08592125,-0.04799255,
  0.09351414, 0.70789844,-0.07219601,-0.69786208,-0.08158466]

qacc:
[ 4.67325205e+00,-5.34499462e-01, 2.18738088e+00,-3.46830019e+00,
  8.03358422e-02, 5.76640147e+00,-2.30217420e+01, 4.68752030e+01,
 -2.99642049e+00, 3.26909396e-01, 4.97613323e-01,-6.02076499e+00,
 -4.29089243e-02, 2.63840732e-01,-3.85580643e+00, 1.31845398e+01,
  4.18469280e+00,-7.76143140e-01, 2.12179496e+00,-3.90988081e+00,
  1.34479398e+02,-6.36678050e+00]

qfrc_actuator:
[ 1.73201935e-04, 8.94772613e-04, 1.66327984e-04,-1.07643717e-04,
  6.79452452e-06, 3.49244243e-02, 1.09548737e-02, 1.75802616e-03,
 -1.03727951e-04, 8.18811664e-04, 1.81489089e-04, 3.30488475e-05,
  0.00000000e+00,-1.53205398e-03, 0.00000000e+00,-1.09870359e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.49383362,  -1.56255153,  -8.49383362,
        11.13185802, -13.5651936 ,  -1.56255153, -13.5651936 ,
        82.37504994,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037994953163409118
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.38304143e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.38304143e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13933655, -0.03597776,  0.06180863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.32537390e-05, 4.53520981e-05,-1.24363507e-05, 1.20790068e-04,
 -1.80087810e-05, 1.63051321e-06,-1.84357007e-05,-1.80836836e-05,
  3.40453745e-03, 3.01910870e-05, 2.67343305e-08, 6.38411841e-05,
  2.48975795e-05,-1.97592666e-05,-4.90464283e+00,-1.82493201e-05,
  3.36797764e-03,-5.77891218e-04]


--- Step 2234 ---
qpos:
[ 0.01869355, 0.0300157 ,-0.00946239,-0.02532157,-0.0035186 , 1.34075793,
 -0.02992894, 0.94379266, 0.01153576, 0.02730716,-0.00828096, 0.02644388,
  1.39624386, 0.00766904, 1.31349872, 0.04419004,-0.0859152 ,-0.04796253,
  0.093509  , 0.7079398 ,-0.07255143,-0.69783018,-0.08118239]

qacc:
[-3.21959742e+00,-4.79979863e-01, 2.60699412e+00,-4.32796052e+00,
  1.17329213e-01, 2.37597397e+00,-1.14585759e+01, 3.07552681e+01,
 -1.82621150e+00, 3.07430099e+00,-1.25014618e+01, 2.17238115e+01,
 -4.26493099e-02,-1.73840724e-02,-1.21672508e+00, 4.29256784e+00,
 -4.61497365e+00, 1.03831919e+00,-2.26653314e+00, 8.26032334e-01,
 -1.50378124e+02, 5.97782658e+00]

qfrc_actuator:
[ 1.53054805e-04, 9.39875882e-04, 1.92187725e-04,-1.07986371e-04,
  2.69516300e-05, 3.49120385e-02, 1.09641773e-02, 1.84707843e-03,
 -1.14075961e-04, 8.41525230e-04, 1.54598164e-04, 5.86528495e-05,
  0.00000000e+00,-1.55496281e-03, 0.00000000e+00,-1.07948654e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003780362168949565
  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([ 0.00796879, -0.07016557,  0.06180952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.39001798e-05, 1.38998899e-05, 2.03018608e-05, 9.28513346e-05,
 -1.08749651e-05, 1.90518340e-05,-2.94418847e-05, 2.46872869e-05,
  3.40105351e-03,-8.98972366e-06, 5.30811973e-06, 2.23557071e-05,
  5.06194622e-05, 1.31828343e-05,-4.90455665e+00, 1.98033625e-04,
  3.38209824e-03,-5.60472349e-04]


--- Step 2235 ---
qpos:
[ 0.0186936 , 0.03001634,-0.00946156,-0.0253229 ,-0.00351835, 1.3407584 ,
 -0.02992923, 0.94379367, 0.0115355 , 0.02730698,-0.00828145, 0.02644377,
  1.39624416, 0.00766994, 1.31360873, 0.04419254,-0.0859255 ,-0.04792878,
  0.09349134, 0.70779605,-0.07293466,-0.6979859 ,-0.0807525 ]

qacc:
[-1.40297950e+01, 1.23924107e+00,-3.10020391e+00, 2.67517499e+00,
  4.88462733e-02, 1.53909189e+00,-3.04462231e+00,-5.19204507e+00,
  4.89194807e+00,-1.26627965e+00, 4.62130686e+00,-6.22138653e+00,
 -3.20505219e-02,-1.13190638e-01,-7.13936167e+00, 2.44519156e+01,
 -4.08944537e+00, 9.30225104e-01,-3.12956026e+00, 6.89781452e-01,
 -1.33130100e+02, 5.16015740e+00]

qfrc_actuator:
[ 6.95070351e-05, 9.84494242e-04, 1.89392351e-04,-1.07629518e-04,
  2.10715181e-05, 3.49223405e-02, 1.09161536e-02, 1.81000434e-03,
 -8.43188761e-05, 8.37283437e-04, 1.74682153e-04, 5.59906235e-05,
  0.00000000e+00,-1.56907565e-03, 0.00000000e+00,-9.61790982e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003782407606681172
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46761420e-14,  2.93522840e-14,  1.00000000e+00, -4.30778289e-28,
        1.00000000e+00, -2.93522840e-14, -1.00000000e+00,  0.00000000e+00,
        1.46761420e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00796354, -0.07016043,  0.06180941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.41534811e-05, 2.47559113e-05,-4.02695952e-05,-3.39052041e-05,
  2.94441266e-05, 1.39618323e-06, 2.12583622e-05,-2.38145521e-06,
  3.40725336e-03,-2.06846306e-05, 2.30290537e-06, 1.19025731e-04,
  2.07742027e-05,-2.24082535e-05,-4.90464568e+00,-3.67534692e-05,
  3.37987045e-03,-5.53386926e-04]


--- Step 2236 ---
qpos:
[ 0.01869265, 0.0300173 ,-0.00946093,-0.02532381,-0.00351806, 1.34075909,
 -0.0299306 , 0.94379323, 0.01153629, 0.02730715,-0.00828216, 0.02644361,
  1.39624466, 0.00767087, 1.31371911, 0.04419308,-0.08591708,-0.04789858,
  0.09348803, 0.70786169,-0.07329243,-0.69792758,-0.08035633]

qacc:
[-8.60921784e+00, 1.84056129e+00,-7.63972334e+00, 1.47417412e+01,
  1.60057881e-02, 6.99892892e-01, 1.08358133e+00,-1.79884802e+01,
  8.93149901e+00, 9.30482157e-01,-2.48625302e+00, 1.80402290e+00,
 -2.37966621e-02, 1.01531528e-01, 6.51827198e+00,-2.19806017e+01,
  4.68247970e+00,-8.85543380e-01, 3.58756974e+00,-3.76082074e+00,
  1.51086795e+02,-4.56364809e+00]

qfrc_actuator:
[ 2.03374660e-05, 9.75115151e-04, 1.69708563e-04,-8.91290294e-05,
  1.73723390e-05, 3.49103443e-02, 1.08524274e-02, 1.73448956e-03,
 -3.11971337e-05, 8.70361109e-04, 1.68957223e-04, 5.44767817e-05,
  0.00000000e+00,-1.54234656e-03, 0.00000000e+00,-1.07104619e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038173309139200307
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.27093779e-15, -1.45418756e-14,  1.00000000e+00,  1.05733073e-28,
        1.00000000e+00,  1.45418756e-14, -1.00000000e+00,  0.00000000e+00,
        7.27093779e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13931498, -0.03600591,  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:
[-5.15955352e-05, 3.73619045e-05,-1.81113536e-06, 2.23573845e-05,
  4.66591977e-06,-7.19882147e-06,-6.44594082e-05,-7.67362436e-05,
  5.39827418e-05, 3.81697196e-05,-2.89378696e-06,-7.64303757e-07,
  3.42423572e-03, 1.04579800e-05, 1.19717575e-05,-1.02849935e-04,
  4.50370464e-05,-6.80237854e-05,-4.90454329e+00,-2.51178201e-04,
  3.37165700e-03,-5.45566237e-04]


--- Step 2237 ---
qpos:
[ 0.01869181, 0.03001824,-0.00945982,-0.02532451,-0.00351776, 1.34075923,
 -0.02993161, 0.94379222, 0.0115377 , 0.02730756,-0.00828265, 0.02644376,
  1.39624545, 0.00767196, 1.31382962, 0.04419165,-0.085892  ,-0.04787155,
  0.09349308, 0.70811346,-0.07362826,-0.69767903,-0.07998863]

qacc:
[ 9.29214813e-01,-9.10638599e-01, 2.28386258e+00, 8.18769981e-01,
  1.49516091e-03,-2.63937912e+00, 8.87991711e+00,-1.38438965e+01,
  5.39037617e+00, 3.70411296e-01,-2.18186394e+00, 7.08331446e+00,
 -4.05257104e-02, 2.22847252e-01, 6.13569772e+00,-2.11598815e+01,
  4.16266914e+00,-7.92826773e-01, 2.09173226e+00,-2.99408423e+00,
  1.34201810e+02,-3.27781758e+00]

qfrc_actuator:
[ 2.73221085e-05, 9.68914329e-04, 1.93272601e-04,-7.79063098e-05,
  1.50130111e-05, 3.48672220e-02, 1.08686377e-02, 1.70798571e-03,
 -2.66640276e-07, 8.89932256e-04, 1.83681294e-04, 7.14127067e-05,
  0.00000000e+00,-1.52669696e-03, 0.00000000e+00,-1.17113656e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003817236751296277
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.90844686e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.90844686e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13931615, -0.03601213,  0.06180772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.98133756e-07,-6.20238799e-05, 5.21625694e-06,-3.03913150e-05,
  3.25248049e-05, 4.03093106e-05, 2.22309962e-05, 1.84561163e-05,
  3.41340861e-03, 2.48003162e-05,-8.99917021e-06,-1.05005470e-04,
  1.74063318e-05,-1.54784594e-05,-4.90464402e+00,-9.68223855e-07,
  3.37902858e-03,-5.27035022e-04]


--- Step 2238 ---
qpos:
[ 0.0186914 , 0.03001942,-0.00945824,-0.02532475,-0.00351748, 1.34075934,
 -0.02993264, 0.94379088, 0.01153844, 0.02730784,-0.0082825 , 0.02644413,
  1.39624613, 0.0076732 , 1.31393979, 0.04419137,-0.08588539,-0.04784025,
  0.09348914, 0.70815592,-0.0739958 ,-0.69764276,-0.07958895]

qacc:
[ 3.73615624e+00,-6.29166313e-02,-1.26239238e+00, 8.23506700e+00,
 -4.49939810e-03,-6.05009903e-01, 2.60892858e+00,-6.16144056e+00,
 -5.72465115e+00,-1.52455106e+00, 4.26465918e+00,-1.40464426e+00,
 -5.20293425e-02, 1.11803455e-01,-3.96716796e+00, 1.31529829e+01,
 -4.61718981e+00, 1.06606796e+00,-2.24965073e+00, 7.14181085e-01,
 -1.50618065e+02, 6.19498371e+00]

qfrc_actuator:
[ 4.95388650e-05, 1.00032517e-03, 2.24425760e-04,-5.32767589e-05,
  1.34771973e-05, 3.48948840e-02, 1.08785576e-02, 1.69282109e-03,
 -3.59113294e-05, 8.65855991e-04, 2.10339465e-04, 8.13264334e-05,
  0.00000000e+00,-1.53559822e-03, 0.00000000e+00,-1.10517448e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038046090023744344
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45905009e-14, -2.18857514e-14,  1.00000000e+00,  3.19324077e-28,
        1.00000000e+00,  2.18857514e-14, -1.00000000e+00,  0.00000000e+00,
        1.45905009e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00790955, -0.07013762,  0.06180832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.30258354e-06,-6.54320104e-06,-2.51115593e-06,-1.75830003e-05,
 -3.46788589e-05, 3.85433849e-06, 3.83621827e-05, 1.27683076e-05,
  3.39937017e-03, 7.59591261e-06,-1.76824323e-05, 5.85104882e-05,
  4.61945796e-05, 2.07978671e-05,-4.90454758e+00, 2.17802849e-04,
  3.39120111e-03,-5.09384620e-04]


--- Step 2239 ---
qpos:
[ 0.01869161, 0.0300207 ,-0.00945646,-0.025325  ,-0.0035175 , 1.34075975,
 -0.02993402, 0.9437897 , 0.01153807, 0.02730784,-0.00828242, 0.02644434,
  1.39624658, 0.00767468, 1.3140495 , 0.04419452,-0.08589514,-0.04780514,
  0.09347273, 0.70801308,-0.07439131,-0.69779434,-0.07916108]

qacc:
[ 5.27561932e+00,-4.53777749e-01, 1.83338635e+00,-2.40496391e+00,
 -1.29190539e-01, 1.65586386e+00,-5.23622150e+00, 6.20492903e+00,
 -9.57422227e+00,-4.68041669e-01, 1.83751756e+00,-4.30537714e+00,
 -4.61524742e-02, 1.41501175e-01,-1.10569754e+01, 3.77194093e+01,
 -4.09050105e+00, 9.53221196e-01,-3.11642391e+00, 5.51978627e-01,
 -1.33309205e+02, 5.41746626e+00]

qfrc_actuator:
[ 8.05245984e-05, 9.83055435e-04, 2.24453545e-04,-5.64294901e-05,
 -2.30571398e-05, 3.49292155e-02, 1.08671708e-02, 1.70221504e-03,
 -9.26965301e-05, 8.15874969e-04, 1.90378594e-04, 6.92409126e-05,
  0.00000000e+00,-1.52376024e-03, 0.00000000e+00,-9.24150544e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003805972994380777
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.29263598e-15, -2.18779080e-14,  1.00000000e+00,  1.59547619e-28,
        1.00000000e+00,  2.18779080e-14, -1.00000000e+00,  0.00000000e+00,
        7.29263598e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00790599, -0.07013399,  0.06180824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.73042674e-05, 2.96907478e-05,-1.34689686e-05, 8.71285781e-06,
 -5.78005185e-05,-3.93766375e-05,-1.40015617e-05,-1.03446957e-05,
  3.40423660e-03, 1.26807606e-05,-2.80643893e-06, 1.81745383e-04,
  1.43899687e-05,-1.93904493e-05,-4.90463820e+00,-2.03827674e-05,
  3.38931221e-03,-5.02203247e-04]


--- Step 2240 ---
qpos:
[ 0.01869218, 0.03002182,-0.00945507,-0.02532556,-0.00351802, 1.34076027,
 -0.02993516, 0.94378793, 0.01153735, 0.02730752,-0.00828227, 0.02644475,
  1.39624675, 0.00767637, 1.31415896, 0.04420147,-0.08588624,-0.04777359,
  0.09347053, 0.70807965,-0.07476459,-0.69773202,-0.07876223]

qacc:
[ 3.16784392e+00, 2.47916476e-01, 1.14355766e-01,-4.69197809e+00,
 -2.12904947e-01,-1.50824529e+00, 6.27943933e+00,-1.22635412e+01,
 -2.84036774e+00,-2.14327307e-01,-6.59771856e-01, 4.14098897e+00,
 -3.20081169e-02, 7.99796386e-02,-1.18768467e+01, 4.09888153e+01,
  4.66448482e+00,-8.88880966e-01, 3.55319366e+00,-2.93761014e+00,
  1.50748877e+02,-1.78412594e+00]

qfrc_actuator:
[ 9.86652440e-05, 9.36621372e-04, 1.88137926e-04,-7.59661790e-05,
 -6.25391476e-05, 3.49317079e-02, 1.08788603e-02, 1.67272312e-03,
 -1.08190194e-04, 8.03807891e-04, 1.96168718e-04, 7.97528941e-05,
  0.00000000e+00,-1.51740533e-03, 0.00000000e+00,-7.30096153e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038297746388591195
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.4494626e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.4494626e-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([-0.13930071, -0.03603244,  0.06180708])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90626205e-05,-3.31642811e-05,-3.06957263e-05,-1.82234578e-05,
 -6.15261100e-05, 1.65398582e-05, 1.62196495e-05,-2.87954148e-05,
 -1.71991819e-05,-3.74449652e-05,-4.42563230e-06, 8.14042856e-06,
  3.41570249e-03, 6.28520285e-06, 1.73813257e-05, 2.03466897e-04,
  3.71650509e-05,-6.85666667e-05,-4.90453650e+00,-2.38147847e-04,
  3.38145215e-03,-4.94273842e-04]


--- Step 2241 ---
qpos:
[ 0.01869331, 0.03002276,-0.00945412,-0.02532599,-0.00351874, 1.34076065,
 -0.02993574, 0.94378549, 0.0115368 , 0.02730704,-0.00828185, 0.02644525,
  1.3962468 , 0.00767768, 1.31426892, 0.04420702,-0.08586074,-0.0477452 ,
  0.09347659, 0.70833235,-0.0751187 ,-0.6974796 ,-0.07838793]

qacc:
[ 4.77723086e+00, 1.23024294e+00,-5.27973645e+00, 8.28597437e+00,
 -8.30680428e-02,-2.85535727e+00, 1.04940200e+01,-1.69064579e+01,
  1.40764926e+00,-7.83017657e-01, 2.12830532e+00,-9.40319365e-01,
 -1.45248719e-02,-2.43187893e-01, 4.98162490e+00,-1.63573793e+01,
  4.14806958e+00,-7.92423221e-01, 2.06163451e+00,-2.30300952e+00,
  1.33905408e+02,-9.50505508e-01]

qfrc_actuator:
[ 1.26849755e-04, 9.26153797e-04, 1.66027008e-04,-6.95275793e-05,
 -5.02116320e-05, 3.49151827e-02, 1.09039397e-02, 1.63833046e-03,
 -9.92484288e-05, 8.14639846e-04, 2.17292549e-04, 8.57802771e-05,
  0.00000000e+00,-1.54989215e-03, 0.00000000e+00,-8.14002966e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003828127657183371
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90017242e-14, -1.45008621e-14,  1.00000000e+00,  4.20550003e-28,
        1.00000000e+00,  1.45008621e-14, -1.00000000e+00,  0.00000000e+00,
        2.90017242e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13930375, -0.0360366 ,  0.06180714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.40309648e-05,-5.07491594e-06, 2.93146089e-05,-3.40905931e-05,
  8.42402376e-06,-1.06721515e-05, 1.31266401e-05, 4.42805978e-06,
  3.42935663e-03,-3.61812695e-05, 2.80524323e-05,-7.09371052e-05,
  1.21961620e-05,-1.26046550e-05,-4.90462809e+00, 1.52894918e-05,
  3.38716786e-03,-4.75345441e-04]


--- Step 2242 ---
qpos:
[ 0.01869512, 0.03002343,-0.00945316,-0.02532636,-0.00351922, 1.34076069,
 -0.02993598, 0.9437844 , 0.01153637, 0.02730624,-0.00828163, 0.02644552,
  1.3962468 , 0.00767858, 1.31437922, 0.0442099 ,-0.08585398,-0.04771321,
  0.09347381, 0.70837155,-0.07548764,-0.69744286,-0.0780052 ]

qacc:
[ 5.78725423e+00,-2.78719647e-01, 2.09505146e-01, 1.01840165e+00,
  1.00794735e-01, 9.46688155e-01,-6.42398917e+00, 2.15882757e+01,
  9.51126049e-01,-3.33485612e-01, 1.49508983e+00,-4.77008010e+00,
 -8.21299441e-03,-2.58879143e-01, 8.59778146e+00,-2.93527730e+01,
 -4.68502207e+00, 9.02416849e-01,-2.20644833e+00,-1.87765649e+00,
 -1.51738972e+02,-8.30326600e+00]

qfrc_actuator:
[ 1.60724787e-04, 9.19607727e-04, 1.70397077e-04,-6.55657185e-05,
 -6.90382081e-06, 3.48874476e-02, 1.09188850e-02, 1.70784411e-03,
 -9.37618602e-05, 7.68161652e-04, 1.94130344e-04, 7.13942305e-05,
  0.00000000e+00,-1.56968806e-03, 0.00000000e+00,-9.54488746e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038304084367444743
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.89844554e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.89844554e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00853783, -0.06776929,  0.06180707])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.91065001e-05,-2.58388265e-05, 1.62856311e-05, 6.94268463e-05,
  5.72789169e-06,-4.95325797e-05,-2.35980686e-05,-1.43044657e-05,
  3.43527667e-03,-3.74184540e-05, 6.96410688e-07,-1.41837955e-04,
  4.30331831e-05, 2.75849505e-05,-4.90452483e+00, 2.41040323e-04,
  3.39804791e-03,-4.57101015e-04]


--- Step 2243 ---
qpos:
[ 0.01869698, 0.03002391,-0.00945275,-0.02532666,-0.00351964, 1.34076066,
 -0.0299364 , 0.94378451, 0.01153634, 0.02730526,-0.00828201, 0.02644563,
  1.39624677, 0.00767937, 1.3144894 , 0.04421208,-0.08586382,-0.04767799,
  0.09345871, 0.70822189,-0.07586977,-0.6975969 ,-0.07761507]

qacc:
[ 3.95578620e-01, 1.42852356e+00,-5.81900567e+00, 8.23368612e+00,
  2.67118551e-02, 2.44427926e+00,-1.05276344e+01, 2.29822500e+01,
  3.51670964e+00, 1.11837970e+00,-3.65291433e+00, 1.93396602e+00,
 -7.90255955e-03,-6.68838304e-02, 1.91090768e+00,-6.96044779e+00,
 -4.14890073e+00, 8.06503494e-01,-3.08154388e+00,-1.77921202e+00,
 -1.34223314e+02,-7.35010983e+00]

qfrc_actuator:
[ 1.62169723e-04, 8.97819207e-04, 1.37121636e-04,-6.30747366e-05,
 -1.63744560e-05, 3.48887443e-02, 1.09099837e-02, 1.76692059e-03,
 -7.26091138e-05, 7.58543557e-04, 1.62511178e-04, 6.27866357e-05,
  0.00000000e+00,-1.56391800e-03, 0.00000000e+00,-9.85065735e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003833220429360157
  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([ 0.00853081, -0.06776618,  0.06180693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.72881645e-06,-7.72512860e-06,-1.00677411e-05, 6.03852965e-05,
  2.13025326e-05,-4.27782114e-05,-4.52468932e-05,-1.18248111e-05,
  3.43724126e-03,-1.05569207e-05,-1.85711418e-05,-3.91147499e-05,
  6.00774503e-06,-1.54999433e-05,-4.90465500e+00,-6.57435223e-06,
  3.40193614e-03,-4.50446113e-04]


--- Step 2244 ---
qpos:
[ 0.01869746, 0.03002381,-0.00945259,-0.02532689,-0.00352021, 1.34076063,
 -0.02993691, 0.94378463, 0.01153623, 0.02730432,-0.00828265, 0.02644558,
  1.39624648, 0.00768004, 1.31459921, 0.04421585,-0.08585509,-0.0476465 ,
  0.09345771, 0.70828216,-0.07623447,-0.69753688,-0.07724633]

qacc:
[-1.17983262e+01, 1.02136597e-01,-1.66968446e+00, 3.48671023e+00,
 -6.48629764e-02, 2.46350086e-01,-8.31786965e-01, 8.05417890e-01,
 -7.85952632e-01, 4.33567367e-01,-7.99515308e-01,-1.55960440e+00,
 -1.03224531e-03,-1.39980629e-01,-5.36215494e+00, 1.79802255e+01,
  4.64228919e+00,-9.32038464e-01, 3.52581058e+00,-1.63138971e+00,
  1.50508156e+02, 2.61444361e+00]

qfrc_actuator:
[ 9.12554059e-05, 8.49173246e-04, 1.17319068e-04,-6.15111391e-05,
 -3.96798806e-05, 3.48895718e-02, 1.09049202e-02, 1.76610402e-03,
 -7.79088383e-05, 7.88778189e-04, 1.61812072e-04, 5.76769719e-05,
  0.00000000e+00,-1.57845821e-03, 0.00000000e+00,-8.97351260e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038368845346478386
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.23388347e-15, -1.44677669e-14,  1.00000000e+00,  1.04658140e-28,
        1.00000000e+00,  1.44677669e-14, -1.00000000e+00,  0.00000000e+00,
        7.23388347e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.139292  , -0.0360474 ,  0.06180669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.87385051e-05,-3.59949735e-06,-5.94887717e-06, 5.55363205e-08,
 -4.69187827e-06,-3.49326888e-06,-1.55029249e-05,-8.73667963e-06,
  3.43883234e-03,-1.96592675e-05,-1.44403680e-05, 8.27852272e-05,
  2.48915896e-05,-6.50066714e-05,-4.90458513e+00,-2.10945994e-04,
  3.39902291e-03,-4.43089892e-04]


--- Step 2245 ---
qpos:
[ 0.01869639, 0.03002306,-0.00945235,-0.02532712,-0.0035207 , 1.34076075,
 -0.02993755, 0.94378472, 0.01153639, 0.0273035 ,-0.0082834 , 0.02644579,
  1.39624623, 0.00768063, 1.31470917, 0.04421861,-0.08582984,-0.0476183 ,
  0.09346487, 0.70852893,-0.07658393,-0.69728665,-0.07689594]

qacc:
[-1.32284934e+01,-1.02616823e+00, 2.42675579e+00,-1.98043955e+00,
  3.72368333e-02, 5.17531092e-01,-1.40113975e+00, 8.56694800e-01,
  2.40233085e+00, 1.01186842e+00,-4.51257076e+00, 9.19682716e+00,
  9.62103568e-03,-4.86795131e-02, 3.28770435e+00,-1.12093777e+01,
  4.13045340e+00,-8.24282994e-01, 2.03821469e+00,-1.24432054e+00,
  1.33696763e+02, 2.63916895e+00]

qfrc_actuator:
[ 1.38347334e-05, 8.20367511e-04, 1.23278325e-04,-6.05155690e-05,
 -1.78370451e-05, 3.49078396e-02, 1.09021405e-02, 1.76556430e-03,
 -6.32354025e-05, 8.07270293e-04, 1.61798635e-04, 7.24779733e-05,
  0.00000000e+00,-1.56963463e-03, 0.00000000e+00,-9.53706856e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003834246648244395
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44777205e-14, -2.89554410e-14,  1.00000000e+00,  4.19208781e-28,
        1.00000000e+00,  2.89554410e-14, -1.00000000e+00,  0.00000000e+00,
        1.44777205e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1392958 , -0.03604793,  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:
[-7.95118891e-05,-8.08934324e-05,-1.48700488e-05,-3.64362278e-06,
  1.07691119e-05, 1.51148686e-05,-4.15837398e-06,-8.21612218e-07,
  1.45321496e-05, 1.30014676e-05,-2.92818904e-06, 1.39486570e-05,
  3.45208689e-03,-5.32636952e-06, 1.05060149e-06,-5.39446877e-05,
  2.36247539e-06,-7.72076695e-06,-4.90466724e+00, 2.57606731e-05,
  3.40197711e-03,-4.25194815e-04]


--- Step 2246 ---
qpos:
[ 0.01869544, 0.03002193,-0.00945221,-0.02532666,-0.00352102, 1.34076119,
 -0.02993776, 0.9437851 , 0.01153708, 0.02730306,-0.00828456, 0.02644582,
  1.39624593, 0.00768109, 1.31481908, 0.04422101,-0.08582328,-0.04758638,
  0.09346317, 0.70856262,-0.07694781,-0.69725188,-0.07653669]

qacc:
[ 9.75529662e-01, 1.15927984e+00,-7.73791610e+00, 1.99489484e+01,
  6.78869817e-02,-2.25621978e-01, 6.54191565e-01, 2.61676791e+00,
  4.41141238e+00, 1.24055452e+00,-2.90997879e+00, 6.74052643e-02,
  9.54174219e-03,-1.07557119e-01, 1.01243791e+00,-3.64895420e+00,
 -4.67210631e+00, 9.31785009e-01,-2.21213468e+00,-1.88956690e+00,
 -1.51514659e+02,-8.27639288e+00]

qfrc_actuator:
[ 2.19915580e-05, 8.21524466e-04, 1.26713964e-04,-2.43276040e-05,
 -4.59058493e-06, 3.49541671e-02, 1.09363139e-02, 1.78297006e-03,
 -3.69147706e-05, 8.36379317e-04, 1.44407836e-04, 6.33611024e-05,
  0.00000000e+00,-1.58227595e-03, 0.00000000e+00,-9.70257712e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003855688507285071
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43972085e-14, -1.43972085e-14,  1.00000000e+00,  2.07279612e-28,
        1.00000000e+00,  1.43972085e-14, -1.00000000e+00,  0.00000000e+00,
        1.43972085e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00847593, -0.06775213,  0.06180586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.96110521e-05, 5.38511423e-05, 3.66335026e-05, 1.77184065e-05,
  2.67469873e-05, 3.64162043e-05,-1.45656346e-05,-8.38709210e-06,
  3.44912610e-03,-1.35419562e-05,-8.01765346e-06,-2.00120293e-05,
  3.49179125e-05, 3.44822929e-05,-4.90455699e+00, 2.43008806e-04,
  3.41068490e-03,-4.07622536e-04]


--- Step 2247 ---
qpos:
[ 0.01869529, 0.03002041,-0.00945206,-0.02532544,-0.00352133, 1.34076178,
 -0.02993744, 0.94378501, 0.01153704, 0.02730281,-0.00828584, 0.02644541,
  1.39624495, 0.00768105, 1.31492853, 0.04422652,-0.08583326,-0.04755114,
  0.09344913, 0.70840782,-0.07732466,-0.69740766,-0.07616961]

qacc:
[ 6.81843224e+00, 1.02669189e+00,-7.66786959e+00, 2.12483292e+01,
  6.35918702e-03,-2.05540336e+00, 7.89850401e+00,-1.24366358e+01,
 -6.18271153e+00,-3.05940094e-01, 3.35333165e+00,-1.10469972e+01,
  2.89005432e-02,-5.18215226e-01,-1.01330875e+01, 3.44221036e+01,
 -4.13739126e+00, 8.30499133e-01,-3.08751704e+00,-1.82801693e+00,
 -1.34013111e+02,-7.24901891e+00]

qfrc_actuator:
[ 6.27029899e-05, 8.05146677e-04, 1.28774648e-04, 1.45465807e-05,
 -1.43621289e-05, 3.49460837e-02, 1.09566463e-02, 1.75757930e-03,
 -7.49661183e-05, 8.36033807e-04, 1.34674481e-04, 4.02377585e-05,
  0.00000000e+00,-1.64322118e-03, 0.00000000e+00,-8.03405789e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003856582953213769
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43938694e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.43938694e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00847345, -0.06775139,  0.06180581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.81944366e-06, 2.94036294e-05, 3.55553649e-05,-2.22862992e-05,
 -3.72568947e-05, 1.66912295e-05,-4.27716409e-06,-2.22274727e-05,
  3.45185725e-03,-6.78016869e-05,-7.94853741e-06, 1.64232138e-04,
 -1.99381023e-06,-1.19502123e-05,-4.90468322e+00, 5.01948111e-06,
  3.41398402e-03,-4.01206971e-04]


--- Step 2248 ---
qpos:
[ 0.01869528, 0.03001848,-0.00945182,-0.02532445,-0.00352153, 1.3407625 ,
 -0.02993768, 0.94378433, 0.01153655, 0.02730241,-0.00828681, 0.02644473,
  1.39624352, 0.0076807 , 1.31503778, 0.04423498,-0.08582473,-0.04751969,
  0.09344909, 0.70846319,-0.07768761,-0.69734933,-0.07581857]

qacc:
[ 1.25168538e+00,-1.27874853e+00, 4.76315191e+00,-8.68945184e+00,
  4.51914461e-02, 6.68752128e-01,-7.40543033e-01,-6.30737401e+00,
 -3.87691894e+00,-1.58424517e+00, 6.49697348e+00,-1.14362910e+01,
  6.74904554e-02,-3.89744080e-01,-9.19561586e+00, 3.16874659e+01,
  4.62888736e+00,-9.49631052e-01, 3.50160255e+00,-6.99229797e-01,
  1.50274665e+02, 5.75540969e+00]

qfrc_actuator:
[ 6.89633817e-05, 7.78408763e-04, 1.29943990e-04, 1.41480977e-06,
 -2.35783492e-06, 3.49231658e-02, 1.09151449e-02, 1.72491255e-03,
 -9.73479063e-05, 8.18064378e-04, 1.47176805e-04, 2.67990851e-05,
  0.00000000e+00,-1.64397400e-03, 0.00000000e+00,-6.54116129e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038404243189381487
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89088635e-14, -1.44544318e-14,  1.00000000e+00,  4.17861195e-28,
        1.00000000e+00,  1.44544318e-14, -1.00000000e+00,  0.00000000e+00,
        2.89088635e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13928624, -0.03605006,  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:
[ 7.43889756e-06,-5.17518638e-05,-7.78427445e-06,-1.46138295e-05,
  1.30805392e-05,-3.71098352e-07,-3.23580440e-05,-3.12558700e-05,
 -2.34682577e-05,-1.04596795e-05, 1.46745611e-05,-1.32980683e-05,
  3.48555217e-03,-4.39437086e-05, 1.24985540e-05, 1.56957904e-04,
  1.69799880e-05,-6.36877711e-05,-4.90461027e+00,-1.90966730e-04,
  3.41059605e-03,-3.94116824e-04]


--- Step 2249 ---
qpos:
[ 0.018695  , 0.03001636,-0.00945166,-0.02532364,-0.00352147, 1.34076316,
 -0.0299378 , 0.94378394, 0.01153614, 0.0273022 ,-0.00828719, 0.02644383,
  1.3962419 , 0.00768032, 1.31514694, 0.04424616,-0.08579972,-0.04749159,
  0.09345713, 0.70870525,-0.07803828,-0.69710073,-0.0754815 ]

qacc:
[-2.30901736e+00,-4.05218817e-01, 1.84709130e+00,-4.72529275e+00,
  1.13195744e-01, 8.28107164e-02,-9.72086228e-01, 4.23477433e+00,
  6.92276254e-01,-1.85121756e+00, 7.85457523e+00,-1.26690314e+01,
  9.22220147e-02,-1.78573553e-01,-8.42665842e+00, 2.92374884e+01,
  4.11995206e+00,-8.35916828e-01, 2.01766660e+00,-4.78083841e-01,
  1.33498067e+02, 5.23546062e+00]

qfrc_actuator:
[ 5.48846792e-05, 7.81137814e-04, 1.30497234e-04,-6.71721085e-06,
  2.26138726e-05, 3.49267925e-02, 1.09261770e-02, 1.74144518e-03,
 -9.25538533e-05, 8.60782878e-04, 1.90386263e-04, 1.91648442e-05,
  0.00000000e+00,-1.62634704e-03, 0.00000000e+00,-5.16425778e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038370619591608854
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.4467098e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.4467098e-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([-0.13929072, -0.03604833,  0.06180663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.27018616e-05,-3.85283953e-06, 6.35902797e-06, 1.48475246e-05,
  4.10064885e-06, 3.93481348e-05, 4.24141230e-05,-7.82808860e-06,
  3.50805802e-03,-1.06777662e-05, 2.03484291e-05, 1.47383227e-04,
 -4.26870655e-06,-4.61482340e-06,-4.90468702e+00, 3.62839112e-05,
  3.41201224e-03,-3.76770585e-04]


--- Step 2250 ---
qpos:
[ 0.01869489, 0.03001427,-0.00945164,-0.02532262,-0.00352127, 1.3407635 ,
 -0.02993711, 0.94378373, 0.01153544, 0.02730229,-0.00828715, 0.02644354,
  1.39624037, 0.0076797 , 1.31525649, 0.04425625,-0.08579334,-0.04745965,
  0.09345627, 0.70873469,-0.07840292,-0.6970673 ,-0.07513514]

qacc:
[ 1.52315143e+00, 8.89422612e-01,-4.01722138e+00, 7.95941803e+00,
  5.67888758e-02,-2.28552644e+00, 6.57014467e+00,-3.33772802e+00,
 -2.41858651e+00, 4.53640088e-01,-3.55914550e+00, 1.30316502e+01,
  1.04145490e-01,-2.26595149e-01, 3.89920302e+00,-1.28139462e+01,
 -4.65691616e+00, 9.60357749e-01,-2.22202477e+00,-1.89223269e+00,
 -1.51243535e+02,-8.25716767e+00]

qfrc_actuator:
[ 6.44638582e-05, 8.01492956e-04, 1.30811617e-04, 5.94258531e-06,
  1.96574344e-05, 3.49109942e-02, 1.09682780e-02, 1.75134866e-03,
 -1.07312251e-04, 8.86393132e-04, 2.16113919e-04, 5.05779168e-05,
  0.00000000e+00,-1.63334425e-03, 0.00000000e+00,-5.81947111e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038736485291248623
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.43304564e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.43304564e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00843126, -0.06774429,  0.06180501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.63686858e-05,-1.62430973e-05, 4.25051728e-05, 1.03185034e-05,
 -1.46272137e-05, 5.60542073e-05, 3.88173110e-05, 3.44176036e-05,
  3.51728716e-03,-1.56083937e-05, 2.28652841e-05,-5.53884708e-05,
  2.92026291e-05, 3.99263286e-05,-4.90457285e+00, 2.49695948e-04,
  3.41942912e-03,-3.59492104e-04]


--- Step 2251 ---
qpos:
[ 0.0186956 , 0.03001228,-0.00945114,-0.02532116,-0.00352115, 1.34076362,
 -0.02993648, 0.94378368, 0.01153526, 0.02730216,-0.0082868 , 0.02644369,
  1.39623907, 0.00767868, 1.31536652, 0.04426249,-0.08580346,-0.04742429,
  0.09344303, 0.70857607,-0.07878032,-0.69722413,-0.07478053]

qacc:
[ 6.91925214e+00,-3.22222349e-01,-5.16197669e-01, 7.24053058e+00,
 -3.46444387e-02, 1.39046196e-01,-1.11712346e+00, 2.92446354e+00,
  4.43728578e+00,-2.19604615e-01,-1.55997723e+00, 9.09894262e+00,
  1.01414345e-01,-2.95872617e-01, 1.23145367e+01,-4.20789750e+01,
 -4.12420868e+00, 8.53970647e-01,-3.09671727e+00,-1.87149969e+00,
 -1.33769283e+02,-7.15470924e+00]

qfrc_actuator:
[ 1.05650783e-04, 8.32272118e-04, 1.66583935e-04, 3.07524880e-05,
 -2.92941838e-08, 3.48838177e-02, 1.09572702e-02, 1.75726143e-03,
 -8.02122967e-05, 8.30530511e-04, 2.13526541e-04, 6.91841232e-05,
  0.00000000e+00,-1.65491263e-03, 0.00000000e+00,-7.84409292e-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, -3.25929583,  7.99773515, -3.25929583, 81.70458211,
       29.77729765,  7.99773515, 29.77729765, 20.77142692,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003872900009824369
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97081858e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.97081858e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00843259, -0.06774573,  0.06180504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.14610228e-05, 3.07557525e-05, 3.56170434e-05, 2.48420494e-05,
 -1.00142424e-05,-2.75399252e-05,-9.04683851e-06, 6.91144420e-06,
  2.66883586e-05,-1.50338521e-05, 1.49624702e-05, 2.30221377e-05,
  3.51227704e-03,-2.57425395e-05, 7.47265475e-07,-2.03484365e-04,
 -7.54100779e-06,-9.71950362e-06,-4.90469570e+00, 1.61763179e-05,
  3.42230304e-03,-3.53167699e-04]


--- Step 2252 ---
qpos:
[ 0.01869644, 0.03001087,-0.0094504 ,-0.02531981,-0.00352118, 1.34076373,
 -0.02993633, 0.94378371, 0.01153541, 0.02730133,-0.00828588, 0.02644377,
  1.39623814, 0.00767749, 1.31547671, 0.04426494,-0.08579509,-0.04739274,
  0.09344371, 0.70862772,-0.07914658,-0.69716681,-0.07443804]

qacc:
[ 1.22885938e+00,-1.28871612e-01, 1.99780777e+00,-4.60810535e+00,
 -6.14212862e-02, 1.42351354e+00,-4.83066938e+00, 5.09414026e+00,
  2.81711212e+00,-2.70700113e+00, 8.62099902e+00,-1.03556169e+01,
  8.67454583e-02,-9.42784977e-02, 1.17476027e+01,-4.07474965e+01,
  4.62118905e+00,-9.51251795e-01, 3.48100780e+00, 2.34991081e-03,
  1.50068648e+02, 8.12347829e+00]

qfrc_actuator:
[ 1.11846422e-04, 8.86977395e-04, 1.87559532e-04, 2.70406359e-05,
 -1.18393046e-05, 3.48853438e-02, 1.09326931e-02, 1.76073473e-03,
 -6.41914504e-05, 7.61686342e-04, 2.29402008e-04, 6.22595661e-05,
  0.00000000e+00,-1.64944810e-03, 0.00000000e+00,-9.77090736e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003841403986144923
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89014909e-14, -4.33522364e-14,  1.00000000e+00,  1.25294427e-27,
        1.00000000e+00,  4.33522364e-14, -1.00000000e+00,  0.00000000e+00,
        2.89014909e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13928297, -0.03604505,  0.06180641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.77289360e-05,-1.52726786e-05,-3.07920948e-05, 2.54152208e-06,
  1.67956882e-05,-7.31650580e-05, 1.54052915e-05,-6.60505176e-06,
  3.50065308e-03, 1.33311241e-07,-2.52853551e-05,-2.04651226e-04,
  1.15171425e-05,-6.35768124e-05,-4.90462027e+00,-1.75982489e-04,
  3.41859892e-03,-3.46181293e-04]


--- Step 2253 ---
qpos:
[ 0.0186977 , 0.03001039,-0.00945012,-0.02531885,-0.0035212 , 1.34076413,
 -0.02993662, 0.94378306, 0.0115354 , 0.02730029,-0.00828494, 0.02644409,
  1.39623757, 0.00767629, 1.31558685, 0.04426435,-0.08577026,-0.04736452,
  0.0934524 , 0.70886614,-0.07950288,-0.69691918,-0.07410623]

qacc:
[ 3.51107593e+00, 1.68888075e+00,-2.57722045e+00,-4.23282885e+00,
  9.14190652e-04, 4.07038561e-01, 5.45916404e-01,-8.55521847e+00,
 -1.30853639e+00, 1.67880076e-01,-2.00858200e+00, 6.25898088e+00,
  6.60953796e-02, 1.52569785e-02, 9.08270934e+00,-3.18838972e+01,
  4.11409784e+00,-8.34883052e-01, 2.00029569e+00, 1.08667250e-01,
  1.33324583e+02, 7.22279918e+00]

qfrc_actuator:
[ 1.32891997e-04, 9.37772449e-04, 1.64200256e-04, 6.58219955e-06,
 -1.07476717e-06, 3.49217326e-02, 1.09181805e-02, 1.72725633e-03,
 -7.25863307e-05, 7.74390954e-04, 2.38210696e-04, 7.58717040e-05,
  0.00000000e+00,-1.64559661e-03, 0.00000000e+00,-1.12689976e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038375408081345735
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44652928e-14,  2.89305855e-14,  1.00000000e+00, -4.18489389e-28,
        1.00000000e+00, -2.89305855e-14, -1.00000000e+00,  0.00000000e+00,
        1.44652928e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13928796, -0.03604193,  0.06180659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.87049528e-07, 2.19916286e-05,-2.09300291e-05,-3.47810903e-05,
 -7.93047586e-06,-2.52853499e-05,-4.63754008e-06, 1.08801420e-05,
  3.48220003e-03, 1.22545715e-05,-3.57873898e-05,-1.64817447e-04,
 -9.00574655e-06,-2.49261192e-06,-4.90469352e+00, 4.70879238e-05,
  3.41905450e-03,-3.29024792e-04]


--- Step 2254 ---
qpos:
[ 0.01870024, 0.03001041,-0.00944971,-0.02531779,-0.00352117, 1.34076454,
 -0.02993644, 0.94378199, 0.01153598, 0.02729968,-0.00828419, 0.02644416,
  1.39623712, 0.00767501, 1.31569676, 0.04426226,-0.085764  ,-0.04733236,
  0.09345214, 0.70889242,-0.07987289,-0.69688639,-0.07376467]

qacc:
[ 1.09530856e+01, 4.77013028e-01,-1.24103217e+00, 2.55797476e+00,
  2.30414025e-02,-1.97598768e+00, 7.30274303e+00,-1.11736445e+01,
  5.00862190e+00, 5.74038400e-01,-1.81188029e-01,-4.18461072e+00,
  5.07358442e-02,-6.82641817e-02, 4.20697453e+00,-1.52149238e+01,
 -4.64163521e+00, 9.87216326e-01,-2.23378850e+00,-1.93126248e+00,
 -1.50960973e+02,-8.16820260e+00]

qfrc_actuator:
[ 1.98026194e-04, 9.50132474e-04, 1.68102607e-04, 1.19159572e-05,
  5.39251980e-06, 3.49254713e-02, 1.09453560e-02, 1.70783875e-03,
 -4.20230135e-05, 8.35815990e-04, 2.43109922e-04, 6.60158720e-05,
  0.00000000e+00,-1.66054633e-03, 0.00000000e+00,-1.19698189e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003885448175733462
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.92933529e-15, -2.85738729e-14,  1.00000000e+00,  2.55145692e-28,
        1.00000000e+00,  2.85738729e-14, -1.00000000e+00,  0.00000000e+00,
        8.92933529e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00840081, -0.06774484,  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:
[ 6.57921602e-05, 6.84372686e-05, 2.41783748e-05, 9.31389906e-06,
  6.63783455e-06, 1.07613826e-05, 2.80744801e-05,-2.01775747e-05,
  3.03196951e-05, 4.68167961e-05,-5.17807461e-07,-1.08882883e-05,
  3.46413836e-03,-1.74236500e-06,-3.54260379e-05,-8.40346975e-05,
  2.50183356e-05, 4.45485018e-05,-4.90457675e+00, 2.60250484e-04,
  3.42560187e-03,-3.11748731e-04]


--- Step 2255 ---
qpos:
[ 0.0187025 , 0.03001071,-0.0094494 ,-0.02531697,-0.00352122, 1.34076463,
 -0.02993583, 0.94378176, 0.01153692, 0.02729939,-0.00828343, 0.02644445,
  1.39623697, 0.00767415, 1.3158063 , 0.04426064,-0.08577419,-0.04729669,
  0.09343946, 0.70873105,-0.08025556,-0.69704352,-0.07341441]

qacc:
[-2.34566368e+00, 1.56656877e-01, 1.05341768e+00,-5.39467864e+00,
 -3.45097841e-02,-1.25258724e-01,-1.80970373e+00, 1.15178612e+01,
  3.08432674e+00, 8.48249315e-01,-3.33735660e+00, 6.93470362e+00,
  3.70711005e-02, 2.96734563e-01,-1.93869394e+00, 5.99844259e+00,
 -4.11109135e+00, 8.76191455e-01,-3.10723608e+00,-1.94588022e+00,
 -1.33520608e+02,-7.00484017e+00]

qfrc_actuator:
[ 1.82068339e-04, 9.39493515e-04, 1.52445286e-04,-3.12623905e-06,
 -8.52407291e-06, 3.48920486e-02, 1.09613098e-02, 1.75012442e-03,
 -2.42706088e-05, 8.54910949e-04, 2.45867766e-04, 7.79807369e-05,
  0.00000000e+00,-1.61569773e-03, 0.00000000e+00,-1.16628323e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.42708172,  7.41537082, -4.42708172, 63.67421034,
       32.85837634,  7.41537082, 32.85837634, 28.25328109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003883358158420218
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60814539e-14, -2.85892513e-14,  1.00000000e+00,  4.59756727e-28,
        1.00000000e+00,  2.85892513e-14, -1.00000000e+00,  0.00000000e+00,
        1.60814539e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00840519, -0.0677482 ,  0.06180454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.99353775e-06,-2.25884500e-05, 2.06598804e-05, 4.29639354e-05,
  1.86560278e-05, 4.47275480e-05, 1.19857308e-05, 1.37397500e-05,
  3.45748384e-03, 4.71324632e-05,-2.62401237e-05, 2.13225604e-05,
 -1.16285078e-05,-8.21131783e-06,-4.90469667e+00, 2.72379641e-05,
  3.42824578e-03,-3.05400357e-04]


--- Step 2256 ---
qpos:
[ 0.01870421, 0.03001084,-0.00944901,-0.02531664,-0.00352125, 1.3407648 ,
 -0.02993601, 0.94378241, 0.01153738, 0.02729947,-0.00828293, 0.02644489,
  1.39623718, 0.00767375, 1.31591572, 0.04425901,-0.0857659 ,-0.04726479,
  0.09344064, 0.70878   ,-0.08062937,-0.69698646,-0.07307321]

qacc:
[-4.73667418e+00,-1.40325254e+00, 6.70894324e+00,-1.50277923e+01,
  1.22157221e-02, 3.72179052e+00,-1.38570464e+01, 2.22402992e+01,
 -4.14063525e+00, 1.53854324e+00,-5.43971154e+00, 8.28618710e+00,
  1.77556095e-02, 3.60417992e-01,-1.72730072e-01, 3.52286535e-01,
  4.61748773e+00,-9.42572572e-01, 3.46405353e+00, 5.60964379e-01,
  1.49896657e+02, 1.00145486e+01]

qfrc_actuator:
[ 1.53999197e-04, 8.97306051e-04, 1.42983569e-04,-3.00823763e-05,
  9.48584450e-07, 3.48898944e-02, 1.09171236e-02, 1.79283569e-03,
 -4.97189385e-05, 8.66281998e-04, 2.29455274e-04, 8.49105930e-05,
  0.00000000e+00,-1.58869852e-03, 0.00000000e+00,-1.16524274e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003840655554863938
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89071230e-14,  2.89071230e-14,  1.00000000e+00, -8.35621759e-28,
        1.00000000e+00, -2.89071230e-14, -1.00000000e+00,  0.00000000e+00,
        2.89071230e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13928152, -0.03603535,  0.06180643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.56596410e-06,-9.31915417e-06,-4.49947442e-05, 4.36350612e-05,
 -2.48874568e-05, 3.94578626e-05,-5.22769219e-06, 9.52642593e-06,
  3.44271130e-03, 5.30431545e-05,-9.94975142e-06,-1.21923311e-06,
  7.41951878e-06,-6.41748040e-05,-4.90461919e+00,-1.64701534e-04,
  3.42440249e-03,-2.98391061e-04]


--- Step 2257 ---
qpos:
[ 0.01870557, 0.03001031,-0.00944819,-0.02531694,-0.00352121, 1.3407653 ,
 -0.02993627, 0.94378282, 0.01153685, 0.02729995,-0.00828265, 0.02644541,
  1.39623729, 0.00767331, 1.31602498, 0.04425806,-0.08577414,-0.04722931,
  0.09342953, 0.70864002,-0.08101569,-0.69712061,-0.07272302]

qacc:
[-2.97557542e+00,-3.39655473e+00, 1.35169112e+01,-2.46814801e+01,
  2.68895430e-02, 2.39511204e-01, 2.66513180e-01,-3.29792114e+00,
 -8.53168652e+00, 1.34176375e+00,-4.27721736e+00, 5.55200078e+00,
  7.68264386e-03,-5.95787926e-02,-2.27058355e+00, 7.61836372e+00,
 -4.13211717e+00, 8.95286171e-01,-3.07215829e+00,-1.93503029e+00,
 -1.34423318e+02,-7.07091248e+00]

qfrc_actuator:
[ 1.36805057e-04, 8.36542077e-04, 1.54866259e-04,-6.38535633e-05,
  6.62393720e-06, 3.49417549e-02, 1.09266610e-02, 1.78216444e-03,
 -1.00387125e-04, 8.90609606e-04, 2.19564060e-04, 8.87965450e-05,
  0.00000000e+00,-1.62587393e-03, 0.00000000e+00,-1.12846028e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003840031635796118
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.42096620e-15, -1.44559099e-14,  1.00000000e+00, -7.83649988e-29,
        1.00000000e+00,  1.44559099e-14, -1.00000000e+00,  0.00000000e+00,
       -5.42096620e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00850346, -0.06777462,  0.06180646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.78228144e-06, 3.92151912e-05, 3.87453816e-06,-1.12583512e-05,
 -5.13826792e-05, 4.57042437e-05,-2.06116927e-06, 5.58024138e-06,
  3.42443641e-03,-7.12361008e-06,-5.81767053e-06, 3.51594774e-05,
 -1.26089813e-05,-8.85360790e-07,-4.90468962e+00, 5.83560671e-05,
  3.42416274e-03,-2.81133966e-04]


--- Step 2258 ---
qpos:
[ 0.01870671, 0.03000952,-0.00944767,-0.02531729,-0.00352125, 1.34076583,
 -0.02993605, 0.94378344, 0.01153674, 0.02730054,-0.0082821 , 0.02644597,
  1.39623709, 0.00767269, 1.31613403, 0.04425888,-0.08576405,-0.04719754,
  0.09343191, 0.70870884,-0.08139412,-0.69704218,-0.07238071]

qacc:
[-1.86853313e+00, 3.75199955e-01,-1.59269858e+00, 1.27047817e+00,
 -3.38643481e-02,-9.03369979e-01, 2.54885703e+00, 2.41022698e-01,
  3.68210275e+00,-5.59685604e-01, 1.97844542e+00,-1.67781490e+00,
  1.85207009e-02,-2.15521372e-01,-5.69473919e+00, 1.94333842e+01,
  4.58299684e+00,-9.26549439e-01, 3.37337663e+00, 7.82104834e-01,
  1.48702010e+02, 1.06671172e+01]

qfrc_actuator:
[ 1.26153972e-04, 8.36198373e-04, 1.43652669e-04,-6.58644018e-05,
 -7.77785450e-06, 3.49369591e-02, 1.09502860e-02, 1.79349805e-03,
 -7.67162613e-05, 8.87015749e-04, 2.31410333e-04, 9.08784695e-05,
  0.00000000e+00,-1.64798031e-03, 0.00000000e+00,-1.03540595e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038771479482038393
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.29525661e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.29525661e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13922897, -0.03603985,  0.06180472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.80142452e-06, 1.73148519e-05, 3.14071460e-05, 1.23657293e-05,
  2.21836593e-05, 2.17361659e-05, 2.12178809e-05, 4.07701236e-06,
  3.42915970e-03,-2.72095276e-05,-6.65825055e-07, 9.38367347e-05,
  5.48626869e-07,-5.74498249e-05,-4.90463225e+00,-1.38149572e-04,
  3.42099651e-03,-2.74092180e-04]


--- Step 2259 ---
qpos:
[ 0.01870807, 0.03000886,-0.00944751,-0.02531771,-0.00352155, 1.34076606,
 -0.02993538, 0.94378457, 0.01153726, 0.02730128,-0.00828112, 0.02644619,
  1.39623686, 0.00767193, 1.31624321, 0.04425946,-0.08573764,-0.04716901,
  0.09344191, 0.70896314,-0.0817654 ,-0.69677481,-0.07204546]

qacc:
[ 1.76830737e+00, 1.03335472e+00,-3.14326047e+00, 2.43344605e+00,
 -1.11084712e-01,-7.31992852e-01, 8.70362876e-01, 5.31766242e+00,
  5.37768037e+00,-1.71539549e+00, 7.86368133e+00,-1.46086459e+01,
  3.20252749e-02,-1.29785911e-01, 9.11600421e-01,-2.93770891e+00,
  4.08172975e+00,-8.11183093e-01, 1.90611482e+00, 7.80149786e-01,
  1.32145576e+02, 9.40478166e+00]

qfrc_actuator:
[ 1.37188793e-04, 8.71971484e-04, 1.36895167e-04,-6.68946355e-05,
 -3.41075554e-05, 3.48983501e-02, 1.09640823e-02, 1.81767435e-03,
 -4.49765012e-05, 9.02318168e-04, 2.55882288e-04, 7.41216732e-05,
  0.00000000e+00,-1.64313404e-03, 0.00000000e+00,-1.05197655e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038682231531138034
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43505555e-14,  1.43505555e-14,  1.00000000e+00, -2.05938445e-28,
        1.00000000e+00, -1.43505555e-14, -1.00000000e+00,  0.00000000e+00,
        1.43505555e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13924094, -0.03603438,  0.06180514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.21213979e-05,-2.25183714e-05, 2.11202950e-05, 2.59064241e-05,
  3.23985545e-05, 3.19935414e-05, 3.17008091e-05,-1.50165468e-05,
  3.44422586e-03,-1.31974230e-05, 7.91824243e-06,-1.19205635e-05,
 -1.27860208e-05, 5.75976496e-06,-4.90467891e+00, 8.70477118e-05,
  3.42115997e-03,-2.56612456e-04]


--- Step 2260 ---
qpos:
[ 0.01870851, 0.03000832,-0.00944776,-0.02531814,-0.00352213, 1.34076598,
 -0.02993448, 0.943786  , 0.01153678, 0.02730211,-0.0082801 , 0.02644694,
  1.39623667, 0.00767133, 1.31635223, 0.04426118,-0.08572983,-0.04713636,
  0.09344309, 0.70900441,-0.08215031,-0.69672322,-0.07169957]

qacc:
[-7.84296258e+00, 1.32690288e+00,-4.45010089e+00, 4.91610549e+00,
 -1.19349581e-01,-5.12691322e-01, 5.80477514e-01, 3.09922366e+00,
 -8.55029774e+00, 1.12736718e+00,-6.05984977e+00, 1.50420745e+01,
  3.11641776e-02, 7.25073782e-02,-3.68642066e+00, 1.25742795e+01,
 -4.65116555e+00, 1.03254104e+00,-2.20582982e+00,-2.05678605e+00,
 -1.51635125e+02,-7.97246316e+00]

qfrc_actuator:
[ 8.98866599e-05, 8.75866020e-04, 1.15237894e-04,-6.73018650e-05,
 -4.96267229e-05, 3.48752727e-02, 1.09718233e-02, 1.83142402e-03,
 -9.75290169e-05, 8.93349549e-04, 2.52157916e-04, 9.96913529e-05,
  0.00000000e+00,-1.62208502e-03, 0.00000000e+00,-9.90993941e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038634260736168796
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.38814030e-15, -2.87367483e-14,  1.00000000e+00,  1.54837631e-28,
        1.00000000e+00,  2.87367483e-14, -1.00000000e+00,  0.00000000e+00,
        5.38814030e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00844609, -0.0677739 ,  0.0618054 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.45023768e-05,-3.06260514e-05, 6.49988603e-06, 1.42958291e-05,
 -5.15897007e-05, 1.48009793e-05, 6.24782879e-06, 2.77397552e-05,
  3.44568294e-03, 1.49357855e-05,-4.47535433e-07, 6.06990380e-05,
  2.68314051e-05, 5.58699377e-05,-4.90454154e+00, 3.05743754e-04,
  3.42737923e-03,-2.38828551e-04]


--- Step 2261 ---
qpos:
[ 0.01870837, 0.03000781,-0.0094483 ,-0.02531788,-0.00352267, 1.34076536,
 -0.02993331, 0.94378656, 0.01153533, 0.02730274,-0.00827923, 0.02644769,
  1.39623703, 0.00767071, 1.31646191, 0.04425792,-0.0857385 ,-0.04710004,
  0.09343195, 0.70885728,-0.08254805,-0.69686239,-0.07134411]

qacc:
[-4.90238748e+00, 2.26009022e+00,-1.09059781e+01, 2.32857114e+01,
  2.15896760e-02,-2.91016660e+00, 1.04047737e+01,-1.86885740e+01,
 -8.28453269e+00, 1.68417189e-01,-9.82518602e-01, 1.42053048e+00,
  2.04091545e-02, 1.19875798e-01, 1.60636966e+01,-5.47713628e+01,
 -4.11994838e+00, 9.14281275e-01,-3.08216835e+00,-2.11751666e+00,
 -1.34107361e+02,-6.72871987e+00]

qfrc_actuator:
[ 6.18772034e-05, 8.78343773e-04, 1.02592897e-04,-3.18669174e-05,
 -2.30297269e-05, 3.48261369e-02, 1.09759727e-02, 1.78567030e-03,
 -1.46020083e-04, 8.52082656e-04, 2.31747066e-04, 9.66657866e-05,
  0.00000000e+00,-1.60931068e-03, 0.00000000e+00,-1.25757622e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.54221587,  6.62349002, -5.54221587, 44.54070723,
       30.04301695,  6.62349002, 30.04301695, 33.77490614,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038644109437841745
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25691232e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.25691232e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00844322, -0.06777744,  0.06180536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.20651343e-06,-6.43762879e-05,-6.81468634e-07,-4.61489120e-05,
 -4.99944723e-05,-3.05738047e-05,-1.56457727e-05,-1.63896862e-06,
  3.44366845e-03, 1.97959539e-05, 4.71487523e-06,-2.63690151e-04,
 -1.56639755e-05,-1.23304129e-06,-4.90467829e+00, 6.38707386e-05,
  3.43062472e-03,-2.32304063e-04]


--- Step 2262 ---
qpos:
[ 0.01870825, 0.03000724,-0.00944867,-0.02531721,-0.00352289, 1.34076456,
 -0.0299322 , 0.94378551, 0.01153365, 0.02730341,-0.00827865, 0.02644734,
  1.39623765, 0.0076701 , 1.31657158, 0.04425184,-0.08572882,-0.04706737,
  0.09343427, 0.70891917,-0.08293983,-0.69678865,-0.07099413]

qacc:
[ 8.74362535e-02, 3.06842528e-01,-2.90718743e+00, 9.66273742e+00,
  1.30029086e-01,-2.84690199e+00, 1.23110111e+01,-2.91842082e+01,
 -1.94091372e+00,-1.40080206e+00, 9.73917357e+00,-2.83670287e+01,
 -8.78410972e-03, 8.76128285e-02, 8.49788308e+00,-2.97320235e+01,
  4.58711762e+00,-9.10246550e-01, 3.36705683e+00, 1.23429464e+00,
  1.48727984e+02, 1.22247477e+01]

qfrc_actuator:
[ 6.32189137e-05, 8.80018491e-04, 1.13141497e-04,-1.11269404e-05,
  1.08641762e-05, 3.48327370e-02, 1.09778363e-02, 1.70525334e-03,
 -1.56199601e-04, 8.62699226e-04, 2.19241441e-04, 4.12891280e-05,
  0.00000000e+00,-1.61914187e-03, 0.00000000e+00,-1.39547456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003858258250509075
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.31628582e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.31628582e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13925258, -0.036022  ,  0.06180559])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.75596026e-05,-3.05286983e-05,-1.21602437e-05,-8.34402559e-05,
 -1.16507163e-05,-9.83912368e-06,-2.08235109e-05,-5.72633363e-05,
  3.41594256e-03, 1.08391501e-05,-3.00936076e-05,-1.52686125e-04,
 -1.27169296e-06,-6.02747492e-05,-4.90461383e+00,-1.36171633e-04,
  3.42744836e-03,-2.25088597e-04]


--- Step 2263 ---
qpos:
[ 0.01870849, 0.03000637,-0.00944877,-0.02531662,-0.00352292, 1.3407641 ,
 -0.02993193, 0.9437842 , 0.01153221, 0.02730426,-0.00827835, 0.02644666,
  1.3962379 , 0.00766972, 1.31668031, 0.04425048,-0.08570279,-0.04703788,
  0.0934442 , 0.70916675,-0.08332615,-0.69652564,-0.07064915]

qacc:
[ 3.11694661e+00,-1.35178151e+00, 4.55019591e+00,-6.11246141e+00,
  8.52867973e-02, 2.29335830e+00,-6.38131616e+00, 2.19340886e+00,
  1.99460292e+00, 3.37371032e-01, 5.27431300e-01,-5.94270914e+00,
 -1.56644591e-02, 5.16117061e-02,-1.56644123e+01, 5.27717736e+01,
  4.08617687e+00,-7.95896314e-01, 1.90233236e+00, 1.17611284e+00,
  1.32183445e+02, 1.07637452e+01]

qfrc_actuator:
[ 8.18196341e-05, 8.45782478e-04, 1.19525733e-04,-1.69440145e-05,
  1.33541634e-05, 3.48726267e-02, 1.09430304e-02, 1.69388874e-03,
 -1.43748247e-04, 8.86522905e-04, 2.11675675e-04, 2.66153948e-05,
  0.00000000e+00,-1.62480074e-03, 0.00000000e+00,-1.13679653e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003850416014860039
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44169230e-14, -2.88338460e-14,  1.00000000e+00,  4.15695338e-28,
        1.00000000e+00,  2.88338460e-14, -1.00000000e+00,  0.00000000e+00,
        1.44169230e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13926299, -0.03601652,  0.06180596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.46852803e-05, 1.81189465e-05,-4.46105428e-05,-1.45744697e-05,
  1.21125751e-05, 1.15263747e-05,-1.41595502e-05,-1.69322030e-05,
  3.40245797e-03, 4.87639033e-06,-3.18128317e-05, 2.46077989e-04,
 -1.58059433e-05, 5.77701367e-06,-4.90466322e+00, 9.37226903e-05,
  3.42682996e-03,-2.07168711e-04]


--- Step 2264 ---
qpos:
[ 0.01870861, 0.03000535,-0.00944881,-0.02531646,-0.00352296, 1.34076357,
 -0.02993171, 0.9437831 , 0.01153127, 0.02730525,-0.00827822, 0.02644649,
  1.39623798, 0.00766929, 1.31678902, 0.04425049,-0.08569531,-0.04700417,
  0.09344525, 0.70920192,-0.08372644,-0.69647788,-0.07029285]

qacc:
[-1.05673468e+00,-1.21259981e+00, 5.86401340e+00,-1.32234295e+01,
 -6.16530929e-03, 3.84306562e-01,-1.82852566e+00, 4.12945710e+00,
  4.30444756e+00, 1.70160328e+00,-7.98577924e+00, 1.70799023e+01,
  4.33404114e-03,-7.61536915e-02,-4.15101349e+00, 1.44799902e+01,
 -4.63593158e+00, 1.05440639e+00,-2.21955585e+00,-2.25688338e+00,
 -1.51268052e+02,-7.58763258e+00]

qfrc_actuator:
[ 7.49144994e-05, 8.43528647e-04, 1.23227993e-04,-3.83751613e-05,
 -3.01575992e-06, 3.48610294e-02, 1.09403055e-02, 1.70550961e-03,
 -1.18089131e-04, 9.00372748e-04, 2.07187083e-04, 5.37880858e-05,
  0.00000000e+00,-1.62818171e-03, 0.00000000e+00,-1.07264066e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038811900463948806
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.32417428e-14, -2.86052219e-14,  1.00000000e+00,  6.64835209e-28,
        1.00000000e+00,  2.86052219e-14, -1.00000000e+00,  0.00000000e+00,
        2.32417428e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00840096, -0.06778257,  0.06180461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.78127912e-06,-1.07368927e-05,-4.68635629e-06, 1.05170678e-05,
  2.60220254e-05, 1.66119318e-05,-4.45142294e-06, 2.68453527e-05,
  3.42130005e-03,-9.94699750e-06, 1.28466479e-05, 7.38308750e-05,
  2.29565948e-05, 5.91027339e-05,-4.90452796e+00, 3.18937283e-04,
  3.43224863e-03,-1.88836298e-04]


--- Step 2265 ---
qpos:
[ 0.01870795, 0.0300044 ,-0.00944892,-0.02531623,-0.00352309, 1.34076283,
 -0.02993123, 0.94378283, 0.01153134, 0.02730601,-0.00827768, 0.02644632,
  1.39623807, 0.00766896, 1.31689777, 0.04425128,-0.08570426,-0.04696673,
  0.09343393, 0.70904922,-0.08413999,-0.69662039,-0.06992635]

qacc:
[-6.63552328e+00, 4.28263281e-01,-1.70141379e+00, 2.98697551e+00,
 -3.75089398e-02, 4.33909175e-01,-3.43915860e+00, 1.27543255e+01,
  8.59234528e+00,-1.48903687e+00, 4.86334872e+00,-5.47151338e+00,
  9.59042111e-03, 4.82882517e-02,-2.31198926e+00, 8.16100002e+00,
 -4.10646177e+00, 9.32695676e-01,-3.09481791e+00,-2.32614077e+00,
 -1.33779177e+02,-6.33819867e+00]

qfrc_actuator:
[ 3.52938316e-05, 8.60413850e-04, 1.25430879e-04,-3.32905665e-05,
 -1.28132736e-05, 3.48543362e-02, 1.09563645e-02, 1.74829805e-03,
 -6.71167976e-05, 8.72696100e-04, 2.22292154e-04, 5.20961393e-05,
  0.00000000e+00,-1.61226129e-03, 0.00000000e+00,-1.03496784e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.95204081,  6.2577941 , -5.95204081, 37.8013567 ,
       27.7400033 ,  6.2577941 , 27.7400033 , 35.0210016 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00388020839016686
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.36483601e-15, -2.86124587e-14,  1.00000000e+00,  1.53501149e-28,
        1.00000000e+00,  2.86124587e-14, -1.00000000e+00,  0.00000000e+00,
        5.36483601e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00840252, -0.0677879 ,  0.06180466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.08505691e-05,-1.32315671e-05, 1.37326835e-05, 4.25701776e-05,
  5.17425731e-05,-1.81871773e-05, 1.89023100e-05,-6.15030374e-07,
  3.42917269e-03, 8.23030163e-06, 1.13449190e-05, 4.28082547e-05,
 -1.83633050e-05,-1.52545843e-06,-4.90465702e+00, 7.05012609e-05,
  3.43562260e-03,-1.82056692e-04]


--- Step 2266 ---
qpos:
[ 0.01870786, 0.03000337,-0.00944898,-0.02531558,-0.00352331, 1.34076227,
 -0.02993127, 0.94378344, 0.01153168, 0.02730644,-0.00827715, 0.02644616,
  1.39623823, 0.00766876, 1.31700655, 0.04425252,-0.08569482,-0.04693285,
  0.09343607, 0.70910579,-0.08454936,-0.69654959,-0.06956325]

qacc:
[ 4.84419354e+00, 6.20690010e-01,-4.09577809e+00, 1.12106331e+01,
 -4.22804259e-02, 3.13829203e+00,-1.17540498e+01, 2.01682190e+01,
  2.27944190e+00,-3.30660277e-01, 4.77566048e-01, 1.55494501e-01,
  7.39155760e-03, 8.68944431e-02,-1.33528323e+00, 4.73271782e+00,
  4.59459264e+00,-8.89190386e-01, 3.36748124e+00, 1.64024664e+00,
  1.48800812e+02, 1.36317809e+01]

qfrc_actuator:
[ 6.55058493e-05, 8.53142241e-04, 1.26838450e-04,-1.26237688e-05,
 -1.85873252e-05, 3.48684853e-02, 1.09301375e-02, 1.79133163e-03,
 -5.49160517e-05, 8.38179440e-04, 2.13141924e-04, 5.11567464e-05,
  0.00000000e+00,-1.60263176e-03, 0.00000000e+00,-1.01314760e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038435882681449735
  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([-0.13927014, -0.03600442,  0.06180627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.21868775e-05, 1.07989980e-05,-2.60041431e-05, 4.40249609e-05,
  1.37120386e-05,-4.08237879e-05,-1.06168885e-05,-1.08135552e-06,
  3.42850534e-03, 1.32792717e-05, 7.40089934e-06, 2.50647148e-05,
 -3.11883042e-06,-6.32680096e-05,-4.90458655e+00,-1.35999611e-04,
  3.43261219e-03,-1.74565327e-04]


--- Step 2267 ---
qpos:
[ 0.01870882, 0.0300022 ,-0.00944872,-0.02531436,-0.00352363, 1.34076197,
 -0.02993135, 0.94378348, 0.01153216, 0.02730699,-0.00827749, 0.02644635,
  1.39623869, 0.00766856, 1.3171157 , 0.044251  ,-0.0857019 ,-0.04689516,
  0.09342597, 0.70897328,-0.08497201,-0.69667025,-0.06918961]

qacc:
[ 9.03975938e+00, 6.33061597e-02,-2.97697625e+00, 1.25965873e+01,
 -3.64173265e-02,-4.87915887e-01, 3.15431684e+00,-9.37808493e+00,
  1.20151830e+00, 3.24895649e+00,-1.28190845e+01, 2.00092268e+01,
 -9.95565073e-04, 9.26450324e-02, 8.90477995e+00,-3.03305157e+01,
 -4.12691121e+00, 9.51139735e-01,-3.06104561e+00,-2.36696713e+00,
 -1.34643357e+02,-6.30925248e+00]

qfrc_actuator:
[ 1.18836785e-04, 8.49230608e-04, 1.45433808e-04, 1.70234335e-05,
 -2.19008477e-05, 3.48948495e-02, 1.09324879e-02, 1.76313187e-03,
 -4.78893002e-05, 8.52988915e-04, 1.71946903e-04, 6.83946694e-05,
  0.00000000e+00,-1.59684858e-03, 0.00000000e+00,-1.16059914e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038386758519033254
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.03813473e-15, -1.44610156e-14,  1.00000000e+00,  1.30700607e-28,
        1.00000000e+00,  1.44610156e-14, -1.00000000e+00,  0.00000000e+00,
        9.03813473e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00849614, -0.06781823,  0.0618065 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.05151540e-05, 2.85786481e-05, 2.79617171e-06,-2.76170611e-05,
  7.41649249e-06,-1.02746560e-05,-5.09839792e-05, 1.50977533e-05,
  3.42510994e-03, 1.27418412e-05, 3.81553108e-06,-1.45661510e-04,
 -1.85305669e-05, 6.01563578e-06,-4.90463731e+00, 1.01965697e-04,
  3.43123203e-03,-1.55958779e-04]


--- Step 2268 ---
qpos:
[ 0.01870972, 0.03000129,-0.00944837,-0.02531317,-0.00352401, 1.34076155,
 -0.02993044, 0.94378351, 0.0115334 , 0.02730738,-0.00827797, 0.02644638,
  1.39623942, 0.00766864, 1.31722478, 0.04424841,-0.08569071,-0.04686095,
  0.09342901, 0.70904863,-0.08539129,-0.69657906,-0.0688185 ]

qacc:
[-4.94421852e-01, 4.76717570e-02, 4.87963793e-01,-1.43406899e+00,
 -2.76243448e-02,-2.88996316e+00, 9.27978433e+00,-8.15251192e+00,
  6.57186022e+00,-1.46423164e-01, 8.72073431e-01,-3.23284069e+00,
 -2.23037064e-02, 2.64571622e-01, 3.14885176e+00,-1.11514960e+01,
  4.56520238e+00,-8.69004636e-01, 3.28583334e+00, 1.80912696e+00,
  1.47727824e+02, 1.41196683e+01]

qfrc_actuator:
[ 1.14315031e-04, 8.82946934e-04, 1.56289109e-04, 1.62222167e-05,
 -2.37118306e-05, 3.48928795e-02, 1.09872186e-02, 1.76428229e-03,
 -8.44582009e-06, 8.43839996e-04, 1.65634920e-04, 6.07062306e-05,
  0.00000000e+00,-1.57555565e-03, 0.00000000e+00,-1.21130350e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038747406885275837
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.16320855e-15,  1.43264171e-14,  1.00000000e+00, -1.02623113e-28,
        1.00000000e+00, -1.43264171e-14, -1.00000000e+00,  0.00000000e+00,
        7.16320855e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13922486, -0.03600595,  0.06180481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.02388565e-06, 1.35581309e-05, 5.98299490e-05, 1.45062114e-06,
  3.96599594e-05,-2.47911326e-05,-1.41943060e-05,-9.60010206e-06,
  3.40961649e-03, 3.35093209e-05,-1.71203908e-05,-5.89617881e-05,
 -8.88423609e-06,-5.69051960e-05,-4.90458536e+00,-1.12461753e-04,
  3.42902999e-03,-1.48311580e-04]


--- Step 2269 ---
qpos:
[ 0.01870987, 0.03000094,-0.00944831,-0.02531236,-0.00352429, 1.34076062,
 -0.02992869, 0.94378498, 0.01153443, 0.02730748,-0.00827845, 0.02644598,
  1.39624011, 0.00766892, 1.3173335 , 0.04424722,-0.08566325,-0.04682977,
  0.09343938, 0.70930866,-0.08580741,-0.69629947,-0.06844977]

qacc:
[-6.45568551e+00, 7.66421256e-01,-3.92308287e-02,-6.48123896e+00,
  4.20735960e-02,-4.47545212e-01,-2.32441719e+00, 1.90517040e+01,
 -1.92331500e+00,-1.25470745e+00, 5.73134722e+00,-1.29421165e+01,
 -3.42801282e-02, 1.44046440e-01,-4.73459910e+00, 1.58184870e+01,
  4.06781627e+00,-7.58808327e-01, 1.83183987e+00, 1.69651051e+00,
  1.31326350e+02, 1.24557116e+01]

qfrc_actuator:
[ 7.57703032e-05, 9.21135191e-04, 1.44862856e-04,-2.46499720e-06,
 -6.85463499e-06, 3.48386741e-02, 1.10190855e-02, 1.83598061e-03,
 -2.12465337e-05, 8.20532238e-04, 1.62122707e-04, 3.84232398e-05,
  0.00000000e+00,-1.58072541e-03, 0.00000000e+00,-1.13353001e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003863701573357553
  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([-0.13923974, -0.03599954,  0.06180533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.21158051e-05,-3.49563139e-05, 4.13698019e-05, 7.38948476e-05,
 -1.16460296e-05,-4.05054747e-05,-1.07130558e-05,-2.40246414e-05,
  3.39568125e-03, 1.48746091e-05,-1.55999964e-05, 7.20076996e-05,
 -1.81450946e-05, 1.30391294e-05,-4.90461405e+00, 1.31775694e-04,
  3.42794283e-03,-1.29185906e-04]


--- Step 2270 ---
qpos:
[ 0.01870991, 0.03000113,-0.00944871,-0.02531142,-0.00352428, 1.34075945,
 -0.02992741, 0.94378665, 0.0115346 , 0.02730707,-0.00827859, 0.02644532,
  1.39624066, 0.00766906, 1.31744224, 0.04424593,-0.08565437,-0.04679422,
  0.09344096, 0.70935558,-0.08623819,-0.69623581,-0.06806851]

qacc:
[-1.04047351e+00, 2.26248137e+00,-7.58529544e+00, 1.01792731e+01,
  1.21360949e-01, 1.30716142e+00,-5.04496178e+00, 6.84782490e+00,
 -7.23847744e+00,-2.15489171e+00, 7.81266632e+00,-1.24861527e+01,
 -2.91283304e-02,-8.37910439e-02, 3.11001077e-01,-1.06087019e+00,
 -4.64363554e+00, 1.09547411e+00,-2.19606030e+00,-2.58749794e+00,
 -1.51815085e+02,-7.01002656e+00]

qfrc_actuator:
[ 7.07855086e-05, 9.43849136e-04, 1.20398573e-04, 3.97784315e-06,
  2.10649289e-05, 3.48068357e-02, 1.09837534e-02, 1.84204255e-03,
 -6.47058462e-05, 7.88930158e-04, 1.77963006e-04, 2.54708740e-05,
  0.00000000e+00,-1.60181089e-03, 0.00000000e+00,-1.14048273e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003863940976568357
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79580743e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.79580743e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00843345, -0.06782309,  0.06180537])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.50779237e-05,-4.08554257e-05,-3.52939338e-05, 7.94094378e-06,
 -4.38133486e-05,-5.74934340e-05, 5.32936733e-06,-1.55240029e-05,
  3.39825770e-03,-1.61840211e-05,-2.78024553e-07,-5.19564387e-06,
  2.49140680e-05, 7.10138501e-05,-4.90446233e+00, 3.72485377e-04,
  3.43279404e-03,-1.09539288e-04]


--- Step 2271 ---
qpos:
[ 0.01870988, 0.03000186,-0.00944942,-0.02531042,-0.00352397, 1.34075826,
 -0.02992688, 0.94378699, 0.01153494, 0.02730614,-0.00827826, 0.02644485,
  1.39624087, 0.0076691 , 1.31755067, 0.0442469 ,-0.08566194,-0.04675479,
  0.09343025, 0.70921407,-0.08668301,-0.696363  ,-0.06767594]

qacc:
[-5.37449654e-01, 1.73582095e+00,-5.40368325e+00, 6.55078499e+00,
  1.29035036e-01,-2.91272877e-01, 3.63138885e+00,-1.84950724e+01,
  1.44579536e+00,-1.61539452e+00, 3.98687486e+00,-1.14113139e+00,
 -1.87734367e-02,-1.37896700e-01,-7.32139400e+00, 2.49425893e+01,
 -4.11332196e+00, 9.67712705e-01,-3.07401430e+00,-2.67333860e+00,
 -1.34250177e+02,-5.74405102e+00]

qfrc_actuator:
[ 6.78524694e-05, 9.74832896e-04, 1.06153713e-04, 7.38851400e-06,
  3.76417745e-05, 3.48060908e-02, 1.09445736e-02, 1.77388123e-03,
 -5.48350877e-05, 7.70444082e-04, 2.05070774e-04, 3.58709879e-05,
  0.00000000e+00,-1.61443984e-03, 0.00000000e+00,-1.01981138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.43475779,  5.76026641, -6.43475779, 29.85187285,
       23.69971342,  5.76026641, 23.69971342, 35.11116611,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00386535152831409
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97466731e-14, -1.43612168e-14,  1.00000000e+00,  2.83586253e-28,
        1.00000000e+00,  1.43612168e-14, -1.00000000e+00,  0.00000000e+00,
        1.97466731e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00842922, -0.06782846,  0.06180531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.73049398e-05,-3.00011222e-05,-5.09532772e-05,-7.02378570e-05,
  8.56632211e-06,-5.01978002e-05, 1.53608346e-05, 7.82312987e-06,
  3.40440494e-03,-2.21128407e-05,-3.14510740e-06, 1.19797100e-04,
 -2.12652975e-05, 4.69735384e-06,-4.90460268e+00, 1.04770265e-04,
  3.43730823e-03,-1.02251789e-04]


--- Step 2272 ---
qpos:
[ 0.01871051, 0.03000287,-0.00944966,-0.0253094 ,-0.00352325, 1.34075725,
 -0.02992721, 0.94378512, 0.0115347 , 0.02730508,-0.00827805, 0.02644484,
  1.39624061, 0.00766928, 1.31765857, 0.04425332,-0.0856512 ,-0.04671874,
  0.09343273, 0.70928086,-0.08712623,-0.69627764,-0.06728396]

qacc:
[ 5.62543262e+00,-9.59097196e-01, 3.89510454e+00,-4.66678726e+00,
  1.70994183e-01,-1.22004852e+00, 8.82801344e+00,-3.34518540e+01,
 -4.90359293e+00, 1.13688124e+00,-6.24763784e+00, 1.45670680e+01,
  2.55006793e-03,-5.12767312e-02,-1.72700807e+01, 5.92276163e+01,
  4.57866200e+00,-8.44125702e-01, 3.29675646e+00, 2.19837824e+00,
  1.47971453e+02, 1.54940049e+01]

qfrc_actuator:
[ 1.01645035e-04, 9.92807934e-04, 1.33591876e-04, 8.99856034e-06,
  6.50326166e-05, 3.48238895e-02, 1.09035474e-02, 1.66263045e-03,
 -8.46536173e-05, 7.77783846e-04, 2.03167423e-04, 5.99414398e-05,
  0.00000000e+00,-1.60421882e-03, 0.00000000e+00,-7.36129451e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003848784755579905
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.44230334e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.44230334e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13925821, -0.03598529,  0.06180602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.94356664e-05,-1.08667534e-05,-5.47521425e-05,-1.15275814e-04,
 -2.95887655e-05,-1.71881013e-05,-1.01017271e-05, 2.26051184e-05,
  3.42156555e-03,-6.68472942e-06, 9.87199087e-06, 2.89509535e-04,
 -9.94566073e-06,-6.15267255e-05,-4.90454064e+00,-1.19601553e-04,
  3.43545115e-03,-9.41907661e-05]


--- Step 2273 ---
qpos:
[ 0.01871188, 0.030004  ,-0.00944946,-0.02530836,-0.00352202, 1.3407567 ,
 -0.02992858, 0.94378296, 0.01153342, 0.02730374,-0.00827808, 0.02644515,
  1.39624026, 0.0076692 , 1.31776691, 0.0442594 ,-0.08562413,-0.04668563,
  0.09344258, 0.70953273,-0.08756786,-0.69600327,-0.0668926 ]

qacc:
[ 6.40402225e+00,-9.90844299e-01, 3.59773749e+00,-3.75187612e+00,
  2.17411597e-01, 2.89479405e+00,-8.11384028e+00, 3.30235122e+00,
 -8.92142737e+00, 9.69866430e-01,-5.30221994e+00, 1.13366821e+01,
  2.71611642e-02,-2.09308277e-01, 1.69388403e+00,-4.98129735e+00,
  4.08021342e+00,-7.36351187e-01, 1.84304273e+00, 2.05168406e+00,
  1.31551019e+02, 1.36914504e+01]

qfrc_actuator:
[ 1.39029609e-04, 9.85267617e-04, 1.49861931e-04, 9.55376762e-06,
  9.86905514e-05, 3.48703647e-02, 1.08618270e-02, 1.65121329e-03,
 -1.37611401e-04, 7.47182524e-04, 1.84262019e-04, 7.41079525e-05,
  0.00000000e+00,-1.61598828e-03, 0.00000000e+00,-7.67030835e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00383971381065569
  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([-0.13927033, -0.03597949,  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:
[ 3.83799470e-05, 2.91927550e-05, 3.17628802e-05, 4.17312858e-06,
  6.28722758e-05, 2.62950075e-05,-5.34588449e-05,-1.60267829e-05,
 -5.38340618e-05,-4.13061991e-05,-2.29070565e-05, 1.35234323e-05,
  3.44478615e-03,-2.50765525e-05, 3.47260826e-05,-1.39595975e-05,
 -2.10960883e-05, 1.25363846e-05,-4.90457372e+00, 1.36928085e-04,
  3.43332686e-03,-7.40553776e-05]


--- Step 2274 ---
qpos:
[ 0.018713  , 0.03000481,-0.00944909,-0.02530724,-0.00352047, 1.34075649,
 -0.02993002, 0.9437827 , 0.01153255, 0.02730188,-0.00827792, 0.02644528,
  1.3962403 , 0.00766871, 1.3178761 , 0.04425941,-0.08561557,-0.04664806,
  0.09344358, 0.70957223,-0.08802495,-0.69594413,-0.06648782]

qacc:
[-2.14418621e+00,-7.53522344e-01, 1.76624379e+00,-5.30392888e-01,
  1.34193466e-01, 3.89874540e+00,-1.61086508e+01, 3.59104605e+01,
  3.50269906e+00,-1.59739329e+00, 5.42087514e+00,-8.37274123e+00,
  2.53379897e-02,-1.64233055e-01, 1.95948558e+01,-6.67088238e+01,
 -4.62660622e+00, 1.11557800e+00,-2.21313394e+00,-2.91483858e+00,
 -1.51368992e+02,-6.38886228e+00]

qfrc_actuator:
[ 1.24959110e-04, 9.26959235e-04, 1.41532798e-04, 9.44738640e-06,
  1.00331803e-04, 3.49159512e-02, 1.08734728e-02, 1.75192368e-03,
 -1.14989299e-04, 7.11772533e-04, 1.90828027e-04, 6.45420558e-05,
  0.00000000e+00,-1.62286434e-03, 0.00000000e+00,-1.08959001e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038829040379176963
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.93518593e-15, -1.42962975e-14,  1.00000000e+00,  1.27740076e-28,
        1.00000000e+00,  1.42962975e-14, -1.00000000e+00,  0.00000000e+00,
        8.93518593e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00838401, -0.06783897,  0.06180452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.87969572e-05, 4.91979286e-05, 1.02348334e-05, 9.95554357e-05,
  2.10271208e-05,-6.26356756e-05,-4.30375918e-06,-1.18610935e-05,
  3.44902826e-03,-1.91509850e-05, 1.01367187e-05,-3.19876049e-04,
  2.07275392e-05, 7.49312408e-05,-4.90442498e+00, 3.90702258e-04,
  3.43709925e-03,-5.33212087e-05]


--- Step 2275 ---
qpos:
[ 0.01871429, 0.03000504,-0.00944864,-0.02530608,-0.00351903, 1.34075616,
 -0.02993081, 0.94378296, 0.01153196, 0.02729964,-0.00827801, 0.02644531,
  1.39624067, 0.00766847, 1.3179851 , 0.0442576 ,-0.08562341,-0.04660655,
  0.09343221, 0.70942392,-0.08849688,-0.69607517,-0.06607093]

qacc:
[ 1.45266463e+00,-9.45843924e-01, 2.11362126e+00,-1.26523288e+00,
 -4.28305917e-02,-1.01968508e+00, 2.07718189e+00, 4.29758020e+00,
  2.36580528e+00,-1.99107584e-02,-2.19612058e-01,-8.94255708e-01,
 -1.86757691e-03, 2.36541732e-01, 5.24570364e+00,-1.87319912e+01,
 -4.09809495e+00, 9.84963157e-01,-3.08970844e+00,-2.99277017e+00,
 -1.33851579e+02,-5.15408424e+00]

qfrc_actuator:
[ 1.33971653e-04, 8.74088789e-04, 1.36282368e-04, 8.89056009e-06,
  6.50016439e-05, 3.48899265e-02, 1.08988305e-02, 1.77580165e-03,
 -1.01312730e-04, 6.91585924e-04, 1.76835822e-04, 5.88551196e-05,
  0.00000000e+00,-1.59105182e-03, 0.00000000e+00,-1.17298007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.64116515,  5.52102366, -6.64116515, 26.77171426,
       21.81476952,  5.52102366, 21.81476952, 34.87705669,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003882039071125075
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25120475e-14, -2.85989658e-14,  1.00000000e+00,  3.57831619e-28,
        1.00000000e+00,  2.85989658e-14, -1.00000000e+00,  0.00000000e+00,
        1.25120475e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00838486, -0.06784609,  0.06180457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.24015643e-05, 6.18929965e-06, 3.90674245e-05, 2.79622152e-05,
  1.42655471e-05,-5.65404066e-05,-2.78531588e-05,-8.74842426e-06,
  3.42950785e-03, 3.27373847e-05,-3.47080564e-05,-1.00808621e-04,
 -2.39694572e-05, 4.08352795e-06,-4.90455474e+00, 1.09432214e-04,
  3.44216451e-03,-4.55559021e-05]


--- Step 2276 ---
qpos:
[ 0.01871567, 0.03000517,-0.00944844,-0.02530499,-0.00351796, 1.34075569,
 -0.02993123, 0.94378422, 0.01153153, 0.02729775,-0.00827947, 0.0264456 ,
  1.39624113, 0.00766844, 1.31809375, 0.0442561 ,-0.08561296,-0.04657413,
  0.09341131, 0.70947808,-0.08880109,-0.69601024,-0.06576441]

qacc:
[ 8.30569611e-01, 4.75168488e-01,-1.66358404e+00, 1.22178319e+00,
 -1.61911910e-01, 5.17153804e-01,-3.96313224e+00, 1.50550330e+01,
  1.38838663e+00, 4.83834601e+00,-1.76922000e+01, 2.41669931e+01,
 -1.86436799e-02, 1.80738608e-01,-1.43702852e+00, 4.26964203e+00,
  4.57072338e+00,-2.27012439e+00,-2.38494632e+00, 2.35615195e+01,
  1.50405929e+02,-8.21623641e+01]

qfrc_actuator:
[ 1.38762834e-04, 8.95883707e-04, 1.32899358e-04, 8.07639549e-06,
  2.55331481e-05, 3.48745112e-02, 1.09139693e-02, 1.82521669e-03,
 -9.30356103e-05, 7.33852591e-04, 1.15367135e-04, 7.32464532e-05,
  0.00000000e+00,-1.58975795e-03, 0.00000000e+00,-1.15018691e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003848317688137537
  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([-0.18093914, -0.00989136,  0.06180605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.67971974e-05,-3.50587560e-06, 2.16170476e-05, 5.13939600e-05,
  8.66953847e-06, 4.60557716e-06,-7.68553600e-05, 1.08387619e-05,
  3.41254243e-03, 2.23974061e-05,-2.75415247e-05, 1.26129681e-05,
 -1.16306945e-05,-6.58449999e-05,-4.90448430e+00,-1.27929477e-04,
  3.44086923e-03,-3.69753025e-05]


--- Step 2277 ---
qpos:
[ 0.01871642, 0.03000523,-0.00944863,-0.0253039 ,-0.00351718, 1.34075559,
 -0.02993163, 0.94378569, 0.01153155, 0.02729595,-0.00828081, 0.02644564,
  1.39624175, 0.00766849, 1.31820243, 0.04425315,-0.08558637,-0.04654966,
  0.09337735, 0.70971064,-0.08895737,-0.69577286,-0.06555554]

qacc:
[-5.52478950e+00, 9.50604618e-01,-3.44544156e+00, 3.83574893e+00,
 -1.16949360e-01, 7.86781030e-01,-2.40187085e+00, 4.26548263e+00,
  3.81947659e+00,-7.46086624e-01, 3.85106359e+00,-8.35764700e+00,
 -2.58044386e-02, 1.13564926e-01, 4.40885175e+00,-1.53308335e+01,
  4.03354674e+00,-1.99061486e+00,-3.26469799e+00, 2.07463598e+01,
  1.32457918e+02,-7.25985949e+01]

qfrc_actuator:
[ 1.05519120e-04, 8.91217938e-04, 1.13192944e-04, 7.18068262e-06,
  1.94088765e-05, 3.49187975e-02, 1.09230011e-02, 1.83601437e-03,
 -7.02473644e-05, 7.59758974e-04, 1.33153373e-04, 6.38553933e-05,
  0.00000000e+00,-1.58910663e-03, 0.00000000e+00,-1.22485263e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003875709175250111
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43228371e-14,  2.86456742e-14,  1.00000000e+00, -4.10287326e-28,
        1.00000000e+00, -2.86456742e-14, -1.00000000e+00,  0.00000000e+00,
        1.43228371e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18086554, -0.00991369,  0.0618047 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.37796112e-05, 4.81239536e-05, 1.23160267e-05, 1.25185132e-05,
  2.30389893e-05, 1.31572542e-05, 9.68409529e-06,-1.16356275e-05,
  3.40798545e-03, 1.18827021e-05,-1.18203181e-05,-7.76333649e-05,
  3.32515454e-06, 4.38269110e-06,-4.90476688e+00, 1.39319262e-04,
  3.40464227e-03,-2.00560048e-05]


--- Step 2278 ---
qpos:
[ 0.01871607, 0.03000543,-0.00944943,-0.02530319,-0.00351644, 1.34075572,
 -0.02993208, 0.94378556, 0.0115315 , 0.0272941 ,-0.00828159, 0.02644522,
  1.39624254, 0.00766856, 1.31831115, 0.04424832,-0.08558086,-0.04652132,
  0.09333804, 0.70970865,-0.08916132,-0.6957707 ,-0.0653225 ]

qacc:
[-9.40758116e+00, 1.18714248e+00,-2.32742040e+00,-3.32366037e+00,
 -2.08808898e-02,-2.28148541e+00, 1.10890108e+01,-2.82355784e+01,
 -5.93499355e-01,-2.58245484e+00, 1.11063203e+01,-2.01185002e+01,
 -3.72983350e-02, 1.04935568e-01, 5.80229366e+00,-2.01809137e+01,
 -5.26876140e+00, 9.69133858e-01,-1.33645133e+00,-1.12294790e+01,
 -1.67703308e+02, 7.01114478e+00]

qfrc_actuator:
[ 5.01556694e-05, 9.06191282e-04, 8.39179820e-05,-1.15345605e-05,
  3.33378174e-05, 3.49096792e-02, 1.09108134e-02, 1.75301879e-03,
 -7.46039609e-05, 7.58220015e-04, 1.62039180e-04, 4.05981210e-05,
  0.00000000e+00,-1.58877342e-03, 0.00000000e+00,-1.32086973e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003963075564992376
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.7508861e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.7508861e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00818434, -0.06778097,  0.06180056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.03167934e-06, 2.02908179e-05,-1.00252831e-06,-8.08963052e-05,
 -3.68421615e-06, 7.40936520e-06, 3.24295561e-05,-2.25788447e-05,
  3.39974595e-03, 8.90492381e-06,-1.57958429e-05,-1.02260418e-04,
  4.70058308e-05, 8.52583074e-06,-4.90478357e+00, 2.52104219e-04,
  3.39665643e-03,-1.03419911e-05]


--- Step 2279 ---
qpos:
[ 0.01871437, 0.03000589,-0.00945016,-0.02530243,-0.00351566, 1.34075577,
 -0.02993255, 0.94378481, 0.01153071, 0.02729268,-0.00828282, 0.02644521,
  1.39624343, 0.00766867, 1.31841982, 0.04424201,-0.08559385,-0.04648949,
  0.09328931, 0.70950033,-0.08940568,-0.69597555,-0.06506869]

qacc:
[-1.15935768e+01, 2.34398488e-01,-5.47810501e-01, 1.11929576e+00,
  1.56892935e-02,-1.11778315e+00, 4.77669932e+00,-1.12729231e+01,
 -6.34849239e+00, 2.68127102e+00,-1.04842842e+01, 1.81394430e+01,
 -4.86031732e-02, 1.07730301e-01, 4.37088057e+00,-1.53926077e+01,
 -4.62253357e+00, 8.70739104e-01,-2.35635729e+00,-9.55303459e+00,
 -1.47483533e+02, 5.46140097e+00]

qfrc_actuator:
[-1.77713438e-05, 9.50507905e-04, 1.02555893e-04,-5.06873748e-06,
  4.14295901e-05, 3.48862616e-02, 1.09037099e-02, 1.72198011e-03,
 -1.12660210e-04, 7.93572504e-04, 1.43847242e-04, 6.26029148e-05,
  0.00000000e+00,-1.58862146e-03, 0.00000000e+00,-1.39316201e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.62505053,  0.44190529,  8.62505053,  8.75016293,
       -2.22111993,  0.44190529, -2.22111993, 51.98789675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003995041209367577
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56318901e-14, -1.38950134e-14,  1.00000000e+00,  2.17205323e-28,
        1.00000000e+00,  1.38950134e-14, -1.00000000e+00,  0.00000000e+00,
        1.56318901e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0081036 , -0.06774839,  0.06179892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.52829064e-06,-1.48212635e-05,-5.62060090e-06,-3.23344096e-05,
 -3.81686897e-05, 4.53028199e-05,-1.34164276e-05, 2.30119649e-05,
  3.39135442e-03, 7.56703498e-06,-2.02713740e-05,-8.03906444e-05,
  8.31755842e-06,-4.61942350e-06,-4.90488298e+00, 1.05151462e-04,
  3.40518257e-03,-6.71195301e-06]


--- Step 2280 ---
qpos:
[ 0.01871221, 0.03000643,-0.00945036,-0.02530126,-0.00351512, 1.34075573,
 -0.0299332 , 0.94378578, 0.01153016, 0.02729134,-0.00828358, 0.0264458 ,
  1.39624412, 0.00766894, 1.318528  , 0.04423787,-0.0855865 ,-0.04646762,
  0.0932345 , 0.70951741,-0.08946344,-0.69596281,-0.06493924]

qacc:
[-3.90662701e+00,-5.02681144e-01, 2.78848528e-01, 5.79541514e+00,
 -9.80101530e-02, 3.30490971e+00,-1.44277664e+01, 3.24314918e+01,
  2.05448747e+00, 3.25826731e-02,-2.48723925e+00, 1.19742071e+01,
 -5.25900609e-02, 9.76954206e-02,-7.27580309e+00, 2.44102748e+01,
  5.08249970e+00,-2.48752001e+00,-1.51975125e+00, 2.59150058e+01,
  1.67253491e+02,-9.19919087e+01]

qfrc_actuator:
[-3.92839083e-05, 9.59015511e-04, 1.31733779e-04, 1.62266131e-05,
  1.04471262e-05, 3.48900009e-02, 1.08996498e-02, 1.81054300e-03,
 -9.92273406e-05, 7.97337045e-04, 1.69189807e-04, 9.33076596e-05,
  0.00000000e+00,-1.58860024e-03, 0.00000000e+00,-1.27335915e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00404159684236826
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.74699102e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.74699102e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18042817, -0.0100657 ,  0.06179656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.83068461e-05,-6.53158690e-06,-8.54781523e-06, 8.72012832e-05,
  1.23246207e-05, 2.73627991e-05, 3.38758754e-05, 3.26371243e-05,
  3.38577796e-03, 5.61169548e-06,-1.96342918e-05, 1.12417482e-04,
  3.56167533e-05,-3.92007558e-05,-4.90474699e+00,-3.28799977e-05,
  3.40596976e-03,-2.55101784e-06]


--- Step 2281 ---
qpos:
[ 0.01871119, 0.03000722,-0.00945048,-0.02530053,-0.00351501, 1.34075544,
 -0.02993352, 0.94378779, 0.01153046, 0.02728979,-0.00828386, 0.02644678,
  1.39624441, 0.00766916, 1.31863585, 0.04423683,-0.08556135,-0.04645443,
  0.09316951, 0.70973181,-0.08935765,-0.69575964,-0.06491906]

qacc:
[ 9.75286432e+00,-8.32044785e-01, 5.22197964e+00,-1.29913350e+01,
 -1.83889802e-01, 5.75336756e-01,-4.42828892e+00, 1.60995494e+01,
  7.31208762e+00,-8.15744941e-01, 8.09607577e-01, 5.48250235e+00,
 -3.68333344e-02,-1.03556419e-01,-9.88645390e+00, 3.38439910e+01,
  4.45104706e+00,-2.17117114e+00,-2.54357370e+00, 2.26416883e+01,
  1.46425423e+02,-8.07499053e+01]

qfrc_actuator:
[ 1.99565119e-05, 9.63845633e-04, 1.31253955e-04,-7.21072481e-06,
 -2.59734500e-05, 3.48745519e-02, 1.09153320e-02, 1.86226683e-03,
 -5.55849325e-05, 7.64584181e-04, 1.84426325e-04, 1.11139613e-04,
  0.00000000e+00,-1.60654163e-03, 0.00000000e+00,-1.11235895e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004099188738521969
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35419847e-14,  1.35419847e-14,  1.00000000e+00, -1.83385350e-28,
        1.00000000e+00, -1.35419847e-14, -1.00000000e+00,  0.00000000e+00,
        1.35419847e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1802735 , -0.01012042,  0.06179368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.31491290e-05,-1.81121758e-05, 1.59911632e-05, 5.32990930e-05,
  4.40052591e-05,-8.99637168e-06, 2.62127608e-05, 2.08146421e-05,
  3.39550839e-03,-2.00823325e-05, 2.56952740e-06, 1.64558860e-04,
  8.97956546e-06,-2.10864408e-06,-4.90497612e+00, 1.25530972e-04,
  3.39811638e-03, 4.39171361e-06]


--- Step 2282 ---
qpos:
[ 0.0187102 , 0.03000819,-0.00945054,-0.02530042,-0.00351504, 1.34075518,
 -0.02993367, 0.94378865, 0.0115306 , 0.02728818,-0.00828451, 0.02644802,
  1.39624467, 0.00766927, 1.31874398, 0.04423504,-0.08555935,-0.04643775,
  0.09310231, 0.7096919 ,-0.08932249,-0.69580971,-0.06486708]

qacc:
[ 2.43367030e-01,-1.18330600e+00, 7.18969550e+00,-1.81523085e+01,
 -6.06616117e-02,-2.40563916e+00, 1.02420459e+01,-2.21345188e+01,
 -1.44655418e+00, 1.44487464e+00,-6.31314820e+00, 1.12191740e+01,
 -1.98048615e-02,-5.41216453e-02, 2.71640523e+00,-8.86865042e+00,
 -5.78853912e+00, 8.71923111e-01,-5.53114459e-01,-1.71402148e+01,
 -1.82052498e+02, 1.62846028e+01]

qfrc_actuator:
[ 1.97218359e-05, 9.66283395e-04, 1.30961247e-04,-3.90589183e-05,
 -1.21031458e-05, 3.48833051e-02, 1.09246775e-02, 1.80310880e-03,
 -6.55382762e-05, 7.45675818e-04, 1.57886540e-04, 1.21205985e-04,
  0.00000000e+00,-1.59961194e-03, 0.00000000e+00,-1.15922461e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004159038274306963
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.00516714e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.00516714e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00769691, -0.06758269,  0.06179064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.75392411e-05, 3.46708677e-06, 9.18891437e-06,-5.79955650e-05,
 -8.67459712e-06,-1.75590673e-05,-2.44315197e-05, 1.09930310e-05,
  3.41594173e-03,-1.06201415e-05, 1.73254245e-05,-3.78332421e-05,
  2.33021313e-05,-3.93204358e-05,-4.90489054e+00, 1.12767235e-04,
  3.41959735e-03, 3.35670005e-06]


--- Step 2283 ---
qpos:
[ 0.01870886, 0.03000941,-0.00945121,-0.02530031,-0.00351495, 1.34075543,
 -0.02993449, 0.94378916, 0.01153027, 0.02728652,-0.00828573, 0.02644903,
  1.39624507, 0.00766951, 1.31885218, 0.04423272,-0.08557752,-0.0464179 ,
  0.09302829, 0.7094293 ,-0.08934581,-0.69608181,-0.06478823]

qacc:
[-2.93339572e+00, 2.02510441e+00,-6.74660070e+00, 7.54436830e+00,
  5.45766769e-02, 1.89621896e+00,-4.62191658e+00,-5.70931240e-01,
 -3.98384525e+00, 1.11085756e+00,-3.10275416e+00, 2.27033365e-01,
 -2.43698659e-02, 1.50241139e-01, 1.68247354e+00,-5.73084373e+00,
 -5.04303573e+00, 7.92698396e-01,-1.70620499e+00,-1.41505267e+01,
 -1.59359838e+02, 1.27432101e+01]

qfrc_actuator:
[ 2.20828333e-06, 9.67246269e-04, 9.52747560e-05,-4.00867429e-05,
  1.40716728e-05, 3.49241486e-02, 1.08947262e-02, 1.78570361e-03,
 -8.92154821e-05, 7.35013931e-04, 1.24686612e-04, 1.08851524e-04,
  0.00000000e+00,-1.57767177e-03, 0.00000000e+00,-1.18617459e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.54532053, -1.25070939,  8.54532053,  9.02161711,
        2.63219773, -1.25070939,  2.63219773, 26.62053604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004212700325289545
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.64713684e-15, -2.63541894e-14,  1.00000000e+00, -4.34089563e-29,
        1.00000000e+00,  2.63541894e-14, -1.00000000e+00,  0.00000000e+00,
       -1.64713684e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00756202, -0.06752287,  0.06178786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.58102285e-05, 4.28183526e-05,-2.99264841e-05,-1.83754281e-05,
 -2.39423858e-05,-2.49960301e-05,-3.94317210e-05,-1.37356691e-05,
  3.41655273e-03, 1.72502019e-05, 4.26580732e-07,-2.75917413e-05,
  4.07486420e-06, 3.92976769e-06,-4.90499505e+00, 1.24377835e-04,
  3.41400856e-03, 3.68912861e-06]


--- Step 2284 ---
qpos:
[ 0.0187094 , 0.03001085,-0.00945237,-0.02529952,-0.00351465, 1.34075579,
 -0.02993557, 0.94378946, 0.01153   , 0.02728491,-0.00828741, 0.02644952,
  1.39624512, 0.00766977, 1.31895996, 0.04423345,-0.08557376,-0.04640872,
  0.0929512 , 0.70941128,-0.0891661 ,-0.69611784,-0.06484597]

qacc:
[ 1.60139853e+01, 3.00483417e+00,-1.31706419e+01, 2.54562438e+01,
  8.62538231e-02, 4.58004804e-01,-9.10580124e-01,-1.59833674e+00,
  5.22655844e-01, 2.64795659e-01, 1.36016721e+00,-9.70852751e+00,
 -2.32036548e-02,-6.33212700e-02,-9.83599380e+00, 3.34902968e+01,
  5.48293802e+00,-2.66699222e+00,-7.67341568e-01, 2.77588708e+01,
  1.81544636e+02,-1.00648983e+02]

qfrc_actuator:
[ 9.89522123e-05, 9.84943525e-04, 7.44947178e-05,-5.24399284e-06,
  2.96611622e-05, 3.49127429e-02, 1.08774993e-02, 1.77528037e-03,
 -8.52580285e-05, 7.47060144e-04, 1.05603865e-04, 8.34137592e-05,
  0.00000000e+00,-1.60019650e-03, 0.00000000e+00,-1.02357890e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004337974008900541
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.59903292e-15, -2.55931230e-14,  1.00000000e+00,  9.21104924e-29,
        1.00000000e+00,  2.55931230e-14, -1.00000000e+00,  0.00000000e+00,
        3.59903292e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17964035, -0.0103504 ,  0.06178184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.49342045e-05, 5.87502221e-06,-1.27941446e-05,-1.04401798e-05,
  3.24338099e-06,-1.06028519e-05,-2.95460314e-05,-2.81355305e-05,
  3.40967532e-03,-1.23661708e-05,-5.01557990e-06, 1.60617589e-04,
  5.59510352e-05, 5.60523033e-06,-4.90482225e+00, 1.09249967e-04,
  3.40396238e-03, 4.04828599e-06]


--- Step 2285 ---
qpos:
[ 0.01871075, 0.03001224,-0.00945284,-0.02529837,-0.0035143 , 1.34075582,
 -0.02993666, 0.94378966, 0.01152978, 0.0272836 ,-0.00828919, 0.0264493 ,
  1.39624468, 0.00766972, 1.3190676 , 0.04423677,-0.08555091,-0.04640882,
  0.09286642, 0.70960626,-0.08880931,-0.69594816,-0.06502319]

qacc:
[ 6.97938870e+00,-1.23641475e+00, 2.75506315e+00, 2.51693959e+00,
  2.11287311e-02,-5.64880405e-01, 1.52116697e+00,-2.26372841e+00,
  4.09232062e-01,-8.18487791e-01, 6.48249028e+00,-1.88544838e+01,
  3.00194408e-03,-3.20714526e-01,-8.06053863e+00, 2.78599181e+01,
  4.77337686e+00,-2.31897960e+00,-1.92173613e+00, 2.40493610e+01,
  1.58164668e+02,-8.79312671e+01]

qfrc_actuator:
[ 1.37910112e-04, 9.94852897e-04, 1.16038477e-04, 1.49444987e-05,
  2.10204289e-05, 3.48701853e-02, 1.08677384e-02, 1.76902597e-03,
 -8.28142210e-05, 7.90403856e-04, 1.12851672e-04, 5.05158283e-05,
  0.00000000e+00,-1.63157446e-03, 0.00000000e+00,-8.92633612e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004413405871869738
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.71669326e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.71669326e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17943718, -0.01042448,  0.06177804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.09449877e-06,-4.21240753e-05,-1.03726718e-05,-6.69574582e-06,
  2.53075282e-06, 3.01826048e-05, 4.81853790e-07,-3.49161394e-05,
  3.42697095e-03,-4.43340225e-05, 1.38735295e-05, 1.38881606e-04,
 -1.40887610e-05, 6.15482099e-06,-4.90496931e+00, 1.28556968e-04,
  3.42666193e-03, 2.70719411e-07]


--- Step 2286 ---
qpos:
[ 0.01871083, 0.03001365,-0.00945249,-0.0252977 ,-0.00351411, 1.34075512,
 -0.02993714, 0.94379082, 0.01152925, 0.02728233,-0.00829024, 0.02644866,
  1.39624415, 0.00766937, 1.31917556, 0.0442393 ,-0.0855528 ,-0.04640574,
  0.09278208, 0.70953025,-0.08853908,-0.69604695,-0.06516359]

qacc:
[-1.08385276e+01,-3.23967220e+00, 1.36401583e+01,-2.32651444e+01,
 -6.73656512e-02,-9.30186503e-01,-8.90927481e-02, 1.16942233e+01,
 -2.65655074e+00,-2.79906913e+00, 1.18257133e+01,-2.02218717e+01,
  2.65027205e-02,-2.44244467e-01, 2.86217620e+00,-9.34494648e+00,
 -6.18464912e+00, 7.93504502e-01, 1.11446381e-01,-2.12015833e+01,
 -1.93993810e+02, 2.24487024e+01]

qfrc_actuator:
[ 7.14961160e-05, 1.00027164e-03, 1.58496811e-04,-9.12598265e-06,
 -2.08593729e-06, 3.48270863e-02, 1.08978313e-02, 1.81851020e-03,
 -9.90423300e-05, 7.99005778e-04, 1.53469604e-04, 3.12920287e-05,
  0.00000000e+00,-1.63245005e-03, 0.00000000e+00,-9.41216499e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004427361272482444
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.56727529e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.56727529e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00702877, -0.06729075,  0.06177694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.95062112e-05,-6.86303773e-05, 2.04773399e-05, 4.77575197e-05,
 -1.61480459e-05, 2.41523677e-05, 4.57400370e-05,-1.85859830e-05,
  3.45115475e-03,-3.00912665e-05, 1.88002749e-05,-3.97381647e-05,
 -3.08139316e-05,-7.47787995e-05,-4.90476103e+00,-3.34022641e-05,
  3.47861223e-03,-1.20462341e-05]


--- Step 2287 ---
qpos:
[ 0.01870977, 0.03001508,-0.00945185,-0.02529729,-0.00351399, 1.34075384,
 -0.02993691, 0.94379117, 0.01152818, 0.02728131,-0.00829089, 0.02644813,
  1.39624351, 0.00766889, 1.31928347, 0.04424226,-0.08553479,-0.04641232,
  0.0926916 , 0.70967727,-0.08808278,-0.69592994,-0.06543018]

qacc:
[-9.78327327e+00,-1.28919648e+00, 5.72518467e+00,-1.06276138e+01,
 -2.62025611e-02,-4.08683048e+00, 1.40732522e+01,-2.12926240e+01,
 -4.56147302e+00,-5.64611955e-01, 2.03425599e+00,-9.27293405e-01,
  3.29115395e-02,-1.41639133e-01,-1.37623274e+00, 4.70757910e+00,
  4.97490571e+00,-2.41670859e+00,-1.53731608e+00, 2.49362286e+01,
  1.65820387e+02,-9.27019930e+01]

qfrc_actuator:
[ 1.46221505e-05, 9.85191357e-04, 1.65583044e-04,-2.35503874e-05,
  1.82303989e-06, 3.48019381e-02, 1.09334713e-02, 1.77614728e-03,
 -1.26130603e-04, 8.22404291e-04, 1.77833908e-04, 3.80156323e-05,
  0.00000000e+00,-1.63264786e-03, 0.00000000e+00,-9.17643094e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004513799695896936
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.2298098e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.2298098e-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([-0.17914599, -0.01052963,  0.06177259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.62086728e-06,-5.76665698e-05, 2.59486068e-05,-4.27177813e-05,
 -2.75590837e-05, 4.56089760e-05, 3.43727975e-05, 8.98674623e-06,
  3.45586378e-03,-1.47428794e-05, 6.52945706e-07, 2.29500689e-05,
 -2.30336826e-05, 2.47914949e-05,-4.90488991e+00, 1.60556404e-04,
  3.44954796e-03,-1.44642185e-05]


--- Step 2288 ---
qpos:
[ 0.01870804, 0.03001598,-0.00945086,-0.02529663,-0.00351388, 1.34075236,
 -0.02993724, 0.9437907 , 0.01152679, 0.02728064,-0.00829156, 0.02644806,
  1.39624292, 0.00766829, 1.31939148, 0.04424446,-0.08554175,-0.04641586,
  0.0926022 , 0.7095501 ,-0.0877155 ,-0.6960844 ,-0.06565944]

qacc:
[-5.76306472e+00,-1.17337622e+00, 2.20993255e+00, 1.65555527e+00,
 -7.55999993e-03,-1.67134845e-01, 1.94483328e+00,-1.11377417e+01,
 -2.71049255e+00, 1.45201896e+00,-6.38342881e+00, 1.38898807e+01,
  3.80159362e-02,-9.99472558e-02, 2.41204138e+00,-8.23751007e+00,
 -6.24454511e+00, 7.63420311e-01, 2.70101560e-01,-2.17914161e+01,
 -1.96289498e+02, 2.32968551e+01]

qfrc_actuator:
[-1.83936019e-05, 9.22307622e-04, 1.69407648e-04,-1.44663750e-05,
  4.15518273e-06, 3.47877184e-02, 1.09010805e-02, 1.73332643e-03,
 -1.41635211e-04, 8.36699559e-04, 1.74714403e-04, 5.99442298e-05,
  0.00000000e+00,-1.63249717e-03, 0.00000000e+00,-9.58199320e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004635584076569027
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.48437930e-15, -3.59250207e-14,  1.00000000e+00,  2.68876481e-28,
        1.00000000e+00,  3.59250207e-14, -1.00000000e+00,  0.00000000e+00,
        7.48437930e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00652282, -0.06708383,  0.06176664])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.17333380e-06,-4.23196453e-05,-4.19694718e-05,-4.47844232e-05,
 -1.63015792e-05, 4.73181051e-05, 1.08670339e-05, 2.52531821e-05,
  3.46073384e-03,-8.15009422e-06, 5.52588613e-07,-3.97281407e-05,
 -6.43519920e-05,-6.71607017e-05,-4.90466344e+00,-6.11733158e-05,
  3.51255266e-03,-3.16115925e-05]


--- Step 2289 ---
qpos:
[ 0.01870626, 0.03001673,-0.0094502 ,-0.02529622,-0.00351377, 1.34075045,
 -0.02993797, 0.9437918 , 0.01152592, 0.02728015,-0.00829247, 0.02644863,
  1.39624258, 0.00766797, 1.31949943, 0.0442465 ,-0.08557032,-0.04641659,
  0.09250864, 0.7091841 ,-0.08742079,-0.69647563,-0.06585753]

qacc:
[-3.38162054e-01, 1.95466267e-01, 2.86848094e-02,-3.58624459e+00,
  2.48388997e-04, 3.22083746e+00,-1.44511732e+01, 3.11181076e+01,
  4.37782019e+00, 2.22734980e+00,-1.03303749e+01, 2.17659646e+01,
  3.00414041e-02, 2.06913053e-01, 4.23282461e-01,-1.60758413e+00,
 -5.40060869e+00, 6.99666645e-01,-1.03857352e+00,-1.76023058e+01,
 -1.70874176e+02, 1.80891713e+01]

qfrc_actuator:
[-1.93525555e-05, 9.20035805e-04, 1.53344999e-04,-2.71701749e-05,
  5.52159530e-06, 3.47621354e-02, 1.08821075e-02, 1.81483504e-03,
 -1.14688765e-04, 8.27581064e-04, 1.55371885e-04, 9.06166806e-05,
  0.00000000e+00,-1.59659411e-03, 0.00000000e+00,-9.65212716e-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,  8.46035397, -1.73470098,  8.46035397,  9.11085138,
        2.31413614, -1.73470098,  2.31413614, 19.92269544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0046931459648940355
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.39258267e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.39258267e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00637523, -0.06700887,  0.06176355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.08301476e-08,-5.85402196e-05,-3.33396158e-05, 7.79643626e-05,
  2.64812126e-05, 2.06912108e-05,-7.34092167e-06, 3.35712710e-05,
  3.45846968e-03, 3.35418923e-05,-6.54833377e-06,-9.71657684e-06,
 -3.14831464e-05, 4.80470137e-05,-4.90475352e+00, 2.13148595e-04,
  3.47207133e-03,-3.53064526e-05]


--- Step 2290 ---
qpos:
[ 0.01870518, 0.03001766,-0.00944992,-0.02529601,-0.00351351, 1.34074867,
 -0.02993912, 0.94379243, 0.01152607, 0.02728005,-0.00829422, 0.02644923,
  1.39624251, 0.00766802, 1.31960727, 0.04424876,-0.08557511,-0.04642891,
  0.09241594, 0.70908645,-0.0869006 ,-0.69660677,-0.06620953]

qacc:
[ 5.91363564e+00, 9.05221851e-01,-2.07658196e+00,-7.86173285e-01,
  6.42205633e-02, 4.99408412e-01,-4.69207832e-01,-5.06400510e+00,
  8.66603359e+00, 2.90027493e+00,-9.78197171e+00, 1.14681538e+01,
  1.43160169e-02, 2.78883671e-01,-8.08907919e-01, 2.62875773e+00,
  5.94490089e+00,-2.89471471e+00, 2.12788512e-01, 2.95221535e+01,
  1.99832911e+02,-1.12890587e+02]

qfrc_actuator:
[ 1.63093658e-05, 9.53970857e-04, 1.43632899e-04,-3.48113069e-05,
  2.40498426e-05, 3.48010722e-02, 1.08712617e-02, 1.79134221e-03,
 -6.29757484e-05, 8.39946230e-04, 1.08766912e-04, 9.06527404e-05,
  0.00000000e+00,-1.57509163e-03, 0.00000000e+00,-9.52381310e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004832166131463679
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.10291498e-15, -2.29756799e-14,  1.00000000e+00,  1.40218621e-28,
        1.00000000e+00,  2.29756799e-14, -1.00000000e+00,  0.00000000e+00,
        6.10291498e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17830498, -0.0108419 ,  0.06175683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.85737822e-05, 2.38964827e-06,-2.38005235e-05,-2.44245633e-05,
  5.24923169e-05, 2.38914957e-05,-4.20604244e-05, 1.32268157e-06,
  3.44534288e-03, 4.11992278e-05,-5.58156277e-06, 1.10782233e-05,
  7.21543052e-05, 9.96701477e-05,-4.90452112e+00, 4.12531453e-04,
  3.43484477e-03,-3.99091447e-05]


--- Step 2291 ---
qpos:
[ 0.01870454, 0.03001842,-0.00944937,-0.02529589,-0.00351321, 1.34074759,
 -0.02994123, 0.94379173, 0.01152684, 0.02728004,-0.00829585, 0.02644945,
  1.39624257, 0.00766822, 1.31971511, 0.0442508 ,-0.08555933,-0.04645125,
  0.09231877, 0.70922091,-0.0861849 ,-0.69651243,-0.06669558]

qacc:
[ 3.75247952e+00,-1.15742857e+00, 4.18277349e+00,-6.07991718e+00,
  1.41628752e-02, 1.22255820e+00,-9.49661265e-02,-1.59794834e+01,
  5.28828470e+00,-9.89519790e-01, 5.26684566e+00,-1.20163335e+01,
  2.33781722e-03, 1.25319596e-01, 6.30405368e-01,-2.21869813e+00,
  5.14149840e+00,-2.50628834e+00,-1.11600992e+00, 2.52481715e+01,
  1.73078965e+02,-9.81460118e+01]

qfrc_actuator:
[ 3.77244281e-05, 9.38344426e-04, 1.55676309e-04,-3.93653696e-05,
  1.72184039e-05, 3.48605756e-02, 1.08299591e-02, 1.72401252e-03,
 -3.26185591e-05, 8.47176340e-04, 1.17509710e-04, 7.26597893e-05,
  0.00000000e+00,-1.58018082e-03, 0.00000000e+00,-9.63470370e-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,  5.23947772, -6.86546794,  5.23947772, 62.87849933,
       41.3956432 , -6.86546794, 41.3956432 , 40.22802673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004924254424021848
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40912579e-15, -1.12730063e-14,  1.00000000e+00, -1.58850839e-29,
        1.00000000e+00,  1.12730063e-14, -1.00000000e+00,  0.00000000e+00,
       -1.40912579e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1780577, -0.0109337,  0.0617522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.14501912e-06, 5.54501369e-05,-4.42559049e-05,-6.85253991e-05,
  3.19024837e-05, 1.20004037e-05, 8.56140939e-06,-1.83980684e-05,
  3.43192877e-03, 1.78806030e-05,-2.75544353e-06,-1.15449942e-05,
 -7.34177233e-05, 4.75292347e-05,-4.90453639e+00, 1.91943163e-04,
  3.50239974e-03,-6.05665743e-05]


--- Step 2292 ---
qpos:
[ 0.01870347, 0.03001912,-0.00944897,-0.02529615,-0.00351293, 1.34074655,
 -0.02994284, 0.94379158, 0.01152796, 0.02727987,-0.00829699, 0.02644947,
  1.39624263, 0.0076685 , 1.31982283, 0.04425336,-0.08552299,-0.04647808,
  0.09224716, 0.70961221,-0.08547571,-0.69615589,-0.06716697]

qacc:
[-3.67024491e+00,-4.74329694e-01, 3.20184749e+00,-9.60760384e+00,
 -6.12649751e-03,-3.47010577e-01, 2.10615067e-02, 6.49980403e+00,
  3.07955301e+00,-2.03057710e+00, 7.84081386e+00,-1.22054208e+01,
 -3.05725502e-03, 5.50400895e-02,-1.72448785e+00, 5.78773004e+00,
  5.14074566e+00,-1.12207823e+00, 6.39218726e+00, 5.12235360e+00,
  1.81577941e+02, 2.73335546e+01]

qfrc_actuator:
[ 1.50646112e-05, 9.28765426e-04, 1.44774386e-04,-5.98429974e-05,
  1.29810879e-05, 3.48607759e-02, 1.08598566e-02, 1.75571645e-03,
 -1.50827972e-05, 8.33716547e-04, 1.41092917e-04, 6.19998144e-05,
  0.00000000e+00,-1.58340236e-03, 0.00000000e+00,-9.35309446e-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, -7.34397183,  4.54454118, -7.34397183, 21.92160801,
       21.46893527,  4.54454118, 21.46893527, 43.33013128,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00497425708824685
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11596868e-14,  5.57984341e-15,  1.00000000e+00, -6.22693049e-29,
        1.00000000e+00, -5.57984341e-15, -1.00000000e+00,  0.00000000e+00,
        1.11596868e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13747251, -0.03615506,  0.06174938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.78558253e-06, 2.01666968e-05, 3.37010187e-05, 3.04784415e-05,
  1.84730027e-05,-5.73632332e-06, 2.64982545e-05,-1.02055396e-05,
  3.42496250e-03, 7.23656225e-06,-4.45336748e-06, 2.67072388e-05,
 -1.45638796e-04,-9.76466475e-05,-4.90414135e+00,-2.18273641e-04,
  3.59732357e-03,-9.04048809e-05]


--- Step 2293 ---
qpos:
[ 0.01870144, 0.03001978,-0.00944847,-0.02529633,-0.00351268, 1.34074558,
 -0.0299435 , 0.94379179, 0.01152895, 0.02728006,-0.00829857, 0.02644901,
  1.3962424 , 0.00766871, 1.31993027, 0.04425824,-0.08551459,-0.04650165,
  0.09218261, 0.70969024,-0.08486347,-0.69610942,-0.06759898]

qacc:
[-8.17020418e+00,-1.31653861e-01, 9.85703262e-02, 1.13265589e+00,
 -1.26960861e-02,-1.86494146e+00, 5.47685508e+00,-7.12539591e-01,
 -1.24180642e+00, 7.51524308e-01, 1.52083920e-02,-7.76860667e+00,
  3.58466714e-03,-1.24427849e-01,-7.43658516e+00, 2.53820973e+01,
 -6.98532642e+00, 8.12638177e-01, 1.76092161e+00,-2.36684894e+01,
 -2.23997152e+02, 2.39479772e+01]

qfrc_actuator:
[-3.33511106e-05, 9.40532207e-04, 1.55911481e-04,-5.40397583e-05,
  1.03351834e-05, 3.48790481e-02, 1.09136444e-02, 1.77445883e-03,
 -2.29796534e-05, 8.61303715e-04, 1.19895001e-04, 3.79743471e-05,
  0.00000000e+00,-1.60325119e-03, 0.00000000e+00,-8.13229430e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005110830375035243
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.78842125e-15,  1.08614740e-14,  1.00000000e+00,  7.37322609e-29,
        1.00000000e+00, -1.08614740e-14, -1.00000000e+00,  0.00000000e+00,
       -6.78842125e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00536383, -0.0665802 ,  0.06174291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.70056286e-06, 3.69452260e-05, 6.24644395e-05, 2.10396172e-05,
 -7.36017798e-06, 2.94449587e-05,-1.94565370e-05,-2.35507140e-05,
  3.42472962e-03,-1.68148448e-05,-9.15419635e-07, 1.22561652e-04,
 -5.95535497e-05,-2.82079465e-04,-4.90386243e+00,-6.18752250e-04,
  3.61196886e-03,-1.17881699e-04]


--- Step 2294 ---
qpos:
[ 0.01869919, 0.03002024,-0.00944751,-0.0252961 ,-0.00351261, 1.34074495,
 -0.02994415, 0.94379224, 0.01152983, 0.02728085,-0.00830057, 0.02644857,
  1.39624159, 0.00766848, 1.32003751, 0.04426587,-0.08553025,-0.04652228,
  0.09211889, 0.70949746,-0.08432972,-0.69633188,-0.06799836]

qacc:
[-1.87167655e+00,-7.14379393e-01, 4.12678083e-01, 6.13848652e+00,
 -7.48227290e-02, 8.24131018e-01,-2.65004623e+00, 4.95151089e+00,
 -8.96567850e-01, 2.01809569e+00,-6.18304506e+00, 6.92320202e+00,
  3.08151724e-02,-4.70063534e-01,-8.63090081e+00, 2.97379243e+01,
 -6.01527197e+00, 7.37501913e-01, 2.11184526e-01,-1.88979469e+01,
 -1.93721664e+02, 1.83287855e+01]

qfrc_actuator:
[-4.32662285e-05, 9.29591873e-04, 1.80088025e-04,-3.27802090e-05,
 -9.08698110e-06, 3.48903558e-02, 1.09101059e-02, 1.78541020e-03,
 -2.80250999e-05, 9.13068005e-04, 1.08077508e-04, 4.17803477e-05,
  0.00000000e+00,-1.65071280e-03, 0.00000000e+00,-6.72310446e-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,  8.53265833, -1.33436077,  8.53265833,  8.93522278,
        1.9110746 , -1.33436077,  1.9110746 , 20.85685675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005211589073825865
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.65717673e-15, -2.13029655e-14,  1.00000000e+00,  1.41817607e-28,
        1.00000000e+00,  2.13029655e-14, -1.00000000e+00,  0.00000000e+00,
        6.65717673e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00512643, -0.06648126,  0.06173808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.16079236e-05, 4.46041861e-05, 1.14161578e-05, 1.43795214e-05,
 -5.25006798e-06, 6.32149429e-05,-8.92795574e-06, 3.94091560e-06,
  3.43921301e-03,-6.09724405e-05, 1.11934063e-05, 1.47166574e-04,
 -1.02589841e-04,-5.29732298e-05,-4.90436391e+00,-9.45296854e-05,
  3.55456465e-03,-1.22254163e-04]


--- Step 2295 ---
qpos:
[ 0.01869754, 0.03002073,-0.00944687,-0.02529594,-0.00351273, 1.34074455,
 -0.02994535, 0.94379356, 0.0115303 , 0.027282  ,-0.00830213, 0.0264485 ,
  1.39624049, 0.00766759, 1.32014511, 0.04427245,-0.0855667 ,-0.04654023,
  0.0920507 , 0.70906941,-0.08385965,-0.69678805,-0.06837056]

qacc:
[ 5.02897392e+00, 7.87096402e-01,-2.47108610e+00, 1.78658343e+00,
 -8.43679367e-02, 3.29870795e+00,-1.21749869e+01, 2.04048693e+01,
 -3.50951729e+00,-1.05364623e-02,-7.57941715e-01, 5.99956207e+00,
  6.46039960e-02,-5.45541510e-01, 3.66539478e+00,-1.21065994e+01,
 -5.19560048e+00, 6.68801543e-01,-1.12095876e+00,-1.50986882e+01,
 -1.68132070e+02, 1.39589948e+01]

qfrc_actuator:
[-1.26797168e-05, 9.22969934e-04, 1.58426114e-04,-3.81169560e-05,
 -2.06636448e-05, 3.48794307e-02, 1.08727223e-02, 1.82715614e-03,
 -4.90958414e-05, 9.43458587e-04, 1.37546056e-04, 6.19717755e-05,
  0.00000000e+00,-1.67882343e-03, 0.00000000e+00,-7.34483663e-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,  8.52177643, -1.40217808,  8.52177643,  9.0022356 ,
        2.22359705, -1.40217808,  2.22359705, 22.15033672,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005228526054824892
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.28985661e-15, -2.12339580e-14,  1.00000000e+00,  1.97260425e-28,
        1.00000000e+00,  2.12339580e-14, -1.00000000e+00,  0.00000000e+00,
        9.28985661e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00507656, -0.06643364,  0.06173692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.43444654e-05, 1.64195886e-05,-2.69353238e-05, 4.37536799e-05,
 -2.12019158e-05, 6.40624730e-05, 4.15795617e-05, 2.26723019e-05,
  3.46836249e-03,-6.64092460e-05, 1.84945354e-05,-5.32186516e-05,
 -4.32506133e-05, 8.20979054e-05,-4.90439574e+00, 3.10963405e-04,
  3.50506718e-03,-1.28569227e-04]


--- Step 2296 ---
qpos:
[ 0.0186966 , 0.03002135,-0.00944708,-0.02529617,-0.00351303, 1.34074446,
 -0.02994674, 0.94379499, 0.01153016, 0.02728362,-0.00830361, 0.02644869,
  1.39623932, 0.00766656, 1.32025262, 0.04427961,-0.08557919,-0.04656274,
  0.0920175 , 0.70893103,-0.08338527,-0.69694904,-0.06874397]

qacc:
[ 6.18445530e+00, 1.75693950e+00,-4.41088442e+00,-9.59114456e-01,
 -7.33006128e-02, 1.09406889e+00,-3.31866797e+00, 4.04203952e+00,
 -5.13574134e+00, 9.54288886e-01,-3.58868409e+00, 7.57263700e+00,
  7.73016099e-02,-1.86911062e-01,-1.86962668e+00, 6.33360458e+00,
  5.98826535e+00,-1.13780634e+00, 8.74854523e+00, 3.16150427e+00,
  2.05766228e+02, 2.03520347e+01]

qfrc_actuator:
[ 2.37356425e-05, 9.18781970e-04, 1.09859578e-04,-5.90946922e-05,
 -2.74399198e-05, 3.49084051e-02, 1.08688686e-02, 1.83340866e-03,
 -7.94311683e-05, 9.61005742e-04, 1.37827263e-04, 7.38984715e-05,
  0.00000000e+00,-1.65943600e-03, 0.00000000e+00,-7.02783464e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005247611903168498
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05783645e-14,  2.11567289e-14,  1.00000000e+00, -2.23803589e-28,
        1.00000000e+00, -2.11567289e-14, -1.00000000e+00,  0.00000000e+00,
        1.05783645e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13703964, -0.03620325,  0.06173564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.11622531e-05, 3.41086115e-05,-2.42027706e-06, 6.97019520e-06,
 -3.09344774e-05, 6.29023231e-05, 1.94262250e-05, 1.65539814e-05,
  3.48232335e-03,-1.42738460e-05,-1.36281798e-06, 3.01987495e-05,
  8.14885925e-05, 1.55608777e-04,-4.90412172e+00, 6.33368087e-04,
  3.45936436e-03,-1.36195846e-04]


--- Step 2297 ---
qpos:
[ 0.01869542, 0.03002156,-0.00944741,-0.02529662,-0.00351332, 1.3407452 ,
 -0.0299478 , 0.94379537, 0.01153036, 0.0272856 ,-0.00830555, 0.02644872,
  1.39623829, 0.00766573, 1.32036001, 0.04428775,-0.08557084,-0.04658921,
  0.09200962, 0.70904409,-0.08290658,-0.69685394,-0.06911986]

qacc:
[-2.09835386e+00,-6.87182647e-01, 2.66073365e+00,-6.19654786e+00,
  4.83360074e-03,-1.58851589e+00, 8.64422065e+00,-2.01525677e+01,
  2.76808507e+00, 1.43240157e+00,-3.76957357e+00, 1.57486746e+00,
  7.82475027e-02, 7.48488579e-02,-3.15898669e+00, 1.07843401e+01,
  5.20978127e+00,-9.91172608e-01, 6.33144129e+00, 2.34490171e+00,
  1.78650492e+02, 1.69391981e+01]

qfrc_actuator:
[ 1.00186718e-05, 8.80438141e-04, 9.90710097e-05,-7.13604282e-05,
 -1.35296813e-05, 3.49966500e-02, 1.09027254e-02, 1.78325921e-03,
 -6.17135799e-05, 9.52858121e-04, 1.03043390e-04, 6.30729956e-05,
  0.00000000e+00,-1.62955815e-03, 0.00000000e+00,-6.51464756e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00529968491650018
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.14232745e-14,  1.04744248e-14,  1.00000000e+00, -3.29140726e-28,
        1.00000000e+00, -1.04744248e-14, -1.00000000e+00,  0.00000000e+00,
        3.14232745e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13696199, -0.0362133 ,  0.06173315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.40549887e-06, 1.06852800e-04, 4.04616538e-05,-4.90336742e-05,
  1.68357287e-05, 3.16971496e-05,-1.88258180e-05,-7.13497278e-06,
  3.48561909e-03, 2.24918731e-05, 6.16559713e-07, 5.23165377e-05,
 -3.55153621e-05, 4.55370637e-05,-4.90452906e+00, 2.10061309e-04,
  3.45928016e-03,-1.60737244e-04]


--- Step 2298 ---
qpos:
[ 0.0186934 , 0.0300213 ,-0.00944698,-0.02529762,-0.00351353, 1.3407468 ,
 -0.02994855, 0.94379619, 0.01153076, 0.02728765,-0.00830749, 0.02644863,
  1.39623776, 0.00766504, 1.32046778, 0.04429308,-0.08554426,-0.04661915,
  0.09201884, 0.70937636,-0.08242364,-0.69653528,-0.06949909]

qacc:
[-7.21406502e+00,-3.84382168e+00, 1.50880067e+01,-2.53035443e+01,
  3.20861095e-02, 1.01547461e+00,-2.82886427e+00, 6.88400029e+00,
  1.79946887e+00,-1.88721080e-01, 1.30669798e+00,-3.47753253e+00,
  6.58572461e-02, 1.47436006e-01, 9.05320581e+00,-3.08435238e+01,
  4.55793710e+00,-8.68439955e-01, 4.27469925e+00, 1.70572148e+00,
  1.55918487e+02, 1.41759021e+01]

qfrc_actuator:
[-3.30982703e-05, 8.75339901e-04, 1.46055452e-04,-9.61509749e-05,
 -5.07547909e-06, 3.50488066e-02, 1.09232672e-02, 1.80690051e-03,
 -5.13567050e-05, 9.46959243e-04, 1.00976097e-04, 5.66572488e-05,
  0.00000000e+00,-1.61142067e-03, 0.00000000e+00,-8.02047045e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005283022129001884
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05074614e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.05074614e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13698019, -0.03620517,  0.06173382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.28859069e-06, 1.17704491e-04, 4.46113954e-05, 2.69026491e-05,
  1.08663299e-05, 7.58927675e-06, 1.91355309e-06,-5.84846580e-06,
  3.47827323e-03, 3.06843835e-05, 4.35271046e-06,-1.48032689e-04,
 -4.12523553e-05,-5.90301348e-05,-4.90454761e+00,-1.13743911e-04,
  3.46580160e-03,-1.82096441e-04]


--- Step 2299 ---
qpos:
[ 0.01869157, 0.03002088,-0.00944582,-0.02529929,-0.00351395, 1.34074837,
 -0.02994864, 0.94379734, 0.01153164, 0.02728954,-0.00830878, 0.02644845,
  1.39623742, 0.00766426, 1.32057562, 0.04429625,-0.08554091,-0.04664529,
  0.09202875, 0.70943704,-0.08199071,-0.69648893,-0.06985541]

qacc:
[ 1.63583737e+00,-3.64723662e+00, 1.55300419e+01,-2.82298650e+01,
 -8.60946515e-02,-1.23667680e+00, 3.29091845e+00, 1.09322592e+00,
  4.00051906e+00,-2.19961879e+00, 7.93685119e+00,-1.04559541e+01,
  4.48477362e-02,-5.36347804e-02, 6.64834360e+00,-2.31191292e+01,
 -5.80792055e+00, 9.50804864e-01, 1.71770987e-01,-1.14963289e+01,
 -1.93847873e+02, 4.88379102e+00]

qfrc_actuator:
[-2.21472008e-05, 8.90423647e-04, 1.91373085e-04,-1.28055459e-04,
 -3.54692202e-05, 3.49901816e-02, 1.09357023e-02, 1.82050217e-03,
 -2.76785653e-05, 9.42563598e-04, 1.36011440e-04, 5.29174236e-05,
  0.00000000e+00,-1.63585202e-03, 0.00000000e+00,-9.10600215e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005335663645826522
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90142316e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.90142316e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00482593, -0.06627698,  0.06173158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.49007110e-05, 1.60147262e-05, 4.13259532e-05, 1.90736376e-05,
  2.40036667e-05,-5.31510803e-08, 3.66352494e-05,-3.46262013e-06,
  3.45352553e-03,-6.56560510e-07,-1.68723770e-05,-1.16850942e-04,
  2.67726288e-05,-1.57633710e-04,-4.90430956e+00,-3.64986246e-04,
  3.47851172e-03,-2.01057198e-04]


--- Step 2300 ---
qpos:
[ 0.01869022, 0.03002061,-0.00944483,-0.02530096,-0.00351463, 1.34074982,
 -0.02994866, 0.94379731, 0.01153278, 0.02729105,-0.00831004, 0.02644829,
  1.39623702, 0.00766359, 1.320683  , 0.04430109,-0.08555773,-0.04666807,
  0.09203409, 0.70926211,-0.08159897,-0.69667919,-0.07019244]

qacc:
[ 4.19393450e+00, 6.53929617e-01,-2.04186434e+00, 2.16700419e+00,
 -1.13000964e-01,-2.36590476e+00, 9.97350977e+00,-2.23448058e+01,
  2.37775830e+00,-5.39641401e-01, 1.03313489e+00,-2.44069803e-01,
  3.72882834e-02, 1.41041950e-02,-5.73160124e+00, 1.90460657e+01,
 -5.04238870e+00, 8.39468988e-01,-1.14269517e+00,-9.28137706e+00,
 -1.68215374e+02, 3.25621898e+00]

qfrc_actuator:
[ 2.79761241e-06, 8.99738466e-04, 1.82156214e-04,-1.28372462e-04,
 -5.34171972e-05, 3.49543975e-02, 1.09250507e-02, 1.75698795e-03,
 -1.40997957e-05, 8.85999380e-04, 1.21656501e-04, 5.08028351e-05,
  0.00000000e+00,-1.63238610e-03, 0.00000000e+00,-8.15926866e-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,  8.59527124,  0.84148038,  8.59527124,  8.93884581,
       -3.08969331,  0.84148038, -3.08969331, 40.19592546,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005354556495146025
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.47942916e-15, -1.03670867e-14,  1.00000000e+00,  6.71728037e-29,
        1.00000000e+00,  1.03670867e-14, -1.00000000e+00,  0.00000000e+00,
        6.47942916e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00479104, -0.06625159,  0.06173082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.26627033e-05,-1.82773109e-05,-2.25651191e-06,-6.13749751e-05,
  1.42850526e-05,-4.92167902e-05,-9.98010632e-06,-9.18413828e-07,
  3.44344213e-03, 7.72142954e-06,-2.23720157e-05, 8.55963129e-05,
 -3.15339934e-05,-3.42439634e-05,-4.90462770e+00,-4.57139712e-05,
  3.46238516e-03,-2.06313562e-04]


--- Step 2301 ---
qpos:
[ 0.01868918, 0.0300204 ,-0.00944417,-0.02530295,-0.00351541, 1.34075132,
 -0.02994945, 0.94379689, 0.01153374, 0.02729213,-0.0083117 , 0.0264485 ,
  1.39623664, 0.00766318, 1.3207901 , 0.04430798,-0.08559213,-0.04668788,
  0.09203036, 0.70888168,-0.08124123,-0.6970757 ,-0.07051308]

qacc:
[ 2.64599746e+00, 3.79707035e-01, 5.64192535e-02,-4.92494760e+00,
 -4.12343653e-02, 1.47128120e+00,-3.92804967e+00,-1.09434153e+00,
 -1.62985784e+00, 1.29646703e+00,-6.92972249e+00, 1.40380023e+01,
  3.96653064e-02, 1.12240328e-01,-6.62478756e+00, 2.25859064e+01,
 -4.39506961e+00, 7.43103397e-01,-2.26694604e+00,-7.49665621e+00,
 -1.46587260e+02, 2.03501889e+00]

qfrc_actuator:
[ 1.80089954e-05, 8.87590264e-04, 1.58576124e-04,-1.45644508e-04,
 -4.60001127e-05, 3.49501701e-02, 1.08831222e-02, 1.73735735e-03,
 -2.43313238e-05, 8.51694473e-04, 9.57781211e-05, 6.73290153e-05,
  0.00000000e+00,-1.61235968e-03, 0.00000000e+00,-7.08799970e-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,  8.58968665,  0.89669397,  8.58968665,  9.00606503,
       -3.54147481,  0.89669397, -3.54147481, 42.56115852,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005306108371824075
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.92315427e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.92315427e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00490584, -0.06626234,  0.06173297])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.18854522e-05,-1.66351578e-05,-4.75621407e-05,-2.16670417e-05,
 -9.82643719e-06,-6.39588998e-05,-3.73077492e-05, 1.40532763e-05,
  3.44643922e-03, 2.18211754e-05,-1.47037450e-06, 1.08843872e-04,
 -3.02202129e-06, 4.19769897e-05,-4.90460795e+00, 2.24815613e-04,
  3.44244301e-03,-2.12530004e-04]


--- Step 2302 ---
qpos:
[ 0.01868834, 0.03002037,-0.00944416,-0.02530512,-0.00351621, 1.34075268,
 -0.02995097, 0.94379591, 0.01153423, 0.0272927 ,-0.00831335, 0.02644888,
  1.3962363 , 0.00766278, 1.3208973 , 0.04431509,-0.08560528,-0.04671167,
  0.09205267, 0.70875456,-0.08087432,-0.69721419,-0.07084272]

qacc:
[ 1.61281869e+00, 1.63656749e+00,-4.70827962e+00, 2.37900770e+00,
 -7.69943563e-03, 8.44625886e-01,-1.81981883e+00,-4.84964006e+00,
 -4.04250967e+00,-3.22005606e-01,-5.68515619e-01, 4.01492657e+00,
  4.06411545e-02,-1.83528525e-02,-5.19444620e-01, 1.99457671e+00,
  5.31333183e+00,-9.97576533e-01, 6.51052150e+00, 1.30391845e+00,
  1.80427171e+02, 1.30170506e+01]

qfrc_actuator:
[ 2.73643992e-05, 8.98105014e-04, 1.26618736e-04,-1.55027215e-04,
 -4.11797192e-05, 3.49292504e-02, 1.08409858e-02, 1.70822503e-03,
 -4.84920841e-05, 8.30931669e-04, 9.89080667e-05, 7.69494563e-05,
  0.00000000e+00,-1.61808010e-03, 0.00000000e+00,-7.01772843e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005270542973938724
  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([-0.13699541, -0.03618956,  0.0617345 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.20377221e-06,-4.00873599e-05,-5.14398135e-05,-3.15290483e-05,
 -2.44681495e-05,-6.36538730e-05,-1.41829498e-05, 5.86359657e-06,
  3.44545888e-03, 3.66843687e-06, 9.88352664e-06, 1.25180082e-05,
  8.16140211e-05, 8.62376872e-05,-4.90436652e+00, 4.57843565e-04,
  3.41868669e-03,-2.19514434e-04]


--- Step 2303 ---
qpos:
[ 0.01868761, 0.03002047,-0.00944435,-0.02530637,-0.00351699, 1.34075395,
 -0.02995305, 0.94379458, 0.01153407, 0.02729274,-0.00831493, 0.02644903,
  1.39623605, 0.00766214, 1.32100477, 0.04432023,-0.08559984,-0.04673898,
  0.09209276, 0.70884852,-0.08049911,-0.69712762,-0.07118103]

qacc:
[ 1.01202781e+00, 2.61813769e+00,-1.29340615e+01, 2.89791450e+01,
  6.58122141e-03, 8.00401933e-01,-2.02529663e+00,-2.30007878e+00,
 -5.43671899e+00,-1.40832431e+00, 4.99241587e+00,-8.79075495e+00,
  3.98941039e-02,-1.74305803e-01, 6.36387742e+00,-2.16726778e+01,
  4.64853278e+00,-8.77727086e-01, 4.44309297e+00, 8.90584404e-01,
  1.57477862e+02, 1.09684097e+01]

qfrc_actuator:
[ 3.32014350e-05, 9.22070633e-04, 1.25574434e-04,-1.06418891e-04,
 -3.79576708e-05, 3.49339890e-02, 1.08167547e-02, 1.69147474e-03,
 -8.06499972e-05, 8.00795901e-04, 1.01440351e-04, 6.47082150e-05,
  0.00000000e+00,-1.63911852e-03, 0.00000000e+00,-8.07042452e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005265243725229074
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.1085881e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.1085881e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13700601, -0.03618503,  0.06173488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.91852672e-06,-2.84562953e-05,-3.88525850e-05,-2.01962607e-05,
 -3.28961591e-05,-6.84192175e-05,-1.21471717e-05,-1.53430354e-05,
  3.44266550e-03,-1.83031573e-05, 3.34909618e-06,-1.03928739e-04,
 -5.44623342e-06, 2.28562135e-05,-4.90467044e+00, 1.56741463e-04,
  3.41744339e-03,-2.38625424e-04]


--- Step 2304 ---
qpos:
[ 0.01868662, 0.03002021,-0.00944405,-0.02530702,-0.00351774, 1.34075515,
 -0.02995492, 0.94379301, 0.01153422, 0.02729231,-0.00831595, 0.02644934,
  1.39623599, 0.0076614 , 1.32111236, 0.04432307,-0.08557802,-0.0467694 ,
  0.09214361, 0.70913641,-0.08011636,-0.6968434 ,-0.07152759]

qacc:
[-2.28378235e+00,-5.66036028e-01,-1.24332329e+00, 1.12696614e+01,
  1.17030065e-02,-1.10729473e+00, 3.98039538e+00,-6.12703345e+00,
  2.62358518e+00,-1.81160926e+00, 4.91442680e+00,-2.75339126e+00,
  3.24035691e-02,-3.69524941e-02, 7.14069607e+00,-2.47031048e+01,
  4.09285605e+00,-7.77448240e-01, 2.69016670e+00, 5.68289016e-01,
  1.38247701e+02, 9.30596533e+00]

qfrc_actuator:
[ 1.91703230e-05, 8.83069416e-04, 1.42893543e-04,-7.73011399e-05,
 -3.57211447e-05, 3.49541299e-02, 1.08388955e-02, 1.68217134e-03,
 -6.39948625e-05, 8.00776775e-04, 1.39045175e-04, 7.51967015e-05,
  0.00000000e+00,-1.63358123e-03, 0.00000000e+00,-9.24336000e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005203938971030914
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06671411e-14,  1.06671411e-14,  1.00000000e+00, -1.13787899e-28,
        1.00000000e+00, -1.06671411e-14, -1.00000000e+00,  0.00000000e+00,
        1.06671411e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13709382, -0.03616504,  0.06173783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.36943329e-06,-3.81609082e-06, 1.15596422e-05,-1.17693280e-05,
  1.56675228e-05,-4.14414989e-05, 2.14635773e-05, 6.84197366e-06,
  3.43869992e-03,-2.37156225e-07,-1.28334795e-05,-1.23325893e-04,
 -7.63550599e-06,-4.08721264e-05,-4.90467796e+00,-8.04994202e-05,
  3.42279364e-03,-2.55689664e-04]


--- Step 2305 ---
qpos:
[ 0.0186858 , 0.03001986,-0.00944386,-0.02530765,-0.00351832, 1.34075626,
 -0.02995594, 0.94379131, 0.01153423, 0.0272911 ,-0.00831609, 0.02645013,
  1.396236  , 0.00766073, 1.32121973, 0.04432581,-0.08557666,-0.04679595,
  0.09219049, 0.70918286,-0.07976168,-0.69680267,-0.07185952]

qacc:
[ 1.57812392e+00, 2.09347369e-01,-9.95938525e-01, 1.50665295e+00,
  7.40843844e-02,-2.60031661e+00, 8.61272527e+00,-8.93619745e+00,
 -1.20793552e+00,-2.52199851e+00, 5.42385192e+00, 2.16034352e+00,
  2.16553419e-02, 3.49210937e-02,-4.02154541e-02,-3.71071361e-01,
 -5.11386302e+00, 9.67490736e-01,-9.91008051e-01,-5.81923728e+00,
 -1.72051639e+02,-3.41705163e+00]

qfrc_actuator:
[ 2.90635614e-05, 8.77746141e-04, 1.35126385e-04,-7.76902517e-05,
 -1.63414401e-05, 3.49657777e-02, 1.08882936e-02, 1.67735768e-03,
 -7.19972001e-05, 7.47953327e-04, 1.79446147e-04, 9.90278483e-05,
  0.00000000e+00,-1.62990659e-03, 0.00000000e+00,-9.23459104e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005197800952548709
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73545739e-14, -3.20392134e-14,  1.00000000e+00,  5.56026896e-28,
        1.00000000e+00,  3.20392134e-14, -1.00000000e+00,  0.00000000e+00,
        1.73545739e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00519722, -0.06628916,  0.06173843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.13707721e-05, 1.14361933e-05, 4.96204515e-05,-4.86531890e-06,
 -7.56141912e-06,-7.12383355e-05, 3.47368671e-05, 2.29329652e-05,
  3.42837792e-03, 8.20757258e-06,-2.14666145e-05,-8.09424962e-06,
  4.73153411e-05,-1.03633883e-04,-4.90448669e+00,-2.69997935e-04,
  3.43409334e-03,-2.71175508e-04]


--- Step 2306 ---
qpos:
[ 0.01868581, 0.03001957,-0.00944385,-0.0253083 ,-0.00351856, 1.34075735,
 -0.02995608, 0.9437899 , 0.01153379, 0.02728937,-0.00831602, 0.02645052,
  1.39623596, 0.00765995, 1.32132696, 0.0443285 ,-0.08559319,-0.04681911,
  0.0922289 , 0.70901873,-0.07943065,-0.69697448,-0.07217886]

qacc:
[ 6.97798859e+00, 5.40400372e-01,-1.73657677e+00, 1.69777521e+00,
  1.45944511e-01,-1.89954231e+00, 5.55730663e+00,-1.41488016e+00,
 -3.74720328e+00,-2.08312872e+00, 8.13903599e+00,-1.50217420e+01,
  2.10023365e-02,-9.71241208e-02,-5.21109346e-02,-1.03661559e-01,
 -4.47267378e+00, 8.47968109e-01,-2.11648009e+00,-4.76366930e+00,
 -1.50081190e+02,-3.34655892e+00]

qfrc_actuator:
[ 7.07187090e-05, 8.92504085e-04, 1.30457451e-04,-7.76804437e-05,
  1.31658859e-05, 3.49723752e-02, 1.09355918e-02, 1.69298088e-03,
 -9.44650742e-05, 7.17220327e-04, 1.85457678e-04, 7.72128635e-05,
  0.00000000e+00,-1.64522506e-03, 0.00000000e+00,-9.23965890e-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,   7.42037362,   4.41869123,   7.42037362,
        24.6987261 , -26.97376315,   4.41869123, -26.97376315,
        53.93380354,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005174791506475228
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.38632161e-15, -2.14544494e-14,  1.00000000e+00,  2.01378362e-28,
        1.00000000e+00,  2.14544494e-14, -1.00000000e+00,  0.00000000e+00,
        9.38632161e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00526652, -0.06629835,  0.06173974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.21367895e-05, 2.24763473e-05, 5.50369672e-05, 1.73070203e-05,
 -2.27203502e-05,-6.23705094e-05,-3.61733903e-06,-2.32180193e-05,
  3.42483831e-03,-1.03719527e-05,-1.17855151e-05,-3.96599102e-06,
 -6.41535524e-06,-2.60485278e-05,-4.90471424e+00,-3.47510811e-05,
  3.42869488e-03,-2.76788892e-04]


--- Step 2307 ---
qpos:
[ 0.01868528, 0.03001948,-0.00944368,-0.02530933,-0.00351859, 1.34075887,
 -0.02995576, 0.94378763, 0.01153481, 0.02728785,-0.00831674, 0.02645028,
  1.39623651, 0.00765875, 1.32143512, 0.04432276,-0.08562544,-0.04683928,
  0.09225502, 0.70866986,-0.0791196 ,-0.69733257,-0.0724873 ]

qacc:
[-4.58656706e+00,-9.61479440e-01, 5.41090276e+00,-1.23778302e+01,
  8.56522144e-02,-2.16971138e+00, 9.52953188e+00,-1.84911876e+01,
  1.24065410e+01, 1.13948911e+00,-1.01886695e+00,-8.81801481e+00,
  1.40518830e-02,-1.16283721e-01, 2.68693037e+01,-9.19705975e+01,
 -3.93074745e+00, 7.46308715e-01,-3.07565973e+00,-3.89728362e+00,
 -1.31570551e+02,-3.23120294e+00]

qfrc_actuator:
[ 4.19642502e-05, 9.19179595e-04, 1.45509655e-04,-9.51581504e-05,
  1.30047114e-05, 3.50114194e-02, 1.09635026e-02, 1.64948472e-03,
 -1.87435463e-05, 7.53039657e-04, 1.53405186e-04, 4.64542609e-05,
  0.00000000e+00,-1.65404926e-03, 0.00000000e+00,-1.36913352e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.33706881,   4.55567757,   7.33706881,
        26.48951919, -28.75309516,   4.55567757, -28.75309516,
        54.94417063,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005096125057266657
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.53121377e-15, -2.17856315e-14,  1.00000000e+00,  2.07643511e-28,
        1.00000000e+00,  2.17856315e-14, -1.00000000e+00,  0.00000000e+00,
        9.53121377e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00545933, -0.06633508,  0.06174344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.47403409e-05, 6.27565789e-05, 3.90753042e-05,-4.08060870e-05,
  7.50301591e-05,-7.49218128e-07,-4.61659256e-05,-3.40047645e-05,
  3.42734616e-03,-1.42532157e-05,-7.55909745e-06,-4.47301347e-04,
  1.14073336e-05, 2.41076574e-05,-4.90467931e+00, 1.78112062e-04,
  3.41742102e-03,-2.83057761e-04]


--- Step 2308 ---
qpos:
[ 0.01868406, 0.03001986,-0.00944376,-0.02531056,-0.0035185 , 1.340761  ,
 -0.02995626, 0.94378388, 0.01153707, 0.02728606,-0.00831718, 0.02645035,
  1.39623743, 0.00765741, 1.32154327, 0.04431176,-0.08563819,-0.04686331,
  0.09230114, 0.70855133,-0.07879803,-0.69745619,-0.07280618]

qacc:
[-5.89333952e+00, 8.72760397e-01,-1.31435862e+00,-2.28447092e+00,
  4.97455015e-02, 4.94521793e-01, 2.40952429e+00,-1.97170451e+01,
  1.06378191e+01,-4.87607605e-01,-1.45628423e-01, 5.37939552e+00,
 -2.13157522e-02, 4.44415372e-02, 1.59414572e+01,-5.57722790e+01,
  4.87473178e+00,-9.63914484e-01, 5.00233315e+00, 7.00340999e-01,
  1.64187234e+02, 1.02530759e+01]

qfrc_actuator:
[ 7.49248336e-06, 9.52857063e-04, 1.36625042e-04,-1.05006521e-04,
  1.27995379e-05, 3.50162264e-02, 1.09088259e-02, 1.57155018e-03,
  4.31600881e-05, 7.39505575e-04, 1.70433884e-04, 6.39819610e-05,
  0.00000000e+00,-1.65860335e-03, 0.00000000e+00,-1.62888713e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005052240668189684
  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([-0.1373228 , -0.03610819,  0.06174554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.44174687e-05, 4.59276960e-05,-3.91555766e-05,-7.58491544e-05,
  6.40984436e-05,-2.48533155e-05, 1.00357315e-05, 1.52390176e-05,
  3.39784455e-03, 2.87215765e-06,-5.63808898e-05,-2.86391668e-04,
  7.63195313e-05, 5.49184507e-05,-4.90446968e+00, 3.71240897e-04,
  3.40097246e-03,-2.89925898e-04]


--- Step 2309 ---
qpos:
[ 0.01868347, 0.03002084,-0.00944435,-0.02531121,-0.0035182 , 1.340763  ,
 -0.02995746, 0.94377997, 0.01153869, 0.02728423,-0.00831696, 0.02645057,
  1.39623826, 0.00765641, 1.32165048, 0.04430301,-0.08563379,-0.04689075,
  0.09236003, 0.70863496,-0.07846694,-0.69737415,-0.07313497]

qacc:
[ 5.37868323e+00, 3.43560698e+00,-1.35725879e+01, 2.40684677e+01,
  9.00695278e-02, 1.44222241e+00,-4.59763434e+00, 2.29188915e+00,
 -5.55822479e+00,-1.58323866e+00, 4.97069444e+00,-3.44016935e+00,
 -4.14256798e-02, 2.26964387e-01,-8.22377712e+00, 2.67510072e+01,
  4.29018679e+00,-8.51792206e-01, 3.19130957e+00, 3.96431782e-01,
  1.44098274e+02, 8.63083483e+00]

qfrc_actuator:
[ 4.09651069e-05, 9.90384845e-04, 1.13715490e-04,-7.47901697e-05,
  3.03240992e-05, 3.49646359e-02, 1.08589664e-02, 1.56268753e-03,
  7.63916588e-06, 7.67771689e-04, 2.16173377e-04, 7.42823962e-05,
  0.00000000e+00,-1.64296458e-03, 0.00000000e+00,-1.49313109e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005021417216449463
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.10548773e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.10548773e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13737169, -0.03609543,  0.06174719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.60465289e-05,-3.61413205e-05,-4.75626192e-05,-1.03921390e-05,
 -3.36595175e-05, 1.71934991e-05, 4.23948010e-05, 9.88180045e-06,
  3.37867190e-03, 2.54569565e-05,-5.78560654e-05, 1.12550012e-04,
  6.29559675e-06, 1.17161537e-05,-4.90471838e+00, 1.21591818e-04,
  3.39975383e-03,-3.06861542e-04]


--- Step 2310 ---
qpos:
[ 0.0186826 , 0.030022  ,-0.00944449,-0.02531151,-0.0035177 , 1.34076446,
 -0.02995854, 0.94377633, 0.01153917, 0.02728331,-0.00831684, 0.02645015,
  1.39623912, 0.00765561, 1.32175747, 0.04429485,-0.08561417,-0.04692121,
  0.09242555, 0.708897  ,-0.07812719,-0.69711039,-0.07347312]

qacc:
[-2.42340097e+00,-2.62586700e-01,-1.98697063e-01, 5.47105964e+00,
  8.88715366e-02,-5.74258175e-01, 4.93129141e-01, 2.95161670e+00,
 -9.64707824e+00, 1.83972103e-01, 3.78238343e+00,-1.53258203e+01,
 -3.98028119e-02, 1.72368185e-01,-2.09406711e+00, 6.86570317e+00,
  3.80192814e+00,-7.58240131e-01, 1.65899425e+00, 1.60983049e-01,
  1.27274673e+02, 7.32094094e+00]

qfrc_actuator:
[ 2.54002570e-05, 9.94396407e-04, 1.36022040e-04,-5.67498176e-05,
  4.05915085e-05, 3.49329611e-02, 1.08654531e-02, 1.57677690e-03,
 -4.94309028e-05, 8.56490547e-04, 2.25376793e-04, 4.47794765e-05,
  0.00000000e+00,-1.63338640e-03, 0.00000000e+00,-1.46279124e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0049428550154519205
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12305846e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.12305846e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13748617, -0.03606937,  0.06175102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.56585714e-05,-6.13007709e-05,-6.30690637e-06, 1.13629145e-05,
 -5.80574626e-05, 1.07570641e-04, 1.83399313e-05,-2.71020954e-05,
  3.38310762e-03, 1.80360502e-05,-1.27742200e-05, 2.95134571e-05,
  6.20717241e-06,-3.43781666e-05,-4.90472171e+00,-7.87419092e-05,
  3.40470079e-03,-3.22207381e-04]


--- Step 2311 ---
qpos:
[ 0.01868121, 0.03002263,-0.00944372,-0.02531153,-0.00351716, 1.34076574,
 -0.02995936, 0.94377216, 0.01153896, 0.02728328,-0.00831724, 0.02644941,
  1.39623987, 0.00765524, 1.32186399, 0.0442901 ,-0.08561351,-0.04694787,
  0.09248419, 0.70893599,-0.07780472,-0.69707216,-0.07380106]

qacc:
[-4.45617953e+00,-2.71566097e+00, 7.49070572e+00,-3.77470691e+00,
  1.12744887e-02,-1.85539426e+00, 6.85128368e+00,-1.19987895e+01,
 -5.90770466e+00, 1.96134391e+00,-3.87712397e+00,-1.59346256e+00,
 -4.29591661e-02, 2.73651036e-01,-1.10156139e+01, 3.75522960e+01,
 -4.73908091e+00, 9.53614001e-01,-1.72058834e+00,-2.99363736e+00,
 -1.58714549e+02,-7.36429816e+00]

qfrc_actuator:
[-1.17280404e-06, 9.25219008e-04, 1.66951991e-04,-4.60188002e-05,
  2.86699055e-05, 3.49491925e-02, 1.08874562e-02, 1.55102501e-03,
 -8.31894257e-05, 8.91802615e-04, 1.95409347e-04, 2.76260494e-05,
  0.00000000e+00,-1.60968756e-03, 0.00000000e+00,-1.28190084e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0049011188335561645
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41577753e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.41577753e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00597067, -0.0664365 ,  0.06175326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.23929454e-06,-1.85845643e-05, 9.62160583e-06,-2.75204517e-05,
 -3.54238175e-05, 9.81076836e-05,-6.41274358e-06,-1.24312168e-05,
  3.38160633e-03, 3.17760533e-05,-3.87412532e-06, 1.80624024e-04,
  5.39872273e-05,-8.17356808e-05,-4.90455766e+00,-2.41839895e-04,
  3.41520344e-03,-3.36317262e-04]


--- Step 2312 ---
qpos:
[ 0.01867951, 0.03002261,-0.0094427 ,-0.02531102,-0.00351667, 1.34076681,
 -0.02995994, 0.9437684 , 0.01153939, 0.02728363,-0.00831809, 0.02644923,
  1.39624055, 0.0076554 , 1.3219702 , 0.04428955,-0.08562953,-0.04697118,
  0.09253197, 0.70877943,-0.07749718,-0.69723176,-0.07412006]

qacc:
[-2.62226143e+00,-4.04522113e-01,-2.03637245e+00, 1.13875580e+01,
 -1.88811919e-02,-1.93332654e-01,-5.60128716e-01, 5.46010163e+00,
  5.36329493e+00, 2.92596830e+00,-1.20737584e+01, 2.21772381e+01,
 -4.01861474e-02, 3.47996199e-01,-1.31369128e+01, 4.52897344e+01,
 -4.17012569e+00, 8.34900574e-01,-2.71677716e+00,-2.48752833e+00,
 -1.39179821e+02,-6.53927067e+00]

qfrc_actuator:
[-1.62446219e-05, 8.66033992e-04, 1.66891266e-04,-2.19865788e-05,
  2.12869875e-05, 3.49407789e-02, 1.09008299e-02, 1.57306853e-03,
 -4.96914392e-05, 8.76953396e-04, 1.60138763e-04, 5.33291875e-05,
  0.00000000e+00,-1.57781757e-03, 0.00000000e+00,-1.06700282e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   4.1080891 ,   7.59673488,   4.1080891 ,
        72.36577197, -34.46297549,   7.59673488, -34.46297549,
        27.27291952,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004864089213855449
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28390008e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.28390008e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00607423, -0.0664581 ,  0.06175526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.46920812e-06,-1.76526941e-05, 1.00198335e-05, 2.11239008e-05,
  3.24949111e-05, 3.81500512e-05,-1.62172456e-05, 2.94476475e-05,
  3.38669754e-03, 4.26219439e-05, 1.71252666e-05, 2.24213365e-04,
  4.61080663e-06,-2.39421674e-05,-4.90474138e+00,-4.17496209e-05,
  3.41326905e-03,-3.42182529e-04]


--- Step 2313 ---
qpos:
[ 0.01867695, 0.03002239,-0.00944209,-0.02531057,-0.0035161 , 1.34076735,
 -0.02996085, 0.94376672, 0.01154056, 0.02728373,-0.00831878, 0.02644939,
  1.39624135, 0.00765569, 1.32207681, 0.04428856,-0.08566031,-0.04699156,
  0.09256548, 0.7084503 ,-0.0772026 ,-0.69756572,-0.07443115]

qacc:
[-7.36590335e+00, 7.29213162e-01,-2.65996093e+00, 2.18057148e+00,
  3.43174596e-02, 3.71020881e+00,-1.72310160e+01, 3.93975385e+01,
  6.35349292e+00,-9.79346948e-02,-1.63686767e+00, 7.61865586e+00,
 -3.87463030e-02, 1.62589723e-01, 1.90385949e+00,-5.77239540e+00,
 -3.68944695e+00, 7.34695650e-01,-3.56418689e+00,-2.05846764e+00,
 -1.22738120e+02,-5.83012401e+00]

qfrc_actuator:
[-5.99274426e-05, 8.66419715e-04, 1.48552223e-04,-2.58482868e-05,
  3.44405482e-05, 3.48821705e-02, 1.08734421e-02, 1.67631051e-03,
 -1.23884779e-05, 8.32170924e-04, 1.57348401e-04, 6.84908800e-05,
  0.00000000e+00,-1.57683385e-03, 0.00000000e+00,-1.10012941e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   4.08939662,   7.60681353,   4.08939662,
        74.00593493, -35.1424552 ,   7.60681353, -35.1424552 ,
        27.52882588,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00477846613167518
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30690568e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.30690568e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00628597, -0.06650263,  0.06175934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.92081116e-06,-6.57907346e-05,-2.90869203e-05, 1.03490499e-04,
  3.82675403e-05,-2.55263392e-05, 4.11693241e-06, 1.68088087e-05,
  3.39040445e-03, 1.68149033e-05, 3.07925453e-05,-1.88942479e-05,
  1.74275741e-05, 1.48706563e-05,-4.90470261e+00, 1.46736972e-04,
  3.40523081e-03,-3.48607285e-04]


--- Step 2314 ---
qpos:
[ 0.01867423, 0.03002252,-0.00944196,-0.02531093,-0.00351542, 1.3407676 ,
 -0.02996216, 0.94376662, 0.01154182, 0.02728367,-0.00831892, 0.02644935,
  1.39624199, 0.00765577, 1.32218356, 0.04428724,-0.08567254,-0.04701585,
  0.09261547, 0.70833866,-0.07689677,-0.69767846,-0.07475287]

qacc:
[-1.39213838e+00, 1.54153533e-01, 3.52669332e+00,-1.69659392e+01,
  4.65857006e-02, 3.43817802e+00,-1.49035179e+01, 3.14043263e+01,
  8.19331307e-01,-2.14676028e+00, 8.22843684e+00,-1.25294810e+01,
 -4.04761503e-02,-1.35516634e-01, 1.24970527e+00,-4.06154590e+00,
  4.63908681e+00,-9.78499248e-01, 4.11567043e+00, 4.37545425e-01,
  1.55045319e+02, 8.94442845e+00]

qfrc_actuator:
[-6.68461687e-05, 9.20119408e-04, 1.37547227e-04,-6.38050153e-05,
  4.20553143e-05, 3.48826188e-02, 1.08575621e-02, 1.75543305e-03,
 -8.67256097e-06, 8.40922462e-04, 1.91355337e-04, 5.95600044e-05,
  0.00000000e+00,-1.61195092e-03, 0.00000000e+00,-1.11935435e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004747678857679349
  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([-0.13778037, -0.03599506,  0.06176091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.34749558e-05,-3.85304115e-05,-2.90268212e-05, 7.86886244e-05,
  4.82649014e-06,-3.93096213e-06, 2.98290020e-05,-9.55561465e-06,
  3.38361935e-03,-2.51822653e-05, 8.39222107e-06,-1.71712872e-05,
  7.19223449e-05, 3.97867564e-05,-4.90451338e+00, 3.23083936e-04,
  3.39185815e-03,-3.55578916e-04]


--- Step 2315 ---
qpos:
[ 0.01867317, 0.0300228 ,-0.00944169,-0.02531177,-0.00351463, 1.34076776,
 -0.02996348, 0.94376777, 0.01154346, 0.02728384,-0.00831909, 0.0264492 ,
  1.39624214, 0.00765565, 1.32228997, 0.04428872,-0.08566835,-0.0470436 ,
  0.09267532, 0.70841877,-0.07658066,-0.69759624,-0.07508483]

qacc:
[ 1.42550833e+01,-1.18553173e+00, 6.46836620e+00,-1.49099835e+01,
  4.21828379e-02, 2.02937098e+00,-9.36255964e+00, 2.27618484e+01,
  3.23583056e+00, 1.03526698e-01, 5.26117167e-01,-2.63774878e+00,
 -2.58002486e-02,-2.23062418e-01,-9.00047418e+00, 3.07297690e+01,
  4.10263281e+00,-8.66115278e-01, 2.46951189e+00, 1.54914898e-01,
  1.36717883e+02, 7.44798835e+00]

qfrc_actuator:
[ 1.89494056e-05, 9.34324182e-04, 1.48935228e-04,-8.59499439e-05,
  4.62852629e-05, 3.49007048e-02, 1.08665579e-02, 1.81975352e-03,
  1.07485259e-05, 8.64037473e-04, 1.93736431e-04, 5.43400986e-05,
  0.00000000e+00,-1.63292077e-03, 0.00000000e+00,-9.70379625e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004711412752652293
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.3564546e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.3564546e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13783682, -0.03597955,  0.06176282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.21915058e-05,-6.54165020e-06, 4.64035086e-07, 6.41338426e-05,
  1.95599393e-05, 2.66783046e-05, 4.91599312e-06,-4.54164991e-06,
  3.39195244e-03,-3.51408467e-05,-1.04211255e-06, 1.48423991e-04,
  1.15628971e-05, 5.29018719e-06,-4.90473111e+00, 9.41107655e-05,
  3.39080449e-03,-3.71784224e-04]


--- Step 2316 ---
qpos:
[ 0.01867349, 0.03002306,-0.00944071,-0.02531184,-0.00351378, 1.34076753,
 -0.02996431, 0.94377072, 0.01154567, 0.02728433,-0.00832008, 0.02644833,
  1.39624228, 0.00765552, 1.32239654, 0.04429028,-0.08564954,-0.04707444,
  0.09273949, 0.70866894,-0.07625511,-0.69734089,-0.0754266 ]

qacc:
[ 1.18765066e+01,-4.88933814e-01,-1.58087812e+00, 1.36938238e+01,
  3.25031951e-02, 1.27338474e+00,-8.46261278e+00, 2.84375371e+01,
  4.79112367e+00, 1.26505453e+00,-9.10425723e-01,-1.02695075e+01,
 -7.28225562e-03,-7.63334416e-03,-2.21384905e-02, 4.02401307e-01,
  3.65452562e+00,-7.72607137e-01, 1.07787726e+00,-6.28904237e-02,
  1.21374920e+02, 6.24892546e+00]

qfrc_actuator:
[ 8.76058432e-05, 9.42636717e-04, 1.91080396e-04,-4.53623739e-05,
  4.84507358e-05, 3.48760475e-02, 1.08902371e-02, 1.91038789e-03,
  3.92694062e-05, 8.59956828e-04, 1.41985179e-04, 1.58340301e-05,
  0.00000000e+00,-1.60983215e-03, 0.00000000e+00,-9.72032325e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004632092270213342
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.1984034e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.1984034e-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([-0.1379525 , -0.03595205,  0.0617667 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.36967291e-06,-2.62552472e-05, 2.43360701e-05, 9.19382460e-05,
  2.91033296e-05, 1.16672062e-05,-4.57908742e-05,-3.72812356e-05,
  3.41582083e-03,-2.18434141e-06, 1.38746919e-05, 6.01378566e-06,
  1.32739920e-05,-3.35094261e-05,-4.90472996e+00,-9.21299419e-05,
  3.39559802e-03,-3.86611991e-04]


--- Step 2317 ---
qpos:
[ 0.0186736 , 0.03002353,-0.00943985,-0.0253114 ,-0.00351287, 1.34076702,
 -0.02996446, 0.94377265, 0.0115482 , 0.02728484,-0.00832131, 0.02644701,
  1.3962429 , 0.00765552, 1.32250359, 0.04428813,-0.08564905,-0.04710153,
  0.09279524, 0.70870526,-0.07594117,-0.69730202,-0.07576076]

qacc:
[-1.83252571e+00, 1.70311169e+00,-7.77960379e+00, 1.66246882e+01,
  2.24473821e-02,-3.99109772e+00, 1.46824883e+01,-2.44885350e+01,
  2.76806835e+00,-2.11500637e-01, 2.71662991e+00,-1.02078956e+01,
 -1.76490183e-02, 2.36975347e-01, 1.19294506e+01,-4.06510831e+01,
 -4.57732952e+00, 9.40405790e-01,-2.10490575e+00,-1.45201076e+00,
 -1.52003497e+02,-9.57369444e+00]

qfrc_actuator:
[ 7.45834740e-05, 9.47546862e-04, 1.80043776e-04,-2.14383475e-05,
  4.93606934e-05, 3.48615753e-02, 1.09222440e-02, 1.85599323e-03,
  5.51603935e-05, 8.57118821e-04, 1.29577930e-04,-6.49826117e-06,
  0.00000000e+00,-1.57816124e-03, 0.00000000e+00,-1.16897551e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004576834262755347
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21287222e-14, -3.03218054e-15,  1.00000000e+00,  3.67764754e-29,
        1.00000000e+00,  3.03218054e-15, -1.00000000e+00,  0.00000000e+00,
        1.21287222e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00681352, -0.06661886,  0.06176953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.44577345e-06,-2.14655580e-05, 3.23418529e-05,-5.23359337e-05,
  1.67511419e-05,-7.35709926e-06,-1.69183760e-05,-2.41399988e-05,
  3.41651161e-03, 3.04197230e-05, 4.13887849e-06,-1.95500636e-04,
  5.80785463e-05,-7.47962767e-05,-4.90457739e+00,-2.46023921e-04,
  3.40568414e-03,-4.00369877e-04]


--- Step 2318 ---
qpos:
[ 0.01867321, 0.03002396,-0.00943923,-0.02531133,-0.00351207, 1.3407662 ,
 -0.02996412, 0.94377253, 0.01154987, 0.02728497,-0.00832204, 0.02644647,
  1.39624395, 0.00765583, 1.3226107 , 0.04428333,-0.08566473,-0.04712531,
  0.09283889, 0.70855329,-0.07563754,-0.69745379,-0.07608815]

qacc:
[-4.30323054e+00,-1.53181472e-01, 2.00352384e+00,-7.90143797e+00,
 -4.76087406e-02,-5.19271208e+00, 2.06545541e+01,-4.13433789e+01,
 -7.34074563e+00,-3.31343959e-01,-2.81369359e+00, 1.57103169e+01,
 -4.91814729e-02, 3.56790463e-01, 8.15480342e+00,-2.83699829e+01,
 -4.04482538e+00, 8.23947747e-01,-3.02531483e+00,-1.21814961e+00,
 -1.33845589e+02,-8.38289869e+00]

qfrc_actuator:
[ 4.91007664e-05, 9.14660558e-04, 1.55401560e-04,-4.30707114e-05,
  3.17579720e-05, 3.48355174e-02, 1.09410950e-02, 1.75219353e-03,
  1.02292433e-05, 8.37442427e-04, 1.58284058e-04, 3.41613453e-05,
  0.00000000e+00,-1.55924415e-03, 0.00000000e+00,-1.30181780e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   1.2158093 ,   8.55035582,   1.2158093 ,
        92.11544421, -11.87022438,   8.55035582, -11.87022438,
        10.32423832,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004542193640673459
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.5276526e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.5276526e-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([ 0.00690982, -0.06664104,  0.06177139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.37941777e-05,-3.31723656e-05, 1.68009850e-05,-1.04708075e-04,
 -4.44413446e-05,-2.83070870e-05, 2.42806431e-05, 3.92934875e-05,
  3.39214437e-03, 4.23864746e-05,-2.24535411e-05,-1.43830873e-04,
  1.03344912e-05,-2.49202747e-05,-4.90474193e+00,-5.80412865e-05,
  3.40523684e-03,-4.06484254e-04]


--- Step 2319 ---
qpos:
[ 0.01867217, 0.03002437,-0.00943889,-0.02531186,-0.00351128, 1.34076502,
 -0.02996328, 0.94377222, 0.01154995, 0.02728485,-0.0083224 , 0.02644607,
  1.39624493, 0.00765662, 1.32271711, 0.04428163,-0.08569479,-0.0471462 ,
  0.09286731, 0.70823443,-0.07534304,-0.69777433,-0.07640945]

qacc:
[-5.56289217e+00,-4.71921119e-01, 4.20582613e+00,-1.42008156e+01,
 -4.08700271e-03,-2.20641057e+00, 7.02017667e+00,-8.18788604e+00,
 -1.35208413e+01,-1.01695826e+00, 2.59484909e+00,-6.04598600e-01,
 -6.99062355e-02, 3.49290993e-01,-1.04139925e+01, 3.49550766e+01,
 -3.59491371e+00, 7.25948014e-01,-3.80783645e+00,-1.00691700e+00,
 -1.18570194e+02,-7.38377569e+00]

qfrc_actuator:
[ 1.65150127e-05, 9.12537123e-04, 1.40506196e-04,-7.36143775e-05,
  3.86973860e-05, 3.48203878e-02, 1.09697288e-02, 1.74443762e-03,
 -7.01375050e-05, 8.25814226e-04, 1.75487684e-04, 4.05543400e-05,
  0.00000000e+00,-1.54819968e-03, 0.00000000e+00,-1.12946685e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004462466437835717
  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([ 0.00710721, -0.06668398,  0.0617752 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.21315699e-06,-3.33364132e-05, 2.09863313e-05,-1.06886304e-05,
 -8.16811634e-05,-2.07635913e-05, 1.57182519e-05, 6.78947518e-06,
  3.37039458e-03, 3.82554317e-05,-2.73488964e-05, 1.61201723e-04,
  2.02798062e-05, 9.52364786e-06,-4.90470238e+00, 1.23234121e-04,
  3.39873217e-03,-4.13134554e-04]


--- Step 2320 ---
qpos:
[ 0.01867144, 0.03002464,-0.00943898,-0.02531272,-0.00351032, 1.3407641 ,
 -0.02996229, 0.9437704 , 0.01154873, 0.02728435,-0.00832271, 0.02644509,
  1.39624564, 0.00765735, 1.32282342, 0.04428128,-0.08570667,-0.04717115,
  0.09291047, 0.7081272 ,-0.07503631,-0.69787972,-0.07674185]

qacc:
[ 2.61940087e+00, 3.36979366e-01,-6.42554070e-02,-4.92989905e+00,
  7.23076839e-02,-2.61079818e+00, 1.20521325e+01,-2.81539867e+01,
 -1.11693023e+01,-1.82971649e+00, 8.26233083e+00,-1.80563884e+01,
 -6.04471785e-02,-4.48018715e-02,-4.22860795e+00, 1.45870264e+01,
  4.54660036e+00,-1.01782449e+00, 3.68443865e+00, 2.14019899e-01,
  1.50913503e+02, 7.98969151e+00]

qfrc_actuator:
[ 3.32722201e-05, 8.93358922e-04, 1.13849184e-04,-9.13664275e-05,
  6.03042834e-05, 3.48652670e-02, 1.09862645e-02, 1.66901936e-03,
 -1.35192259e-04, 7.83532976e-04, 1.67989826e-04, 8.96153652e-06,
  0.00000000e+00,-1.57768760e-03, 0.00000000e+00,-1.06274481e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00444845898913529
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24787373e-14,  1.24787373e-14,  1.00000000e+00, -1.55718885e-28,
        1.00000000e+00, -1.24787373e-14, -1.00000000e+00,  0.00000000e+00,
        1.24787373e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1382279 , -0.03587694,  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:
[ 1.57808990e-05,-3.34925962e-05,-3.35279821e-05,-1.97606267e-05,
  2.08888286e-05, 3.02284623e-05, 1.20892138e-05,-7.60534898e-05,
 -6.74558599e-05,-5.03731991e-05,-9.60595307e-06,-3.18012057e-05,
  3.37421346e-03,-1.55136180e-05, 5.32726417e-06, 7.21919935e-05,
  6.94381752e-05, 3.23532185e-05,-4.90452303e+00, 2.95916992e-04,
  3.38691051e-03,-4.20324215e-04]


--- Step 2321 ---
qpos:
[ 0.01867126, 0.03002455,-0.00943932,-0.02531378,-0.0035093 , 1.34076373,
 -0.02996215, 0.9437684 , 0.01154742, 0.02728326,-0.00832302, 0.02644447,
  1.3962462 , 0.00765759, 1.32293015, 0.04427839,-0.08570241,-0.04719971,
  0.09296214, 0.70820717,-0.07471829,-0.69779486,-0.0770851 ]

qacc:
[ 4.72712458e+00,-2.10987757e-01, 8.31444375e-01,-3.43952325e+00,
  2.43014285e-02, 2.73056644e+00,-7.68435990e+00, 4.32636966e+00,
 -6.89127570e-01,-5.01932239e-02,-2.45390263e+00, 9.01312924e+00,
 -4.55188709e-02,-2.92497210e-01, 8.30777074e+00,-2.81815606e+01,
  4.03379722e+00,-9.01378526e-01, 2.12995740e+00,-6.74588007e-02,
  1.33518093e+02, 6.53763484e+00]

qfrc_actuator:
[ 6.11875388e-05, 8.64075382e-04, 9.81543960e-05,-1.01470282e-04,
  5.50296025e-05, 3.48924010e-02, 1.09424479e-02, 1.66090987e-03,
 -1.37444001e-04, 7.40837259e-04, 1.63576103e-04, 2.62456607e-05,
  0.00000000e+00,-1.61338649e-03, 0.00000000e+00,-1.20090920e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0044177220964763675
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.51311196e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.51311196e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13827541, -0.03586219,  0.06177761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.07094762e-06, 4.39383530e-05,-3.87606503e-05,-8.61218110e-06,
 -4.24518871e-06,-7.42153942e-05,-1.70895144e-05, 1.41806874e-05,
  3.38715626e-03,-4.79787930e-05, 7.96680675e-06,-1.34017516e-04,
  1.42232768e-05, 9.67398228e-07,-4.90472424e+00, 7.11008614e-05,
  3.38584795e-03,-4.36600180e-04]


--- Step 2322 ---
qpos:
[ 0.01867108, 0.03002422,-0.00943994,-0.02531461,-0.00350843, 1.34076365,
 -0.02996315, 0.94376843, 0.01154678, 0.02728191,-0.00832356, 0.02644472,
  1.39624653, 0.00765761, 1.3230367 , 0.04427556,-0.08568373,-0.04723149,
  0.09301708, 0.70845373,-0.07438983,-0.69754045,-0.07743888]

qacc:
[-7.79852168e-02, 9.32537979e-01,-4.68673988e+00, 9.07436811e+00,
 -5.96692964e-02, 6.91877234e+00,-2.62769325e+01, 4.61352361e+01,
  5.72975843e+00, 2.10010055e+00,-1.16845287e+01, 2.73926040e+01,
 -3.83681777e-02,-1.47658238e-01,-4.37748730e-01, 1.16005931e+00,
  3.60520749e+00,-8.04662373e-01, 8.15810113e-01,-2.83293302e-01,
  1.18956223e+02, 5.38343920e+00]

qfrc_actuator:
[ 5.99253008e-05, 8.64517413e-04, 8.90168365e-05,-8.92441898e-05,
  3.36706784e-05, 3.48907469e-02, 1.08811108e-02, 1.76346147e-03,
 -1.02717609e-04, 7.51520548e-04, 1.61052726e-04, 7.21580877e-05,
  0.00000000e+00,-1.61684824e-03, 0.00000000e+00,-1.19236003e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00434606901864816
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55454531e-14, -3.83181797e-14,  1.00000000e+00,  9.78855264e-28,
        1.00000000e+00,  3.83181797e-14, -1.00000000e+00,  0.00000000e+00,
        2.55454531e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13837943, -0.03583603,  0.0617811 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.71787097e-05, 1.48108743e-05,-5.74080394e-05, 1.02532710e-04,
  3.45723850e-05,-3.37018450e-05,-1.94512779e-05, 4.24211037e-05,
  3.39445105e-03,-2.65562290e-05,-1.47817904e-05, 1.31274655e-06,
  1.75406446e-05,-3.57848940e-05,-4.90471820e+00,-1.14033457e-04,
  3.39047948e-03,-4.51613997e-04]


--- Step 2323 ---
qpos:
[ 0.01867053, 0.0300234 ,-0.00944059,-0.02531494,-0.00350803, 1.34076349,
 -0.0299644 , 0.9437683 , 0.01154691, 0.02728039,-0.00832389, 0.02644514,
  1.39624655, 0.00765756, 1.32314291, 0.04427483,-0.08568324,-0.04725953,
  0.09306301, 0.70848935,-0.07406971,-0.69749963,-0.07778679]

qacc:
[-3.06321891e+00, 5.23771979e-01,-4.95652965e+00, 1.42468734e+01,
 -2.03307055e-01, 2.75314209e-01,-7.01999216e-01,-1.24559868e+00,
  6.54588217e+00,-4.73815315e-01, 6.72675387e-01, 1.92209951e+00,
 -2.47306652e-02,-1.01416198e-01,-6.88980229e+00, 2.33465132e+01,
 -4.54874406e+00, 9.33831249e-01,-2.25199932e+00,-4.89453061e-01,
 -1.49767775e+02,-1.11195700e+01]

qfrc_actuator:
[ 4.14957485e-05, 8.29548458e-04, 8.39514077e-05,-6.39519417e-05,
 -1.49161922e-05, 3.48718543e-02, 1.08631427e-02, 1.75275237e-03,
 -6.42775613e-05, 7.58621853e-04, 1.77645652e-04, 8.13274311e-05,
  0.00000000e+00,-1.61880817e-03, 0.00000000e+00,-1.07961794e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004295326991676285
  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([ 0.00754513, -0.06678567,  0.06178368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.87384442e-05,-1.88466115e-05,-1.85957849e-05,-9.57172283e-06,
  3.94350254e-05,-1.38804391e-05, 8.72277096e-06, 7.87972317e-06,
  3.40558884e-03,-1.79592462e-05,-8.41533732e-06, 1.10534882e-04,
  6.19087655e-05,-7.58922255e-05,-4.90456737e+00,-2.69111560e-04,
  3.40028513e-03,-4.65652808e-04]


--- Step 2324 ---
qpos:
[ 0.01866977, 0.03002214,-0.00944131,-0.02531496,-0.00350816, 1.34076269,
 -0.02996509, 0.94376874, 0.01154681, 0.02727885,-0.00832406, 0.0264453 ,
  1.39624644, 0.0076576 , 1.323249  , 0.04427577,-0.08569887,-0.0472843 ,
  0.0930964 , 0.70833879,-0.07375715,-0.69764736,-0.07812943]

qacc:
[-1.85362760e+00, 2.17067814e-01,-2.87824431e+00, 8.50081840e+00,
 -2.20442368e-01,-1.38487428e+00, 2.33377926e+00, 4.99358307e+00,
 -1.95184804e+00,-1.00271047e+00, 4.59586627e+00,-9.22297661e+00,
 -1.03649398e-02, 2.65653174e-02,-5.22494545e+00, 1.80100329e+01,
 -4.02897516e+00, 8.18853564e-01,-3.13654015e+00,-3.97802751e-01,
 -1.32214476e+02,-9.72131013e+00]

qfrc_actuator:
[ 3.08711948e-05, 8.09186523e-04, 8.11966216e-05,-4.89558706e-05,
 -4.39383711e-05, 3.48251330e-02, 1.08885173e-02, 1.78198413e-03,
 -7.72300578e-05, 7.63587389e-04, 1.87612114e-04, 6.88150748e-05,
  0.00000000e+00,-1.60217175e-03, 0.00000000e+00,-9.95193351e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364e+00, -2.05467128e-02,  8.63633920e+00, -2.05467128e-02,
        9.38494481e+01,  2.02730432e-01,  8.63633920e+00,  2.02730432e-01,
        8.63684595e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.004270843783537495
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29977012e-14, -1.29977012e-14,  1.00000000e+00,  1.68940236e-28,
        1.00000000e+00,  1.29977012e-14, -1.00000000e+00,  0.00000000e+00,
        1.29977012e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00761445, -0.06680296,  0.06178503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.37345471e-05,-6.10721563e-05, 1.92924830e-05, 2.78960781e-05,
 -1.18081835e-05,-5.85063537e-07, 8.46551524e-06,-1.26504353e-05,
  3.42120900e-03, 2.15949734e-06, 6.74749247e-06, 8.91388455e-05,
  1.37468689e-05,-2.78616499e-05,-4.90472526e+00,-7.98850637e-05,
  3.40071759e-03,-4.72062926e-04]


--- Step 2325 ---
qpos:
[ 0.01866957, 0.0300207 ,-0.00944162,-0.02531487,-0.00350829, 1.34076127,
 -0.02996461, 0.94377053, 0.01154621, 0.02727729,-0.00832471, 0.02644604,
  1.39624653, 0.00765785, 1.32335524, 0.04427637,-0.08572886,-0.04730613,
  0.09311424, 0.70802277,-0.07345235,-0.69796247,-0.07846593]

qacc:
[ 4.88514230e+00,-1.15099203e+00, 3.25818916e+00,-1.78655378e+00,
 -4.84952939e-03,-1.65058901e+00, 1.62625218e+00, 1.46310757e+01,
 -4.27206728e+00, 2.50672132e+00,-1.14225053e+01, 2.22642799e+01,
 -9.80124104e-03, 1.95036422e-01, 1.25824401e+00,-4.04398790e+00,
 -3.58894917e+00, 7.33192507e-01,-3.88424084e+00,-1.67946353e-01,
 -1.17525557e+02,-7.75624337e+00]

qfrc_actuator:
[ 6.04368761e-05, 8.33240549e-04, 1.15373192e-04,-4.01304184e-05,
 -7.73079124e-06, 3.48155564e-02, 1.09569357e-02, 1.85226380e-03,
 -1.02576774e-04, 7.49448778e-04, 1.58060750e-04, 9.69012979e-05,
  0.00000000e+00,-1.57449995e-03, 0.00000000e+00,-1.01692492e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004202383203537707
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.93319700e-07,  5.93319766e-07,  1.00000000e+00,  3.52028306e-13,
        1.00000000e+00, -5.93319766e-07, -1.00000000e+00, -5.04870979e-29,
       -5.93319700e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0077356 , -0.06700343,  0.06178829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.45891418e-06,-3.87441585e-05, 5.94875311e-05, 6.96553770e-05,
 -2.56975792e-05,-1.32061182e-05,-2.90471341e-05, 2.81118142e-05,
  3.42720949e-03, 2.58140072e-05, 1.07510704e-05,-1.64161511e-05,
  2.19056170e-05, 5.96636427e-06,-4.90468478e+00, 1.04996813e-04,
  3.39512426e-03,-4.79019437e-04]


--- Step 2326 ---
qpos:
[ 0.01866939, 0.0300197 ,-0.00944207,-0.02531506,-0.00350811, 1.34075988,
 -0.02996403, 0.94377176, 0.01154635, 0.02727548,-0.00832506, 0.02644709,
  1.39624691, 0.00765834, 1.32346164, 0.04427572,-0.08574068,-0.04733225,
  0.09314629, 0.70791695,-0.07313379,-0.69806396,-0.07881471]

qacc:
[ 8.13110747e-02, 3.75038115e-01, 6.86686526e-01,-5.67835123e+00,
  1.33869149e-01,-1.16965363e+00, 5.02657230e+00,-1.08475733e+01,
  6.28400728e+00,-5.42747805e-01, 1.55882094e-01, 4.86157483e+00,
 -2.40536837e-02, 2.51005965e-01, 4.03845478e+00,-1.37747534e+01,
  4.54190736e+00,-1.06996528e+00, 3.55059755e+00,-7.71617891e-02,
  1.49971806e+02, 6.94462931e+00]

qfrc_actuator:
[ 6.01612184e-05, 8.83862667e-04, 1.18007326e-04,-5.26929932e-05,
  3.18084653e-05, 3.48285048e-02, 1.09615907e-02, 1.82189682e-03,
 -6.39882342e-05, 7.41603124e-04, 1.76379293e-04, 1.13106642e-04,
  0.00000000e+00,-1.55812620e-03, 0.00000000e+00,-1.08326183e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004199886702953147
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.60864866e-15,  1.32172973e-14,  1.00000000e+00, -8.73484741e-29,
        1.00000000e+00, -1.32172973e-14, -1.00000000e+00,  0.00000000e+00,
        6.60864866e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13859698, -0.03576926,  0.0617885 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.86754245e-05, 5.25726054e-06, 5.89202554e-06,-2.81707838e-05,
  3.78258963e-05,-1.99743373e-05, 1.30102152e-05, 1.51856883e-05,
  3.41721736e-03, 3.14597957e-05, 6.21838892e-07,-6.64619320e-05,
  6.85335877e-05, 2.89896384e-05,-4.90450919e+00, 2.82150362e-04,
  3.38451332e-03,-4.86517576e-04]


--- Step 2327 ---
qpos:
[ 0.01866955, 0.03001944,-0.00944327,-0.0253147 ,-0.00350785, 1.34075886,
 -0.02996378, 0.94377157, 0.01154695, 0.02727377,-0.00832505, 0.02644827,
  1.39624754, 0.00765905, 1.3235681 , 0.04427361,-0.08573635,-0.04736215,
  0.09318649, 0.70799737,-0.0728025 ,-0.69797618,-0.07917555]

qacc:
[ 2.90795799e+00, 4.18161688e+00,-1.57825965e+01, 2.58314863e+01,
  3.73614940e-02,-1.06315467e+00, 6.95156252e+00,-2.26721705e+01,
  3.94507798e+00,-6.18262683e-01, 1.78689486e+00,-3.76799564e-02,
 -4.21030873e-02, 2.52653418e-01, 4.52275919e+00,-1.56536554e+01,
  4.03639747e+00,-9.47593831e-01, 2.03624451e+00,-3.52897580e-01,
  1.32940512e+02, 5.54160513e+00]

qfrc_actuator:
[ 7.78157251e-05, 9.32130032e-04, 8.43448218e-05,-2.44791398e-05,
  1.97652966e-05, 3.48545547e-02, 1.09463391e-02, 1.75026097e-03,
 -4.13302472e-05, 7.73269424e-04, 2.05082369e-04, 1.22227122e-04,
  0.00000000e+00,-1.54864308e-03, 0.00000000e+00,-1.15755401e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004179341281659366
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.32822728e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.32822728e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13862869, -0.03575705,  0.06178959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.08125382e-05, 2.92757252e-05,-1.43763832e-05,-7.19577196e-05,
  2.37517439e-05, 2.39154831e-05, 2.67264698e-05, 9.01112558e-06,
  3.40270457e-03, 2.89262738e-05,-9.18095904e-06,-7.84118401e-05,
  1.56269269e-05,-2.45159778e-06,-4.90470277e+00, 5.12790310e-05,
  3.38312404e-03,-5.03387324e-04]


--- Step 2328 ---
qpos:
[ 0.0186706 , 0.03001946,-0.00944417,-0.02531368,-0.00350773, 1.34075782,
 -0.02996305, 0.94377121, 0.01154816, 0.02727239,-0.00832504, 0.02644886,
  1.39624826, 0.00766   , 1.32367438, 0.04427162,-0.08571757,-0.04739544,
  0.0932297 , 0.70824387,-0.07245937,-0.69771939,-0.07954816]

qacc:
[ 7.72768980e+00, 9.05084224e-01,-5.51862492e+00, 1.63944979e+01,
 -6.48156506e-02,-1.60174000e+00, 5.54679671e+00,-6.81554448e+00,
  5.21710974e+00,-7.83332958e-01, 5.93954036e+00,-1.64927157e+01,
 -5.65600373e-02, 2.26794905e-01,-6.21491125e-01, 1.79699894e+00,
  3.61357320e+00,-8.46034008e-01, 7.55415777e-01,-5.62937968e-01,
  1.18681415e+02, 4.43593621e+00]

qfrc_actuator:
[ 1.23644446e-04, 9.42996944e-04, 1.00578474e-04, 9.73451696e-06,
 -5.37328927e-06, 3.48526237e-02, 1.09727887e-02, 1.74370772e-03,
 -1.04982303e-05, 7.92899230e-04, 2.04327347e-04, 9.16372498e-05,
  0.00000000e+00,-1.54337193e-03, 0.00000000e+00,-1.14715107e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004118395712662905
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69576578e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.69576578e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13871644, -0.03573348,  0.06179255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.87475865e-05, 9.29568349e-06, 2.84306418e-05,-7.76462544e-06,
  3.15292998e-05, 3.89798070e-05, 7.80563774e-06,-2.84645934e-05,
  3.38941051e-03, 2.31172327e-05,-1.46030284e-05, 4.46034071e-06,
  2.02770599e-05,-4.02506972e-05,-4.90469194e+00,-1.41299458e-04,
  3.38741291e-03,-5.19075101e-04]


--- Step 2329 ---
qpos:
[ 0.01867117, 0.0300195 ,-0.00944443,-0.02531225,-0.00350754, 1.34075665,
 -0.02996283, 0.94377153, 0.01155007, 0.02727108,-0.00832463, 0.02644874,
  1.39624903, 0.00766109, 1.32378059, 0.0442694 ,-0.0857171 ,-0.0474242 ,
  0.09326417, 0.70827993,-0.07213956,-0.69767664,-0.07989197]

qacc:
[-4.20598681e+00,-8.99639726e-01, 1.51544017e+00, 4.57438112e+00,
  3.24326135e-02, 2.36030641e+00,-9.27983633e+00, 1.59547041e+01,
  6.03166793e+00,-2.49673693e+00, 1.20171879e+01,-2.49780218e+01,
 -6.23287179e-02, 1.68004671e-01, 5.92467391e-01,-2.18132399e+00,
 -4.57728124e+00, 1.13259516e+00,-2.18775704e+00, 2.67826211e+00,
 -1.51174787e+02, 2.20719146e+00]

qfrc_actuator:
[ 9.69202148e-05, 9.31585363e-04, 1.28252830e-04, 2.94545618e-05,
  1.50952067e-05, 3.48163917e-02, 1.09348275e-02, 1.77552903e-03,
  2.49029659e-05, 7.87274457e-04, 2.21625363e-04, 5.56534394e-05,
  0.00000000e+00,-1.54073039e-03, 0.00000000e+00,-1.15793477e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004094035582099344
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.01692725e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.01692725e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00738983, -0.06924015,  0.06179387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.38982178e-06,-2.57565332e-05,-3.31352086e-05, 3.27535874e-05,
  3.63347587e-05, 1.66288254e-05, 2.53410308e-05,-3.45965933e-05,
  3.38521177e-03, 1.39933351e-05,-7.46173704e-06,-1.26978111e-05,
  6.55362220e-05,-8.21525049e-05,-4.90453755e+00,-3.04822902e-04,
  3.39686844e-03,-5.33856282e-04]


--- Step 2330 ---
qpos:
[ 0.01867107, 0.03001979,-0.00944467,-0.02531058,-0.00350721, 1.34075567,
 -0.02996379, 0.94377292, 0.01155205, 0.02726971,-0.00832369, 0.02644889,
  1.39625004, 0.00766238, 1.32388694, 0.04426538,-0.08573286,-0.04744898,
  0.09328635, 0.70813014,-0.07184055,-0.69782302,-0.08021023]

qacc:
[-5.74487251e+00, 7.82071635e-01,-3.29108730e+00, 7.17559126e+00,
  6.10880592e-02, 5.25584308e+00,-1.90865356e+01, 2.89630417e+01,
  5.74856001e-01,-1.00201634e+00, 2.32220868e+00, 1.52837666e+00,
 -7.16868797e-02, 2.61643578e-01, 5.67058290e+00,-1.95062622e+01,
 -4.05668707e+00, 9.94896380e-01,-3.07232089e+00, 2.40152094e+00,
 -1.33566443e+02, 2.05812264e+00]

qfrc_actuator:
[ 6.32020460e-05, 9.42465012e-04, 1.26827232e-04, 4.04659812e-05,
  2.72538250e-05, 3.48306957e-02, 1.08767614e-02, 1.82959589e-03,
  2.72022144e-05, 7.84379605e-04, 2.49352875e-04, 7.00431877e-05,
  0.00000000e+00,-1.52191594e-03, 0.00000000e+00,-1.25214797e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004083595387786708
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35936953e-14,  1.35936953e-14,  1.00000000e+00, -1.84788551e-28,
        1.00000000e+00, -1.35936953e-14, -1.00000000e+00,  0.00000000e+00,
        1.35936953e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00742251, -0.06925083,  0.06179452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.77066316e-05,-5.43326312e-06,-6.59132711e-05, 5.30794390e-05,
  3.36579115e-06, 1.02175768e-05, 3.30978769e-05, 1.53070075e-05,
  3.38267194e-03, 2.56579202e-05,-6.60333117e-06,-9.62811822e-05,
  1.21279395e-05,-2.93092540e-05,-4.90472907e+00,-9.87502434e-05,
  3.40315872e-03,-5.39837575e-04]


--- Step 2331 ---
qpos:
[ 0.01867125, 0.03002006,-0.00944451,-0.02530878,-0.00350687, 1.34075484,
 -0.02996525, 0.94377561, 0.01155335, 0.02726868,-0.00832254, 0.02644883,
  1.39625125, 0.0076641 , 1.32399312, 0.04426126,-0.08576308,-0.04747024,
  0.09329322, 0.70781501,-0.07156016,-0.69813745,-0.08050564]

qacc:
[ 2.46528564e+00,-8.99578210e-01, 2.61736035e+00,-1.02680231e+00,
 -8.48907680e-04, 3.75588212e+00,-1.46593153e+01, 2.76160946e+01,
 -5.77983185e+00,-5.42209776e-01, 3.44669274e+00,-7.55075547e+00,
 -9.04711362e-02, 4.16109784e-01, 6.43917538e-02,-5.61319417e-01,
 -3.61635640e+00, 8.79187206e-01,-3.82504777e+00, 2.18095985e+00,
 -1.18753702e+02, 1.91819940e+00]

qfrc_actuator:
[ 7.89190865e-05, 9.30973175e-04, 1.43810449e-04, 4.62614595e-05,
  1.65751250e-05, 3.48573192e-02, 1.08607650e-02, 1.89633606e-03,
 -7.75447631e-06, 8.18730556e-04, 2.65297633e-04, 6.07045180e-05,
  0.00000000e+00,-1.49350429e-03, 0.00000000e+00,-1.25272910e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0040284833925487845
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37796649e-14,  2.75593298e-14,  1.00000000e+00, -3.79758330e-28,
        1.00000000e+00, -2.75593298e-14, -1.00000000e+00,  0.00000000e+00,
        1.37796649e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00755631, -0.06928441,  0.06179713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47231822e-05, 1.03235951e-05, 2.57651379e-05, 7.87455040e-06,
 -2.15140405e-07, 1.23296664e-05,-2.29995260e-05, 6.58736418e-05,
 -3.48598686e-05, 4.76031334e-05, 2.26682277e-05,-7.45681447e-06,
  3.37036152e-03, 4.44564704e-05,-1.56561129e-05,-7.23729619e-06,
  1.69017141e-05, 6.97856996e-06,-4.90471594e+00, 8.15617213e-05,
  3.40274802e-03,-5.46321795e-04]


--- Step 2332 ---
qpos:
[ 0.01867093, 0.03001991,-0.00944364,-0.0253069 ,-0.00350659, 1.34075414,
 -0.02996622, 0.94377661, 0.01155388, 0.02726793,-0.00832148, 0.02644869,
  1.39625244, 0.00766586, 1.32409928, 0.04425647,-0.08577492,-0.04749573,
  0.09331443, 0.70771044,-0.07126125,-0.69823765,-0.08082049]

qacc:
[-4.28230031e+00,-2.34217064e+00, 7.20992771e+00,-6.57500354e+00,
 -2.29956695e-02,-4.00434160e+00, 1.67292323e+01,-3.41578525e+01,
 -6.61372002e+00, 4.27838933e-01,-5.86539875e-01,-1.02091462e+00,
 -9.95355701e-02, 1.34243963e-01, 2.01626241e+00,-7.07164062e+00,
  4.59425447e+00,-1.05674542e+00, 3.58438253e+00,-1.32314495e+00,
  1.50755380e+02, 2.79711920e+00]

qfrc_actuator:
[ 5.25993842e-05, 8.88478845e-04, 1.71446432e-04, 4.89426245e-05,
  1.00353476e-05, 3.48735276e-02, 1.08875507e-02, 1.81026086e-03,
 -4.65958113e-05, 8.21802563e-04, 2.56530685e-04, 5.52452928e-05,
  0.00000000e+00,-1.51290658e-03, 0.00000000e+00,-1.28687412e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00401675395125943
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.90995166e-15, -1.38199033e-14,  1.00000000e+00,  9.54948638e-29,
        1.00000000e+00,  1.38199033e-14, -1.00000000e+00,  0.00000000e+00,
        6.90995166e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13886777, -0.03568703,  0.06179769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.66667215e-06, 2.05207064e-05, 2.85183015e-05,-8.48512784e-05,
 -3.98483256e-05, 3.40710550e-05, 3.60178458e-06,-2.77843611e-06,
  3.35985526e-03, 3.56560320e-06,-9.03093067e-06,-3.67977569e-05,
  6.18193687e-05, 3.07165990e-05,-4.90456056e+00, 2.40187210e-04,
  3.39641178e-03,-5.53221683e-04]


--- Step 2333 ---
qpos:
[ 0.01866926, 0.03001973,-0.00944306,-0.02530567,-0.00350652, 1.34075396,
 -0.02996737, 0.94377726, 0.01155497, 0.02726734,-0.00832049, 0.02644919,
  1.39625325, 0.00766746, 1.32420517, 0.04425296,-0.08577043,-0.04752499,
  0.09334396, 0.70779264,-0.0709456 ,-0.69814786,-0.08115332]

qacc:
[-1.15676245e+01,-5.68486630e-01, 4.74405783e+00,-1.55770273e+01,
 -8.90003642e-02, 5.50450007e-01,-2.30145261e-01,-4.21015054e+00,
  4.80901524e+00, 1.75159391e+00,-8.68660079e+00, 1.98760890e+01,
 -9.28942950e-02,-1.06603963e-01,-4.28865378e+00, 1.44388511e+01,
  4.08434285e+00,-9.41380777e-01, 2.07877034e+00,-1.37748151e+00,
  1.33751908e+02, 2.11023202e+00]

qfrc_actuator:
[-1.60210313e-05, 8.81042055e-04, 1.51750686e-04, 1.42413625e-05,
 -1.17202085e-05, 3.49189657e-02, 1.08859761e-02, 1.79473269e-03,
 -1.63898011e-05, 8.23771279e-04, 2.50888646e-04, 8.75835628e-05,
  0.00000000e+00,-1.54303817e-03, 0.00000000e+00,-1.21627695e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004007138645694741
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.92653239e-15, -1.38530648e-14,  1.00000000e+00,  9.59537019e-29,
        1.00000000e+00,  1.38530648e-14, -1.00000000e+00,  0.00000000e+00,
        6.92653239e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13888349, -0.03568104,  0.06179824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.56943096e-05, 5.98252891e-05, 3.19980010e-06,-1.60432359e-05,
  2.90496098e-05, 2.16490280e-05, 1.74202356e-06, 3.38702637e-05,
  3.36073461e-03,-2.91366568e-05,-1.01513424e-05, 6.69657334e-05,
  9.25287195e-06,-3.28213714e-07,-4.90474648e+00, 3.01180982e-05,
  3.39260671e-03,-5.68679924e-04]


--- Step 2334 ---
qpos:
[ 0.01866817, 0.0300194 ,-0.00944294,-0.02530518,-0.00350639, 1.34075466,
 -0.0299694 , 0.94378049, 0.01155711, 0.02726692,-0.00831987, 0.02645044,
  1.39625389, 0.00766909, 1.32431098, 0.04425031,-0.0857513 ,-0.04755762,
  0.09337671, 0.70804157,-0.07061473,-0.69788823,-0.08150283]

qacc:
[ 4.86860601e+00,-4.30418687e-01, 4.36611560e+00,-1.63407229e+01,
  2.52457383e-02, 7.93502832e+00,-2.98122625e+01, 5.52208604e+01,
  8.88778784e+00, 2.75642673e+00,-1.26942874e+01, 2.61162043e+01,
 -7.72707210e-02, 5.67361678e-02,-2.69201539e+00, 9.23794628e+00,
  3.65762936e+00,-8.45197302e-01, 8.04558761e-01,-1.41266588e+00,
  1.19513305e+02, 1.57761384e+00]

qfrc_actuator:
[ 1.52923150e-05, 8.58921992e-04, 1.22119557e-04,-2.44333350e-05,
  1.08301742e-05, 3.49814837e-02, 1.08500856e-02, 1.92738773e-03,
  3.64638092e-05, 8.25096483e-04, 2.29405803e-04, 1.24151484e-04,
  0.00000000e+00,-1.52615091e-03, 0.00000000e+00,-1.17329053e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003956760681329087
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40294437e-14, -2.80588874e-14,  1.00000000e+00,  3.93650581e-28,
        1.00000000e+00,  2.80588874e-14, -1.00000000e+00,  0.00000000e+00,
        1.40294437e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13895583, -0.0356628 ,  0.06180067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.36834025e-06, 9.57588163e-05,-2.42916548e-05, 1.34174209e-04,
  5.37096241e-05, 1.52651590e-05,-1.56301995e-05, 3.82121216e-05,
  3.37999403e-03,-3.86185843e-06, 8.62046833e-07, 4.50103707e-05,
  1.45813039e-05,-3.87850229e-05,-4.90472790e+00,-1.50195144e-04,
  3.39501697e-03,-5.83326650e-04]


--- Step 2335 ---
qpos:
[ 0.0186678 , 0.03001859,-0.00944281,-0.0253048 ,-0.00350597, 1.34075579,
 -0.02997131, 0.94378285, 0.01155952, 0.02726667,-0.00831977, 0.02645178,
  1.39625455, 0.00767055, 1.32441708, 0.0442455 ,-0.08575075,-0.04758577,
  0.09340089, 0.70807833,-0.07030656,-0.69784443,-0.08182427]

qacc:
[ 6.25656591e+00,-9.35244320e-01, 2.87042903e+00,-4.47736258e+00,
  1.23025350e-01,-1.25053287e+00, 6.55387191e+00,-1.60227657e+01,
  2.31004568e+00, 1.90424819e+00,-6.84150578e+00, 9.17000959e+00,
 -7.12789562e-02,-1.87461888e-02, 6.95514009e+00,-2.36659469e+01,
 -4.64142042e+00, 1.12138194e+00,-2.14107837e+00, 3.06409773e+00,
 -1.52356078e+02, 1.58927583e+00]

qfrc_actuator:
[ 5.19307967e-05, 8.28117705e-04, 1.22327473e-04,-2.96350529e-05,
  4.20251191e-05, 3.49826879e-02, 1.08476465e-02, 1.87987451e-03,
  4.89437502e-05, 8.25962210e-04, 1.98732660e-04, 1.27391477e-04,
  0.00000000e+00,-1.53443933e-03, 0.00000000e+00,-1.28896611e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003961201966731366
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40137139e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.40137139e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00773451, -0.06933574,  0.06180063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.55521924e-05, 5.34602109e-05, 1.74694227e-05,-4.22340447e-05,
  1.40567128e-05, 7.84183793e-06,-2.81279687e-05, 4.09197626e-06,
  3.38802384e-03,-1.35696791e-05, 3.16670948e-06,-1.13551789e-04,
  6.08635355e-05,-8.21012758e-05,-4.90456539e+00,-3.07212359e-04,
  3.40299712e-03,-5.97342374e-04]


--- Step 2336 ---
qpos:
[ 0.01866649, 0.0300176 ,-0.00944253,-0.02530454,-0.00350552, 1.34075711,
 -0.02997244, 0.94378254, 0.01156102, 0.02726678,-0.00831984, 0.02645242,
  1.39625496, 0.00767157, 1.32452324, 0.04423902,-0.08576664,-0.04760998,
  0.09341297, 0.70792763,-0.07001855,-0.69799144,-0.08212082]

qacc:
[-8.02850130e+00,-8.52646956e-01, 3.18941405e+00,-5.25076891e+00,
  1.35561424e-02,-6.39732504e+00, 2.66568122e+01,-5.42136459e+01,
 -7.71727958e+00,-5.52414870e-01, 5.65221129e+00,-1.79592156e+01,
 -6.72294690e-02,-2.55437945e-01, 5.13814755e+00,-1.78629579e+01,
 -4.11350213e+00, 9.86320175e-01,-3.02735248e+00, 2.76387066e+00,
 -1.34664963e+02, 1.46837405e+00]

qfrc_actuator:
[ 2.61430940e-06, 8.45750930e-04, 1.40137887e-04,-3.28387663e-05,
  2.48942284e-05, 3.49826964e-02, 1.08823754e-02, 1.74442722e-03,
  2.04698720e-06, 8.61975397e-04, 1.98360948e-04, 9.32373660e-05,
  0.00000000e+00,-1.57540060e-03, 0.00000000e+00,-1.37291239e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003960524651093464
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40161105e-14, -2.80322210e-14,  1.00000000e+00, -3.92902708e-28,
        1.00000000e+00,  2.80322210e-14, -1.00000000e+00,  0.00000000e+00,
       -1.40161105e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00774173, -0.0693397 ,  0.06180078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.88077586e-06, 3.17291151e-05, 4.59400985e-05,-1.34305272e-04,
 -4.64818270e-05, 3.47807737e-05,-2.07414932e-06,-3.47144468e-05,
  3.38689236e-03,-4.61147717e-05,-1.40511298e-05,-9.05124171e-05,
  7.40267222e-06,-2.82577797e-05,-4.90475662e+00,-1.11071233e-04,
  3.40947027e-03,-6.02998437e-04]


--- Step 2337 ---
qpos:
[ 0.0186646 , 0.03001697,-0.0094426 ,-0.02530435,-0.00350528, 1.34075834,
 -0.02997365, 0.94378206, 0.01156126, 0.02726675,-0.00831918, 0.02645263,
  1.3962554 , 0.00767222, 1.32462963, 0.04422889,-0.08579717,-0.04763039,
  0.09340995, 0.70761083,-0.06975495,-0.69830775,-0.08238596]

qacc:
[-5.00267427e+00, 1.28810036e+00,-3.54516736e+00, 2.44906264e+00,
 -8.97588096e-02,-2.22289275e-01, 9.35340021e-01,-2.72976924e+00,
 -1.07579217e+01,-3.01127765e+00, 1.22907296e+01,-2.05789479e+01,
 -5.90454905e-02,-1.59281798e-01, 1.14087833e+01,-3.93981776e+01,
 -3.65936664e+00, 9.48928737e-01,-3.77141641e+00, 3.45406535e+00,
 -1.19994113e+02, 6.89101797e+00]

qfrc_actuator:
[-2.58911021e-05, 8.92342207e-04, 1.32875556e-04,-3.47990096e-05,
 -3.33676414e-06, 3.49465587e-02, 1.08677008e-02, 1.73589516e-03,
 -6.16567844e-05, 8.47830304e-04, 2.33761712e-04, 7.29170488e-05,
  0.00000000e+00,-1.58237544e-03, 0.00000000e+00,-1.56170611e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003914779226521123
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.24184165e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.24184165e-07, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00764409, -0.07050026,  0.06180291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.59361678e-05,-1.36434884e-05,-7.17923727e-06,-9.34517747e-06,
 -6.50509435e-05, 3.37264914e-06, 4.11301539e-05,-1.95764628e-05,
  3.39884270e-03,-3.14166400e-05,-1.88148035e-05,-1.96128039e-04,
  1.28604953e-05, 8.43273555e-06,-4.90474025e+00, 6.15249913e-05,
  3.40920052e-03,-6.09133496e-04]


--- Step 2338 ---
qpos:
[ 0.01866239, 0.0300167 ,-0.00944339,-0.02530347,-0.00350531, 1.34075916,
 -0.02997543, 0.94378154, 0.01156108, 0.02726689,-0.00831844, 0.02645227,
  1.39625591, 0.00767306, 1.32473571, 0.04421823,-0.08580906,-0.04765507,
  0.09342175, 0.70750622,-0.06946899,-0.69840796,-0.08267599]

qacc:
[-2.83783793e+00, 3.94497180e+00,-1.62952645e+01, 2.91761381e+01,
 -1.11591251e-01, 9.50069580e-01,-3.65979561e+00, 2.93880057e+00,
 -3.60054690e+00,-1.20592956e+00, 7.07476849e+00,-1.74119442e+01,
 -6.65775565e-02, 2.06541846e-01, 1.14714277e+00,-4.66361051e+00,
  4.66054955e+00,-1.06763151e+00, 3.70266746e+00,-2.27824440e+00,
  1.52330864e+02,-3.37406505e-01]

qfrc_actuator:
[-4.18906969e-05, 9.02575964e-04, 9.32444595e-05,-4.96864142e-07,
 -2.02439816e-05, 3.48889320e-02, 1.08239138e-02, 1.73106997e-03,
 -8.14655515e-05, 8.57178255e-04, 2.36553575e-04, 4.31341786e-05,
  0.00000000e+00,-1.55108847e-03, 0.00000000e+00,-1.57997226e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038964268344144626
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42466813e-14, -2.84933626e-14,  1.00000000e+00,  4.05935855e-28,
        1.00000000e+00,  2.84933626e-14, -1.00000000e+00,  0.00000000e+00,
        1.42466813e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13904636, -0.03563677,  0.06180373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.22347205e-05,-6.68678450e-05,-4.75476112e-05,-5.66301659e-06,
 -2.17127846e-05, 1.88617380e-05, 7.87210487e-06,-2.85953451e-05,
  3.39779693e-03, 1.87578909e-05,-3.26096065e-05,-3.20688343e-05,
  5.82971469e-05, 3.24691831e-05,-4.90459068e+00, 2.08017867e-04,
  3.40441317e-03,-6.15571007e-04]


--- Step 2339 ---
qpos:
[ 0.01865965, 0.03001628,-0.00944414,-0.02530287,-0.00350542, 1.34075946,
 -0.0299771 , 0.94378059, 0.0115617 , 0.02726754,-0.00831813, 0.02645189,
  1.39625603, 0.00767419, 1.32484098, 0.0442124 ,-0.08580439,-0.04768356,
  0.0934423 , 0.7075899 ,-0.06916302,-0.69831648,-0.08298856]

qacc:
[-4.45165836e+00,-8.86345197e-01, 4.05269594e+00,-8.79729911e+00,
 -3.89435904e-02,-1.71505227e+00, 5.64621565e+00,-9.50030429e+00,
  6.78210300e+00, 1.83747842e+00,-5.52341539e+00, 5.55641990e+00,
 -6.46267380e-02, 1.42370805e-01,-1.58150058e+01, 5.35995007e+01,
  4.14215868e+00,-9.54012710e-01, 2.18747038e+00,-2.17383637e+00,
  1.35171650e+02,-5.17678900e-01]

qfrc_actuator:
[-6.81606189e-05, 8.73106911e-04, 8.79749369e-05,-1.61884578e-05,
 -1.24679409e-05, 3.48720251e-02, 1.08342066e-02, 1.71065672e-03,
 -3.97681199e-05, 8.98142470e-04, 2.20132706e-04, 4.35122585e-05,
  0.00000000e+00,-1.55051283e-03, 0.00000000e+00,-1.32005950e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038964347419724182
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42466524e-14,  1.42466524e-14,  1.00000000e+00, -2.02967104e-28,
        1.00000000e+00, -1.42466524e-14, -1.00000000e+00,  0.00000000e+00,
        1.42466524e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13904794, -0.03563568,  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:
[-2.67499900e-05,-1.93198733e-05,-2.42911255e-06,-1.49741166e-05,
 -1.12754060e-05,-6.33742493e-05,-8.36425457e-06,-2.39507053e-05,
  4.10701438e-05, 5.18915814e-05,-1.25532502e-05, 9.01977517e-07,
  3.39357437e-03, 1.01461694e-05,-1.90082262e-05, 2.53864477e-04,
  4.81108002e-06, 1.37562909e-06,-4.90477479e+00, 1.16393571e-05,
  3.39914283e-03,-6.30061566e-04]


--- Step 2340 ---
qpos:
[ 0.01865732, 0.03001576,-0.00944463,-0.02530317,-0.00350555, 1.3407594 ,
 -0.02997815, 0.94377936, 0.01156316, 0.02726838,-0.00831768, 0.02645186,
  1.39625592, 0.00767536, 1.32494623, 0.04420867,-0.08578488,-0.0477155 ,
  0.09346646, 0.70784169,-0.06883903,-0.6980536 ,-0.08332163]

qacc:
[ 3.40234000e+00,-2.72178440e+00, 1.32945760e+01,-2.92208109e+01,
 -6.44134545e-03,-2.64235536e+00, 8.61318045e+00,-1.04731104e+01,
  7.17142648e+00, 5.44902509e-01,-3.06696812e+00, 8.78033454e+00,
 -4.25265305e-02, 1.08462540e-02,-6.40869637e+00, 2.23504409e+01,
  3.70817530e+00,-8.58983589e-01, 9.04410675e-01,-2.08297201e+00,
  1.20799638e+02,-6.42472475e-01]

qfrc_actuator:
[-4.70120472e-05, 8.73434090e-04, 1.02836505e-04,-6.11846922e-05,
 -7.70057488e-06, 3.48798244e-02, 1.08764870e-02, 1.69904265e-03,
  2.27777750e-06, 9.04405330e-04, 2.28172513e-04, 6.16555289e-05,
  0.00000000e+00,-1.55079743e-03, 0.00000000e+00,-1.21793947e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038548990861916113
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.88003136e-14, -1.44001568e-14,  1.00000000e+00,  4.14729031e-28,
        1.00000000e+00,  1.44001568e-14, -1.00000000e+00,  0.00000000e+00,
        2.88003136e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13910729, -0.03562153,  0.06180578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.89797830e-06,-2.96166779e-05, 2.82292322e-05,-1.43226310e-05,
  4.32694642e-05, 3.27168017e-05, 1.72325320e-05, 1.99473838e-05,
  3.41309861e-03,-4.95395084e-06, 1.90359370e-05, 1.13761892e-04,
  1.03209161e-05,-3.82408629e-05,-4.90475122e+00,-1.61150750e-04,
  3.40037957e-03,-6.44014070e-04]


--- Step 2341 ---
qpos:
[ 0.01865628, 0.03001532,-0.00944505,-0.02530367,-0.00350596, 1.34075936,
 -0.02997882, 0.94377764, 0.01156373, 0.02726965,-0.00831745, 0.02645135,
  1.39625602, 0.00767635, 1.3250521 , 0.04420153,-0.08578413,-0.04774221,
  0.09348246, 0.70788111,-0.06855418,-0.69800795,-0.08360354]

qacc:
[ 1.12014955e+01,-5.12383512e-01, 2.81123182e+00,-6.45341369e+00,
 -1.16597930e-01,-1.80348424e+00, 6.95411991e+00,-1.18268181e+01,
 -7.57316157e+00, 2.33021397e-01, 2.00621719e+00,-1.01976615e+01,
 -3.51476822e-02,-1.68330848e-02, 1.12796946e+01,-3.80905668e+01,
 -4.69135717e+00, 1.30414166e+00,-2.04306979e+00, 5.74422432e+00,
 -1.54401144e+02, 1.54417383e+01]

qfrc_actuator:
[ 1.96331947e-05, 8.91655063e-04, 1.11796136e-04,-6.97681329e-05,
 -4.02834914e-05, 3.49025023e-02, 1.09018982e-02, 1.67497907e-03,
 -4.45920673e-05, 9.25457766e-04, 2.14969125e-04, 3.68379255e-05,
  0.00000000e+00,-1.55146393e-03, 0.00000000e+00,-1.40497582e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038909641422516864
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.85333656e-14,  2.85333656e-14,  1.00000000e+00, -8.14152953e-28,
        1.00000000e+00, -2.85333656e-14, -1.00000000e+00,  0.00000000e+00,
        2.85333656e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00750346, -0.0716603 ,  0.06180426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.37055581e-05, 1.13857496e-05, 2.24096881e-05,-2.44611759e-05,
 -4.55896872e-05, 4.37461908e-05,-3.64792812e-06,-2.24354362e-05,
  3.42424983e-03,-7.79130878e-06, 1.84927847e-05,-1.78894657e-04,
  5.75806442e-05,-8.34864600e-05,-4.90458147e+00,-3.14829338e-04,
  3.40741913e-03,-6.57541782e-04]


--- Step 2342 ---
qpos:
[ 0.01865571, 0.03001502,-0.00944541,-0.02530428,-0.00350669, 1.34075954,
 -0.02997902, 0.94377631, 0.01156305, 0.0272709 ,-0.00831722, 0.02645094,
  1.39625609, 0.00767694, 1.32515818, 0.04419123,-0.0858    ,-0.0477643 ,
  0.09348667, 0.70773311,-0.06830465,-0.69815423,-0.08383911]

qacc:
[ 3.96890593e+00,-2.55334321e-01, 1.59755539e+00,-3.62763586e+00,
 -1.35423336e-01,-3.54984283e-01, 6.84563985e-01, 3.82833878e+00,
 -1.07130342e+01, 1.97580302e-01,-1.07982931e+00, 2.64647967e+00,
 -4.16903068e-02,-2.02420929e-01, 9.85725379e+00,-3.40155504e+01,
 -4.15332025e+00, 1.15793868e+00,-2.94416304e+00, 5.26910622e+00,
 -1.36405233e+02, 1.43171176e+01]

qfrc_actuator:
[ 4.14977053e-05, 9.02710226e-04, 1.17301756e-04,-7.45950588e-05,
 -5.95048668e-05, 3.49338588e-02, 1.09349484e-02, 1.69703441e-03,
 -1.07916766e-04, 9.01825677e-04, 2.07093626e-04, 4.01874290e-05,
  0.00000000e+00,-1.58765547e-03, 0.00000000e+00,-1.56554674e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003899847764833731
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58421695e-07,  9.58421752e-07,  1.00000000e+00,  9.18572201e-13,
        1.00000000e+00, -9.58421752e-07, -1.00000000e+00,  0.00000000e+00,
       -9.58421695e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00748439, -0.07178117,  0.06180393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.91393723e-05, 4.13008839e-05, 3.71087293e-05, 2.24843703e-05,
 -6.46393133e-05,-9.45326374e-07,-7.85930630e-08, 4.66115907e-06,
  3.41389136e-03,-3.48044458e-05,-1.50908994e-05,-1.69000964e-04,
  1.31391581e-06,-2.52105569e-05,-4.90480300e+00,-1.18951873e-04,
  3.41768717e-03,-6.62195689e-04]


--- Step 2343 ---
qpos:
[ 0.01865506, 0.03001501,-0.00944521,-0.025305  ,-0.0035074 , 1.34075997,
 -0.0299785 , 0.94377454, 0.0115623 , 0.02727167,-0.00831655, 0.02645025,
  1.39625591, 0.00767743, 1.32526385, 0.04418175,-0.0858306 ,-0.04778184,
  0.09347595, 0.70742022,-0.06809571,-0.69846989,-0.0840203 ]

qacc:
[-6.54573536e-01,-1.34273915e+00, 5.81425647e+00,-8.76100803e+00,
  4.66604387e-03,-2.31937237e+00, 8.86410260e+00,-1.28730240e+01,
 -5.31163711e-01,-2.44504871e+00, 8.93284411e+00,-1.39824477e+01,
 -3.79600198e-02,-9.32830391e-02,-3.09360015e+00, 9.92339407e+00,
 -3.68235237e+00, 1.13435596e+00,-3.73530382e+00, 6.09000282e+00,
 -1.21056871e+02, 2.07156515e+01]

qfrc_actuator:
[ 3.68144898e-05, 9.44890300e-04, 1.56206863e-04,-7.71841512e-05,
 -3.50492826e-05, 3.49524766e-02, 1.09723192e-02, 1.67505919e-03,
 -1.09380184e-04, 8.51646592e-04, 2.20030715e-04, 2.45547231e-05,
  0.00000000e+00,-1.59161670e-03, 0.00000000e+00,-1.51385829e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038627273372282933
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.86323494e-07, -7.86323543e-07,  1.00000000e+00, -6.18304676e-13,
        1.00000000e+00,  7.86323543e-07, -1.00000000e+00, -1.00974196e-28,
       -7.86323494e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00754363, -0.07349992,  0.06180564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.32730421e-06, 4.93957957e-05, 5.03305595e-05,-1.91260224e-05,
 -3.35277559e-06,-5.05960141e-05, 1.28789344e-05,-1.55850451e-05,
  3.41503098e-03,-1.88703659e-05,-2.79984928e-05, 3.98520083e-05,
  6.47257076e-06, 1.24585157e-05,-4.90480762e+00, 3.20105182e-05,
  3.41998221e-03,-6.67227558e-04]


--- Step 2344 ---
qpos:
[ 0.01865505, 0.03001529,-0.0094445 ,-0.02530643,-0.00350799, 1.34076027,
 -0.02997763, 0.94377293, 0.01156154, 0.02727258,-0.00831597, 0.02644934,
  1.39625555, 0.00767781, 1.32536934, 0.04417292,-0.08584221,-0.04780346,
  0.09348063, 0.70732088,-0.06785832,-0.69856759,-0.08423622]

qacc:
[ 5.48975574e+00,-2.57309151e+00, 1.26841462e+01,-2.60140030e+01,
  5.45314349e-02,-8.66194048e-01, 2.31114867e+00,-1.86442373e-01,
 -1.14521363e-01,-1.69801350e-02, 1.29693868e+00,-5.17298815e+00,
 -2.37897793e-02,-8.66070010e-02,-2.20881320e+00, 7.33466535e+00,
  4.74593780e+00,-1.01861780e+00, 3.85213712e+00,-3.95035447e+00,
  1.54053341e+02,-5.82808091e+00]

qfrc_actuator:
[ 6.98157304e-05, 9.52268525e-04, 1.79147711e-04,-1.13891699e-04,
 -2.00957443e-05, 3.49100636e-02, 1.09763568e-02, 1.68059200e-03,
 -1.09920306e-04, 8.92534043e-04, 2.27256612e-04, 1.56118401e-05,
  0.00000000e+00,-1.59411931e-03, 0.00000000e+00,-1.47954510e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038279739874933633
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.25072211e-15,  1.45014442e-14,  1.00000000e+00, -1.05145942e-28,
        1.00000000e+00, -1.45014442e-14, -1.00000000e+00,  0.00000000e+00,
        7.25072211e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13915074, -0.03561968,  0.06180717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.57396132e-05,-5.82294745e-06, 1.88635439e-05, 8.04892926e-06,
 -6.52832427e-07, 1.45485959e-05,-2.19434624e-06,-1.09705076e-05,
  3.42712614e-03,-1.57712154e-05,-9.29539615e-06, 3.27896271e-05,
  5.36258571e-05, 3.47293771e-05,-4.90467339e+00, 1.38317328e-04,
  3.41632407e-03,-6.72345355e-04]


--- Step 2345 ---
qpos:
[ 0.0186551 , 0.03001506,-0.00944342,-0.02530783,-0.00350857, 1.34076046,
 -0.02997672, 0.94377245, 0.01156043, 0.02727372,-0.00831543, 0.02644901,
  1.396255  , 0.00767792, 1.32547484, 0.04416387,-0.08583697,-0.04782875,
  0.09349459, 0.70741109,-0.06759592,-0.69847193,-0.08448261]

qacc:
[ 4.62918684e-01,-1.62343425e+00, 4.72598013e+00,-4.47369082e+00,
  2.34810325e-03, 1.65638376e+00,-7.90153922e+00, 2.00278376e+01,
 -2.95207481e+00, 1.58787977e+00,-7.65787750e+00, 1.75124984e+01,
 -1.01870295e-02,-2.02487775e-01, 6.37946984e-01,-2.23251476e+00,
  4.21396393e+00,-9.17744361e-01, 2.31862687e+00,-3.51257352e+00,
  1.36675707e+02,-4.96771659e+00]

qfrc_actuator:
[ 7.14846094e-05, 8.67658344e-04, 1.74560955e-04,-1.17164479e-04,
 -2.87183401e-05, 3.49023269e-02, 1.09782208e-02, 1.73772548e-03,
 -1.27685140e-04, 9.16612632e-04, 2.31414187e-04, 4.62514950e-05,
  0.00000000e+00,-1.61346363e-03, 0.00000000e+00,-1.49131255e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038355445230504326
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89456430e-14, -1.44728215e-14,  1.00000000e+00,  4.18925124e-28,
        1.00000000e+00,  1.44728215e-14, -1.00000000e+00,  0.00000000e+00,
        2.89456430e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13914206, -0.03562549,  0.06180685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.78531547e-07,-7.03059723e-06, 3.10409860e-06, 5.76976100e-05,
 -1.77750242e-05, 3.12503456e-05, 6.49672057e-06, 3.09722641e-05,
  3.43615281e-03,-2.99534020e-05,-2.39282015e-06,-1.14975878e-05,
 -1.87192805e-06, 6.25451897e-06,-4.90485478e+00,-1.31804689e-05,
  3.40997005e-03,-6.83713497e-04]


--- Step 2346 ---
qpos:
[ 0.01865447, 0.03001439,-0.00944213,-0.02530787,-0.00350905, 1.34076085,
 -0.02997557, 0.94377158, 0.01155912, 0.02727501,-0.00831509, 0.02644906,
  1.39625413, 0.00767764, 1.32558026, 0.04415508,-0.08581665,-0.04785738,
  0.09351263, 0.70767058,-0.06731139,-0.69820338,-0.08475594]

qacc:
[-5.72880967e+00, 1.63522713e+00,-1.23963981e+01, 3.58728225e+01,
  4.57311587e-02,-1.03382996e+00, 4.47946546e+00,-8.47999957e+00,
 -1.75250452e+00, 1.58746092e+00,-7.00317179e+00, 1.39597863e+01,
  6.63779612e-03,-3.34352751e-01,-9.03181641e-01, 2.97237340e+00,
  3.76866106e+00,-8.32641281e-01, 1.01946959e+00,-3.15890690e+00,
  1.22117584e+02,-4.26611208e+00]

qfrc_actuator:
[ 3.69328965e-05, 8.52781568e-04, 1.88908276e-04,-4.75734766e-05,
 -1.59096507e-05, 3.49331798e-02, 1.09966959e-02, 1.71826378e-03,
 -1.37694565e-04, 9.12719074e-04, 2.15960161e-04, 6.44236590e-05,
  0.00000000e+00,-1.64270862e-03, 0.00000000e+00,-1.47687563e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038006758162304893
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.92112003e-14, -1.46056001e-14,  1.00000000e+00,  4.26647111e-28,
        1.00000000e+00,  1.46056001e-14, -1.00000000e+00,  0.00000000e+00,
        2.92112003e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13919226, -0.03561688,  0.0618085 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.32092194e-05, 2.93021871e-05, 1.91433269e-05,-1.82434117e-05,
 -1.05165365e-05, 1.61946510e-05,-7.14627351e-06, 2.03364527e-05,
  3.44556079e-03,-4.58648431e-05,-4.74976685e-06, 1.29887840e-05,
  3.14585376e-06,-3.20285967e-05,-4.90482512e+00,-1.54273581e-04,
  3.41030483e-03,-6.95069575e-04]


--- Step 2347 ---
qpos:
[ 0.01865343, 0.03001368,-0.00944108,-0.02530744,-0.00350954, 1.34076177,
 -0.02997459, 0.94376943, 0.01155805, 0.0272762 ,-0.00831536, 0.02644939,
  1.39625294, 0.00767678, 1.32568575, 0.04414552,-0.08581525,-0.04788022,
  0.09352266, 0.70771825,-0.06708077,-0.69815264,-0.08495847]

qacc:
[-3.52114159e+00, 1.59909619e+00,-7.74914792e+00, 1.62564111e+01,
 -7.45160031e-03,-9.94201316e-01, 6.70211303e+00,-2.08906082e+01,
  1.98933499e+00, 2.15234408e+00,-9.05969488e+00, 1.49668713e+01,
  2.99953013e-02,-4.67689600e-01, 2.43750601e+00,-8.40715469e+00,
 -4.72891580e+00, 1.44427084e+00,-2.00053338e+00, 7.74034503e+00,
 -1.55688793e+02, 2.75664891e+01]

qfrc_actuator:
[ 1.68545067e-05, 8.62144695e-04, 1.79122190e-04,-2.43705926e-05,
 -2.58521606e-05, 3.49691703e-02, 1.09894264e-02, 1.65390798e-03,
 -1.25301007e-04, 8.74268002e-04, 1.71170878e-04, 7.50711156e-05,
  0.00000000e+00,-1.67765836e-03, 0.00000000e+00,-1.51811072e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003866727978586816
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15341569e-14, -3.58902614e-15,  1.00000000e+00,  7.72866520e-29,
        1.00000000e+00,  3.58902614e-15, -1.00000000e+00,  0.00000000e+00,
        2.15341569e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00753816, -0.07363772,  0.06180558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.13541621e-06, 5.53919114e-05, 1.03091604e-07,-6.33357474e-05,
  1.20951114e-05,-3.00582402e-05,-4.16406919e-05, 1.14864004e-05,
  3.46139599e-03,-6.10095042e-05,-3.07284474e-06,-4.16051418e-05,
  5.09293774e-05,-7.68260586e-05,-4.90464716e+00,-2.85241118e-04,
  3.41662324e-03,-7.06387422e-04]


--- Step 2348 ---
qpos:
[ 0.01865251, 0.03001268,-0.00944005,-0.02530707,-0.00351009, 1.34076303,
 -0.02997398, 0.94376726, 0.01155713, 0.02727711,-0.0083161 , 0.02644987,
  1.39625169, 0.00767575, 1.32579115, 0.04413586,-0.08583058,-0.04789797,
  0.09352106, 0.70757895,-0.06689757,-0.69829434,-0.08509848]

qacc:
[ 9.64450167e-01,-4.80131847e-01, 1.39101957e+00,-2.12993396e+00,
 -2.43730824e-02, 1.35763017e+00,-3.81796981e+00, 2.67559024e+00,
  1.33146487e+00, 1.19405021e+00,-5.37157109e+00, 8.69042094e+00,
  4.50246786e-02,-1.69827901e-01, 1.41305381e-01,-6.99683864e-01,
 -4.18394739e+00, 1.27474571e+00,-2.90842066e+00, 6.94647260e+00,
 -1.37466700e+02, 2.42824461e+01]

qfrc_actuator:
[ 2.32207285e-05, 8.32571007e-04, 1.72980468e-04,-2.86530553e-05,
 -3.16104204e-05, 3.49723240e-02, 1.09670291e-02, 1.65241844e-03,
 -1.17575856e-04, 8.50783535e-04, 1.44775914e-04, 8.11578242e-05,
  0.00000000e+00,-1.66243425e-03, 0.00000000e+00,-1.52080805e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038819327077986784
  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([ 0.00750527, -0.07362829,  0.06180494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.01805090e-06, 3.19021907e-05,-1.34125003e-05,-1.29038986e-06,
  8.07362523e-06,-4.84422464e-05,-3.73483939e-05, 3.57783480e-06,
  3.47693492e-03,-1.69324653e-05,-8.73556792e-06,-5.97395869e-06,
 -4.69391254e-06,-1.86239052e-05,-4.90488344e+00,-1.16203993e-04,
  3.42666760e-03,-7.09454673e-04]


--- Step 2349 ---
qpos:
[ 0.0186527 , 0.03001177,-0.00943898,-0.02530681,-0.0035107 , 1.34076413,
 -0.02997292, 0.94376612, 0.01155631, 0.0272778 ,-0.00831691, 0.02645038,
  1.39625027, 0.00767482, 1.32589615, 0.04412891,-0.08586081,-0.04791119,
  0.09350474, 0.70727349,-0.06675634,-0.69860695,-0.08518294]

qacc:
[ 9.58409316e+00,-1.91193188e-01, 1.28827744e+00,-3.21691827e+00,
 -2.53685937e-02, 3.64876444e-01,-3.56110935e+00, 1.52046379e+01,
  8.53493105e-01, 3.54696010e-03,-6.02987641e-01, 1.53665917e+00,
  5.29162778e-02,-4.95874825e-02,-8.78481059e+00, 2.98438804e+01,
 -3.72244770e+00, 1.13173436e+00,-3.68230960e+00, 6.25973579e+00,
 -1.22130069e+02, 2.15189329e+01]

qfrc_actuator:
[ 8.06013299e-05, 8.68659034e-04, 1.86636576e-04,-3.13373252e-05,
 -3.48112008e-05, 3.49557569e-02, 1.09890680e-02, 1.70567539e-03,
 -1.12667804e-04, 8.54245817e-04, 1.47259082e-04, 8.45384558e-05,
  0.00000000e+00,-1.65278854e-03, 0.00000000e+00,-1.37648776e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038492855101198917
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44211571e-14,  7.21057857e-15,  1.00000000e+00, -1.03984887e-28,
        1.00000000e+00, -7.21057857e-15, -1.00000000e+00,  0.00000000e+00,
        1.44211571e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00758113, -0.07364882,  0.06180641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.34699355e-06,-1.59394982e-06, 2.67103174e-05, 5.37921519e-05,
  5.13119126e-06,-3.12141130e-05,-1.20041190e-05, 8.00587349e-08,
  3.48019699e-03, 1.17896117e-06,-6.47995000e-06, 1.42489714e-04,
  3.09268900e-06, 1.56703282e-05,-4.90489241e+00,-7.39326540e-06,
  3.42725510e-03,-7.12785910e-04]


--- Step 2350 ---
qpos:
[ 0.01865461, 0.03001119,-0.00943813,-0.02530728,-0.00351136, 1.3407652 ,
 -0.02997133, 0.94376595, 0.01155625, 0.027278  ,-0.00831727, 0.02645023,
  1.39624855, 0.00767384, 1.32600087, 0.04412539,-0.08587173,-0.04792827,
  0.0935044 , 0.7071828 ,-0.06658126,-0.69869982,-0.08531108]

qacc:
[ 1.47496133e+01,-5.04905818e-01, 5.47680519e+00,-1.80551804e+01,
 -2.06466365e-02, 1.81492006e-01,-2.67766465e+00, 1.37003572e+01,
  6.46487024e+00,-3.27355250e+00, 1.34864715e+01,-2.52014303e+01,
  7.05836779e-02,-1.82853872e-01,-1.08157530e+01, 3.71993565e+01,
  4.82531555e+00,-9.65643941e-01, 3.99913343e+00,-5.47361233e+00,
  1.55630313e+02,-1.07940282e+01]

qfrc_actuator:
[ 1.67540552e-04, 8.90614199e-04, 1.76632365e-04,-6.84947894e-05,
 -3.64518563e-05, 3.49632167e-02, 1.10193509e-02, 1.75521686e-03,
 -7.39503394e-05, 8.20678411e-04, 1.66876353e-04, 5.08360645e-05,
  0.00000000e+00,-1.66443128e-03, 0.00000000e+00,-1.19997367e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037983132823206506
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.92293695e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.92293695e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13920327, -0.03564034,  0.06180865])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.98268231e-06, 1.34094728e-05, 3.45844013e-05, 5.15254995e-05,
  3.88587729e-05,-5.35160414e-05, 1.16930703e-05,-3.54550621e-05,
  3.48825182e-03,-1.48012882e-05, 1.15657895e-05, 1.83355010e-04,
  5.46445162e-05, 3.26927721e-05,-4.90474329e+00, 5.75704375e-05,
  3.41989697e-03,-7.16128540e-04]


--- Step 2351 ---
qpos:
[ 0.01865652, 0.0300107 ,-0.00943736,-0.02530783,-0.00351205, 1.34076622,
 -0.02996964, 0.94376675, 0.01155665, 0.02727764,-0.00831732, 0.02644935,
  1.39624683, 0.00767284, 1.32610572, 0.04412301,-0.08586554,-0.04794886,
  0.09351385, 0.70728278,-0.06637676,-0.69859781,-0.08547686]

qacc:
[-5.37747012e-02, 1.70951153e-01,-1.06693046e-01,-1.17085551e+00,
 -1.46277653e-02, 1.33274430e+00,-6.39349163e+00, 1.67411227e+01,
  3.98722966e+00,-3.13373286e+00, 1.31727116e+01,-2.58851029e+01,
  8.78619780e-02,-1.07162287e-01,-3.25856798e+00, 1.16561145e+01,
  4.27977586e+00,-8.76982161e-01, 2.44471868e+00,-4.71674162e+00,
  1.38027080e+02,-8.95967466e+00]

qfrc_actuator:
[ 1.64648883e-04, 8.86072766e-04, 1.70422634e-04,-7.24048907e-05,
 -3.71435480e-05, 3.49495432e-02, 1.10188136e-02, 1.80217248e-03,
 -5.11473646e-05, 7.83000391e-04, 1.78521777e-04, 1.33159647e-05,
  0.00000000e+00,-1.65324948e-03, 0.00000000e+00,-1.14797544e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038112312334615123
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.45651491e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.45651491e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13918767, -0.03565209,  0.06180806])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.22695874e-06, 2.04921482e-06, 7.52946721e-06, 4.95709991e-05,
  2.39235491e-05,-6.66977879e-05, 8.05012305e-07,-4.00998312e-05,
  3.50302290e-03,-1.58199936e-06, 2.34440143e-05, 6.32098398e-05,
 -3.84288804e-06, 9.40106322e-06,-4.90492706e+00,-3.91330433e-05,
  3.41460342e-03,-7.23697827e-04]


--- Step 2352 ---
qpos:
[ 0.018657  , 0.03001061,-0.00943656,-0.02530778,-0.00351291, 1.34076734,
 -0.02996852, 0.9437671 , 0.01155732, 0.02727718,-0.0083177 , 0.02644801,
  1.39624514, 0.00767191, 1.32621058, 0.04412196,-0.08587643,-0.04796434,
  0.09351216, 0.70719182,-0.06622183,-0.69869212,-0.08557876]

qacc:
[-1.22552507e+01, 1.74239342e+00,-7.94952164e+00, 1.80015363e+01,
 -7.05694830e-02, 8.91114884e-01,-1.79809581e+00,-3.80829938e+00,
  2.29932781e+00,-1.39917868e-01, 2.23776678e+00,-9.53550793e+00,
  9.18425880e-02,-5.42287683e-02,-4.05305768e+00, 1.41662833e+01,
 -4.27217579e+00, 1.27592144e+00,-2.78458539e+00, 6.84086356e+00,
 -1.40360279e+02, 2.52265746e+01]

qfrc_actuator:
[ 9.11441966e-05, 9.36744480e-04, 1.84183551e-04,-3.89796772e-05,
 -5.50132842e-05, 3.49409554e-02, 1.09822532e-02, 1.77619025e-03,
 -3.79051134e-05, 7.96377031e-04, 1.67584453e-04,-8.40686386e-06,
  0.00000000e+00,-1.64613219e-03, 0.00000000e+00,-1.08100123e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037883552289221523
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46531009e-14,  1.46531009e-14,  1.00000000e+00, -2.14713365e-28,
        1.00000000e+00, -1.46531009e-14, -1.00000000e+00,  0.00000000e+00,
        1.46531009e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00772268, -0.07368401,  0.06180915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.03677935e-05,-4.49905070e-06,-3.38507079e-05,-2.45456530e-05,
  1.39198964e-05,-2.54482306e-05,-2.59969037e-05,-2.53317072e-05,
  3.50299898e-03, 6.45322729e-06, 1.47785579e-05, 7.28179506e-05,
 -4.29948384e-08,-2.51391767e-05,-4.90489534e+00,-1.39082378e-04,
  3.41566443e-03,-7.31765742e-04]


--- Step 2353 ---
qpos:
[ 0.01865693, 0.03001104,-0.00943599,-0.02530698,-0.00351366, 1.34076867,
 -0.02996821, 0.94376748, 0.01155815, 0.02727679,-0.00831804, 0.02644604,
  1.39624343, 0.00767129, 1.32631514, 0.04412442,-0.08587014,-0.0479833 ,
  0.09352037, 0.70729188,-0.06603642,-0.69859106,-0.08572002]

qacc:
[-4.65186459e+00, 2.84631553e+00,-1.22593391e+01, 2.50660259e+01,
  4.55224455e-02, 2.50927145e+00,-7.95187904e+00, 7.20509549e+00,
  1.31067889e+00,-1.34816958e+00, 7.64211732e+00,-1.88704559e+01,
  9.39528157e-02, 8.09800861e-02,-1.10305708e+01, 3.79466615e+01,
  4.29632223e+00,-8.68157711e-01, 2.47677972e+00,-5.00800656e+00,
  1.38421867e+02,-9.92188017e+00]

qfrc_actuator:
[ 6.54590533e-05, 9.66946613e-04, 1.74361185e-04,-1.55441108e-06,
 -2.97860720e-05, 3.49530401e-02, 1.09424574e-02, 1.77849048e-03,
 -3.03907419e-05, 8.22394896e-04, 1.79126428e-04,-3.83848565e-05,
  0.00000000e+00,-1.62377323e-03, 0.00000000e+00,-8.99181902e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037957590879832068
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.92490382e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.92490382e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13921368, -0.03566158,  0.06180881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.31907512e-05, 2.22729675e-06,-4.52498713e-05, 6.06836426e-07,
  7.91316652e-06, 5.36230986e-06, 2.21959756e-06,-3.24566725e-05,
  3.50126535e-03, 2.57741140e-05, 1.24171597e-05, 1.87204995e-04,
 -2.92545100e-06, 1.00701051e-05,-4.90494226e+00,-4.54884014e-05,
  3.41588827e-03,-7.34178753e-04]


--- Step 2354 ---
qpos:
[ 0.01865622, 0.03001178,-0.00943542,-0.02530608,-0.00351422, 1.34077013,
 -0.02996875, 0.94376892, 0.01155906, 0.02727643,-0.00831804, 0.02644473,
  1.39624204, 0.00767101, 1.32641988, 0.0441277 ,-0.08588097,-0.04799718,
  0.09351751, 0.70720073,-0.06590089,-0.69868663,-0.08579733]

qacc:
[-5.60595988e+00, 6.36908519e-01,-2.14246000e+00, 3.81686037e+00,
  8.00360135e-02, 4.27849426e+00,-1.59349125e+01, 2.61183587e+01,
  7.25678396e-01, 4.67187184e-01,-4.47879665e+00, 1.56180587e+01,
  9.29564131e-02, 1.94981538e-01,-2.22306334e+00, 8.14643622e+00,
 -4.28255445e+00, 1.27048931e+00,-2.77076061e+00, 6.81073447e+00,
 -1.40577538e+02, 2.53470764e+01]

qfrc_actuator:
[ 3.26441813e-05, 9.66826888e-04, 1.68369705e-04, 2.38299635e-06,
 -1.44138394e-05, 3.49596433e-02, 1.09011908e-02, 1.83295420e-03,
 -2.63044361e-05, 8.38121798e-04, 2.03916811e-04,-1.93697149e-06,
  0.00000000e+00,-1.59254182e-03, 0.00000000e+00,-8.64185952e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037981671423180444
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.30762354e-15, -1.82690588e-14,  1.00000000e+00,  1.33503404e-28,
        1.00000000e+00,  1.82690588e-14, -1.00000000e+00,  0.00000000e+00,
        7.30762354e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00770224, -0.07367411,  0.06180873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.31675246e-05,-1.00634389e-06,-4.59639323e-05, 5.32204446e-05,
  4.31921327e-06, 1.78209887e-05, 2.50618748e-05, 3.61286922e-05,
  3.50183157e-03, 4.15707104e-05, 2.46897957e-05, 4.65872026e-05,
 -3.65696274e-07,-2.26261334e-05,-4.90491377e+00,-1.32470198e-04,
  3.41732452e-03,-7.41224867e-04]


--- Step 2355 ---
qpos:
[ 0.01865512, 0.03001265,-0.00943451,-0.02530582,-0.00351489, 1.34077114,
 -0.02996921, 0.94376964, 0.01156001, 0.02727632,-0.00831785, 0.0264442 ,
  1.39624091, 0.00767091, 1.3265248 , 0.04413074,-0.08587457,-0.0480145 ,
  0.09352467, 0.70730098,-0.06573399,-0.69858637,-0.08591542]

qacc:
[-3.32261565e+00,-2.09214174e+00, 1.04841037e+01,-2.24117621e+01,
 -4.31201062e-02,-2.04091871e+00, 7.44998480e+00,-1.46997615e+01,
  3.58807847e-01, 1.40685187e+00,-7.78013913e+00, 2.06478309e+01,
  7.99336822e-02, 9.17676558e-02, 1.00767233e+00,-3.14027167e+00,
  4.31160471e+00,-8.61705977e-01, 2.50819177e+00,-5.24809199e+00,
  1.38800827e+02,-1.07105743e+01]

qfrc_actuator:
[ 1.36326532e-05, 9.66281138e-04, 1.82298532e-04,-3.11892878e-05,
 -4.05846466e-05, 3.49096788e-02, 1.08949021e-02, 1.79340254e-03,
 -2.42666106e-05, 8.65443698e-04, 2.18586271e-04, 3.77997036e-05,
  0.00000000e+00,-1.59165477e-03, 0.00000000e+00,-8.80496709e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037837805252940795
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.93416338e-14, -4.40124507e-14,  1.00000000e+00,  1.29139721e-27,
        1.00000000e+00,  4.40124507e-14, -1.00000000e+00,  0.00000000e+00,
        2.93416338e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13923496, -0.03567377,  0.06180938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.24799836e-05,-5.79193158e-05,-1.01545173e-05,-3.96927669e-05,
  2.16660207e-06, 4.40332332e-05, 2.26955446e-05, 4.20743843e-05,
  3.48603246e-03, 2.50855832e-05, 1.38534155e-05,-1.11955757e-05,
 -1.67673533e-06, 1.03741572e-05,-4.90495421e+00,-5.17448827e-05,
  3.41642789e-03,-7.43212098e-04]


--- Step 2356 ---
qpos:
[ 0.01865414, 0.03001321,-0.00943351,-0.02530555,-0.00351574, 1.34077162,
 -0.02996935, 0.94376848, 0.01156063, 0.02727623,-0.00831732, 0.02644348,
  1.39623959, 0.00767068, 1.32662954, 0.04413558,-0.08588532,-0.04802676,
  0.0935208 , 0.70720979,-0.06561729,-0.698683  ,-0.0859695 ]

qacc:
[ 1.08372457e+00,-6.55176488e-01, 1.65798427e+00,-1.28759702e+00,
 -7.86122149e-02,-4.75048619e+00, 1.85029235e+01,-3.73739319e+01,
 -2.78492156e+00,-1.31383361e+00, 5.53967116e+00,-9.40988496e+00,
  7.80413194e-02,-2.17852374e-01,-5.76490941e+00, 1.97337508e+01,
 -4.29109022e+00, 1.26500386e+00,-2.75912258e+00, 6.77130341e+00,
 -1.40759125e+02, 2.54737568e+01]

qfrc_actuator:
[ 2.06522276e-05, 9.12263347e-04, 1.72338686e-04,-3.32904336e-05,
 -5.59602334e-05, 3.48795689e-02, 1.09090251e-02, 1.69881670e-03,
 -4.12020462e-05, 8.46219895e-04, 2.27200731e-04, 2.58856288e-05,
  0.00000000e+00,-1.62669194e-03, 0.00000000e+00,-7.84833764e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038077699898220532
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.55121803e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.55121803e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.007682  , -0.0736634 ,  0.06180832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.27525541e-05,-6.53354508e-05, 4.73783471e-07,-9.75429758e-05,
 -1.68595547e-05, 1.18977121e-05, 2.19625307e-05,-8.42184582e-06,
  3.47239230e-03,-1.86081323e-05, 2.63239149e-06, 9.62141068e-05,
 -2.97275104e-07,-2.03938112e-05,-4.90492910e+00,-1.26274145e-04,
  3.41830197e-03,-7.49280705e-04]


--- Step 2357 ---
qpos:
[ 0.01865257, 0.0300134 ,-0.00943287,-0.02530457,-0.00351663, 1.34077212,
 -0.02997014, 0.94376621, 0.01156139, 0.02727624,-0.0083167 , 0.02644298,
  1.39623834, 0.00767024, 1.3267345 , 0.04413952,-0.08591133,-0.04803452,
  0.09350272, 0.70694857,-0.06554477,-0.69895443,-0.08596683]

qacc:
[-5.13360135e+00, 1.99477450e+00,-1.07686387e+01, 2.37721863e+01,
 -1.55321732e-02,-1.79709780e-01, 2.91234001e+00,-1.55509972e+01,
  1.16852392e+00, 3.24407437e-01,-1.88163358e+00, 5.41195456e+00,
  8.91204652e-02,-2.04396009e-01, 3.06869921e+00,-1.02787066e+01,
 -3.81430075e+00, 1.12600923e+00,-3.55193458e+00, 6.13766456e+00,
 -1.24972103e+02, 2.24552574e+01]

qfrc_actuator:
[-1.03256663e-05, 8.79818279e-04, 1.48149762e-04, 8.35425270e-07,
 -4.69811948e-05, 3.48971316e-02, 1.08818580e-02, 1.64364671e-03,
 -3.36637005e-05, 8.52460085e-04, 2.31952565e-04, 3.68925684e-05,
  0.00000000e+00,-1.62978954e-03, 0.00000000e+00,-8.36975096e-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,   6.61565172,   5.55156997,   6.61565172,
        44.11678723, -42.28103524,   5.55156997, -42.28103524,
        59.02149886,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037875286734671623
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46562986e-14, -1.83203733e-14,  1.00000000e+00,  2.68508861e-28,
        1.00000000e+00,  1.83203733e-14, -1.00000000e+00,  0.00000000e+00,
        1.46562986e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00772906, -0.07367379,  0.06180922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.46863263e-06,-2.14247595e-05,-4.27564787e-05,-5.93824219e-05,
  7.04834663e-06, 1.70639017e-05, 9.62095424e-06, 1.21142684e-05,
  3.48188376e-03,-1.50721560e-05, 9.79063165e-06,-4.69363666e-05,
 -1.92089306e-07, 1.03527151e-05,-4.90496344e+00,-5.79037731e-05,
  3.41636240e-03,-7.50861241e-04]


--- Step 2358 ---
qpos:
[ 0.01865132, 0.03001359,-0.00943244,-0.02530291,-0.00351734, 1.34077272,
 -0.02997107, 0.94376325, 0.01156224, 0.02727689,-0.00831656, 0.02644292,
  1.39623734, 0.00766982, 1.32683957, 0.04414214,-0.08591808,-0.04804602,
  0.09350051, 0.70690076,-0.06543555,-0.6990074 ,-0.08601252]

qacc:
[ 2.82459823e+00, 1.99154739e+00,-1.00038936e+01, 2.22286049e+01,
  7.22259205e-02,-5.94084360e-01, 3.50651319e+00,-1.09801146e+01,
  6.91958108e-01, 3.10003824e+00,-1.17619316e+01, 1.98982943e+01,
  8.34657704e-02,-9.14138697e-03, 4.12781781e+00,-1.42071468e+01,
  4.81792750e+00,-9.33554030e-01, 3.96718128e+00,-6.32646199e+00,
  1.54965905e+02,-1.35811649e+01]

qfrc_actuator:
[ 7.58148086e-06, 9.13756380e-04, 1.51353424e-04, 3.82510286e-05,
 -2.34644914e-05, 3.49252176e-02, 1.08840067e-02, 1.61212841e-03,
 -2.95268887e-05, 9.09396576e-04, 2.16749432e-04, 6.13214826e-05,
  0.00000000e+00,-1.61359688e-03, 0.00000000e+00,-9.04794058e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038376184483307207
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.78600004e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.78600004e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13916736, -0.03572106,  0.06180686])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.08754783e-05, 6.07951356e-06,-8.65247395e-06,-3.47964864e-05,
  4.34886139e-06, 6.89834995e-05,-1.00799346e-05, 2.57283987e-05,
  3.47852984e-03, 1.14512186e-05,-3.53531432e-06,-6.98439241e-05,
  4.63826345e-05, 2.26038364e-05,-4.90482913e+00,-3.10816293e-05,
  3.40671763e-03,-7.52356579e-04]


--- Step 2359 ---
qpos:
[ 0.01865133, 0.03001416,-0.00943244,-0.02530119,-0.00351769, 1.34077331,
 -0.02997145, 0.94376095, 0.01156312, 0.02727786,-0.00831682, 0.02644354,
  1.3962364 , 0.00766941, 1.32694448, 0.04414493,-0.08590773,-0.04806091,
  0.09350796, 0.70704243,-0.06529464,-0.69886656,-0.08609955]

qacc:
[ 1.07723427e+01, 1.83095723e+00,-6.06027135e+00, 7.47829343e+00,
  1.53669065e-01,-4.02486881e-01,-4.62622956e-02, 7.62287559e+00,
  3.53181504e-01, 2.92727440e+00,-1.26220038e+01, 2.46010605e+01,
  7.45665934e-02,-6.25193299e-02,-7.39814284e-01, 2.24193507e+00,
  4.27180320e+00,-8.50933191e-01, 2.41370929e+00,-5.38133510e+00,
  1.37440070e+02,-1.12007176e+01]

qfrc_actuator:
[ 7.18836988e-05, 9.51796004e-04, 1.35474778e-04, 4.18699364e-05,
  8.58210902e-06, 3.49417627e-02, 1.09212706e-02, 1.64806409e-03,
 -2.74329170e-05, 9.07420130e-04, 1.90106786e-04, 9.34809489e-05,
  0.00000000e+00,-1.62147860e-03, 0.00000000e+00,-8.92490801e-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,  -8.43714067,  -1.84429773,  -8.43714067,
        12.41221063, -17.27343239,  -1.84429773, -17.27343239,
        87.65743296,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003846882085966015
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.44301671e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.44301671e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13915702, -0.03573376,  0.06180642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.43834263e-05, 1.71633930e-05, 3.64442841e-05, 3.50532801e-05,
  2.24687629e-06, 3.55994674e-05,-1.27527444e-05, 3.52659913e-05,
  3.46557442e-03, 2.62443397e-06,-1.13087474e-05, 7.48815268e-06,
 -3.69944288e-06, 5.23711022e-06,-4.90498131e+00,-7.33772745e-05,
  3.40500794e-03,-7.56059296e-04]


--- Step 2360 ---
qpos:
[ 0.01865212, 0.03001494,-0.00943314,-0.02529975,-0.00351768, 1.34077398,
 -0.02997198, 0.94375947, 0.01156506, 0.02727831,-0.00831671, 0.0264446 ,
  1.39623578, 0.00766883, 1.32704972, 0.04414448,-0.08588212,-0.04807893,
  0.09351979, 0.70735336,-0.06512614,-0.69855246,-0.08622221]

qacc:
[ 6.59175373e+00, 1.63253600e+00,-4.28033893e+00, 4.96143448e-01,
  1.57013521e-01, 1.90786932e+00,-7.79026912e+00, 1.62464047e+01,
  9.00898713e+00,-8.44432867e-01, 1.00986750e-01, 7.35643760e+00,
  6.95637641e-02,-8.94895078e-02, 1.02984012e+01,-3.53356326e+01,
  3.81481915e+00,-7.80058354e-01, 1.09727632e+00,-4.62667827e+00,
  1.22752242e+02,-9.29635407e+00]

qfrc_actuator:
[ 1.09705150e-04, 9.38654587e-04, 9.07094893e-05, 2.55677961e-05,
  2.77333922e-05, 3.49337064e-02, 1.09079409e-02, 1.68790675e-03,
  2.67002311e-05, 8.34631001e-04, 1.92213075e-04, 1.12127651e-04,
  0.00000000e+00,-1.62604215e-03, 0.00000000e+00,-1.06385205e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038131290373644294
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.9115800e-14, -2.9115800e-14,  1.0000000e+00,  8.4772981e-28,
        1.0000000e+00,  2.9115800e-14, -1.0000000e+00,  0.0000000e+00,
        2.9115800e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13920595, -0.03573042,  0.06180799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.53803262e-05, 9.61578497e-06,-4.80035898e-06, 4.22369998e-05,
  5.42133608e-05,-5.40348207e-05, 9.10035227e-06, 2.04144551e-05,
  3.46215161e-03,-1.97881556e-06,-5.78668347e-06,-1.72740215e-04,
  7.25849590e-06,-2.44370335e-05,-4.90492245e+00,-1.29039168e-04,
  3.40902562e-03,-7.60602433e-04]


--- Step 2361 ---
qpos:
[ 0.01865232, 0.03001575,-0.0094343 ,-0.02529885,-0.00351735, 1.34077482,
 -0.02997269, 0.94375848, 0.01156764, 0.02727811,-0.00831612, 0.02644519,
  1.39623537, 0.0076682 , 1.32715493, 0.04414197,-0.08587602,-0.0480913 ,
  0.09352446, 0.70744676,-0.06501591,-0.69846199,-0.08627204]

qacc:
[-5.04248085e+00, 1.95255727e-01, 1.65060254e+00,-1.03469215e+01,
  1.31735291e-01, 1.52390629e+00,-5.69911931e+00, 1.04412734e+01,
  5.43892371e+00,-3.15414499e+00, 1.19704725e+01,-2.03313321e+01,
  5.34699047e-02,-3.13535192e-02, 6.15136847e+00,-2.15932111e+01,
 -4.87637030e+00, 1.41296718e+00,-1.79029359e+00, 7.38161809e+00,
 -1.59963255e+02, 2.94529798e+01]

qfrc_actuator:
[ 7.83637720e-05, 9.30330927e-04, 6.45460187e-05,-2.37838947e-06,
  3.89940903e-05, 3.49463090e-02, 1.09002427e-02, 1.71191065e-03,
  5.77721101e-05, 7.91098393e-04, 2.10962916e-04, 8.71229737e-05,
  0.00000000e+00,-1.62845227e-03, 0.00000000e+00,-1.16453874e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038470230313803477
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44296384e-14, -1.44296384e-14,  1.00000000e+00,  2.08214464e-28,
        1.00000000e+00,  1.44296384e-14, -1.00000000e+00,  0.00000000e+00,
        1.44296384e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00759291, -0.07362197,  0.06180651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.80786546e-05, 1.82480486e-05,-5.12707634e-06, 2.51293929e-05,
  3.26412331e-05,-7.09893593e-05, 9.40631810e-06,-2.66135926e-05,
  3.44657537e-03, 3.73882588e-06,-2.41123257e-05,-1.11590236e-04,
  6.11711003e-05,-6.24041654e-05,-4.90471619e+00,-1.91451730e-04,
  3.41841495e-03,-7.65741292e-04]


--- Step 2362 ---
qpos:
[ 0.01865179, 0.03001624,-0.00943537,-0.02529829,-0.00351692, 1.3407754 ,
 -0.02997251, 0.94375914, 0.01156919, 0.027278  ,-0.0083156 , 0.02644542,
  1.39623524, 0.00766792, 1.32725983, 0.04413958,-0.08588715,-0.04809866,
  0.09351822, 0.70734837,-0.06495654,-0.69856891,-0.08625777]

qacc:
[-6.18244372e+00,-1.32615676e+00, 5.58130572e+00,-1.13418730e+01,
  3.88398508e-02, 9.59709909e-02,-4.14681780e+00, 2.30146639e+01,
 -8.76316027e+00,-3.85779263e-01, 3.09405165e+00,-9.29301871e+00,
  3.69249692e-02, 2.51280385e-01,-8.05398881e-01, 2.16550092e+00,
 -4.30706215e+00, 1.25170339e+00,-2.72942730e+00, 6.67803986e+00,
 -1.41072358e+02, 2.57464788e+01]

qfrc_actuator:
[ 4.20786791e-05, 9.07249725e-04, 6.73374813e-05,-1.91802547e-05,
  2.76790480e-05, 3.49356813e-02, 1.09492698e-02, 1.79743216e-03,
  3.99426273e-06, 8.36453236e-04, 2.21690824e-04, 7.21645252e-05,
  0.00000000e+00,-1.59410660e-03, 0.00000000e+00,-1.15170816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.07388036,   4.95449225,   7.07388036,
        33.17258702, -35.03210821,   4.95449225, -35.03210821,
        58.65419183,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003873595241550745
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.16532675e-15,  1.79133169e-14,  1.00000000e+00, -1.28354769e-28,
        1.00000000e+00, -1.79133169e-14, -1.00000000e+00,  0.00000000e+00,
        7.16532675e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00753299, -0.07360154,  0.06180532])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.11883123e-05,-7.85600222e-07, 5.27486605e-05, 8.65009238e-05,
 -5.28458404e-05, 6.47806052e-06,-3.70285160e-06,-1.81961597e-05,
  3.43533240e-03, 4.09067481e-05,-2.45931712e-05, 3.25560028e-06,
  5.69916788e-07,-1.36081411e-05,-4.90496555e+00,-1.06330220e-04,
  3.42216261e-03,-7.66088193e-04]


--- Step 2363 ---
qpos:
[ 0.01865118, 0.03001678,-0.00943654,-0.02529831,-0.00351622, 1.34077593,
 -0.02997202, 0.94376049, 0.01157042, 0.02727843,-0.00831525, 0.02644576,
  1.39623553, 0.00766797, 1.32736477, 0.04413565,-0.08591358,-0.04810156,
  0.09349785, 0.70707973,-0.06494184,-0.69885095,-0.08618674]

qacc:
[-7.49200929e-01,-8.74532206e-01, 5.64810344e+00,-1.55974231e+01,
  1.21523775e-01, 3.04640543e-01,-2.47200142e+00, 1.01178204e+01,
 -2.67957743e+00, 1.38674534e+00,-4.37287148e+00, 6.13495278e+00,
  1.75719742e-02, 2.91852571e-01, 4.75615113e+00,-1.65174438e+01,
 -3.82504628e+00, 1.11504681e+00,-3.53054369e+00, 6.05053947e+00,
 -1.25169317e+02, 2.26489195e+01]

qfrc_actuator:
[ 3.87024816e-05, 9.28891086e-04, 6.93898922e-05,-4.70369684e-05,
  5.61718221e-05, 3.49292343e-02, 1.09603281e-02, 1.82973143e-03,
 -1.05237218e-05, 8.99161648e-04, 2.27970728e-04, 8.10657893e-05,
  0.00000000e+00,-1.57360270e-03, 0.00000000e+00,-1.23188785e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.9872286 ,   5.07596427,   6.9872286 ,
        37.2577297 , -39.39823388,   5.07596427, -39.39823388,
        62.8693038 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003850040176839223
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44183304e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.44183304e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00758727, -0.07361303,  0.06180636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.51041698e-05, 6.03414900e-06, 1.94443749e-05, 3.58300426e-05,
 -1.60622137e-05, 6.47702335e-05, 6.53084454e-06, 8.69771328e-06,
  3.42133588e-03, 4.36190665e-05,-1.13156848e-05,-8.32563651e-05,
  6.59770375e-06, 9.27908557e-06,-4.90497461e+00,-7.54646304e-05,
  3.41704156e-03,-7.66493248e-04]


--- Step 2364 ---
qpos:
[ 0.01865053, 0.03001811,-0.00943835,-0.02529872,-0.00351491, 1.34077651,
 -0.02997169, 0.94376223, 0.01157217, 0.02727876,-0.00831428, 0.02644589,
  1.39623556, 0.00766797, 1.32746929, 0.04413378,-0.08592055,-0.04810813,
  0.09349379, 0.70702598,-0.06488864,-0.69891271,-0.08616705]

qacc:
[-3.47955892e-01, 2.02513693e+00,-4.03351810e+00,-2.35189347e+00,
  2.52230984e-01, 1.15304454e+00,-4.48621866e+00, 8.41385558e+00,
  4.33638066e+00,-2.32068336e+00, 8.95999545e+00,-1.35538022e+01,
  7.11326111e-03,-1.05800987e-01,-6.90605873e+00, 2.32218417e+01,
  4.86538242e+00,-9.19670865e-01, 4.07604596e+00,-6.84733652e+00,
  1.56289000e+02,-1.51949769e+01]

qfrc_actuator:
[ 3.69729706e-05, 1.01264967e-03, 5.33958769e-05,-6.33933087e-05,
  1.08317027e-04, 3.49251801e-02, 1.09488375e-02, 1.84816068e-03,
  1.59635021e-05, 8.65282751e-04, 2.49446058e-04, 6.84511701e-05,
  0.00000000e+00,-1.61477211e-03, 0.00000000e+00,-1.11772007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038145225604880664
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91051634e-14, -2.91051634e-14,  1.00000000e+00,  8.47110537e-28,
        1.00000000e+00,  2.91051634e-14, -1.00000000e+00,  0.00000000e+00,
        2.91051634e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1392131 , -0.03577189,  0.06180788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.28902830e-05, 4.16346595e-06,-7.04594525e-06, 2.00147260e-05,
  2.60405701e-05, 4.04075874e-06, 3.59519465e-05,-9.44529928e-06,
  3.40018327e-03,-1.37291022e-05,-1.57357151e-05, 1.07765523e-04,
  5.85895310e-05, 1.41320378e-05,-4.90481729e+00,-8.22740938e-05,
  3.40449131e-03,-7.66714460e-04]


--- Step 2365 ---
qpos:
[ 0.01864987, 0.03001959,-0.0094396 ,-0.02529933,-0.00351344, 1.34077713,
 -0.02997091, 0.9437638 , 0.01157352, 0.02727899,-0.00831327, 0.0264459 ,
  1.39623507, 0.00766757, 1.32757357, 0.04413427,-0.08591027,-0.04811807,
  0.09349975, 0.707163  ,-0.06480229,-0.69877912,-0.08619107]

qacc:
[-1.17801233e-01,-1.78611096e+00, 7.49000458e+00,-1.18912263e+01,
  7.00531025e-02,-1.46896997e+00, 5.20057460e+00,-6.49131230e+00,
 -3.28635684e+00,-4.50094260e-01, 1.92033763e+00,-3.87913287e+00,
  3.05521421e-02,-4.17693535e-01,-7.47706510e+00, 2.56178543e+01,
  4.31187650e+00,-8.39675422e-01, 2.50756270e+00,-5.77795240e+00,
  1.38571988e+02,-1.24777041e+01]

qfrc_actuator:
[ 3.62160480e-05, 1.00863856e-03, 8.04123395e-05,-7.28046658e-05,
  8.54665360e-05, 3.49402353e-02, 1.09774083e-02, 1.84053362e-03,
 -4.64959345e-06, 8.44888997e-04, 2.43817590e-04, 6.09595169e-05,
  0.00000000e+00,-1.65720161e-03, 0.00000000e+00,-9.96458499e-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,  -8.52649856,  -1.3731712 ,  -8.52649856,
        10.48511948, -11.47956935,  -1.3731712 , -11.47956935,
        79.91701041,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038281552229284255
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90015154e-14, -1.45007577e-14,  1.00000000e+00,  4.20543946e-28,
        1.00000000e+00,  1.45007577e-14, -1.00000000e+00,  0.00000000e+00,
        2.90015154e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13919687, -0.03578736,  0.06180724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.02245542e-05, 1.65823882e-05, 2.91717175e-05,-7.24109536e-06,
 -1.98480800e-05,-1.11212713e-05,-7.07101194e-07,-6.26226221e-06,
  3.41307578e-03,-5.39215886e-05, 3.57060276e-06, 1.24995553e-04,
  2.02409653e-06, 5.10920385e-06,-4.90499205e+00,-8.24902306e-05,
  3.40461442e-03,-7.67462722e-04]


--- Step 2366 ---
qpos:
[ 0.01864955, 0.03002058,-0.00943958,-0.02530036,-0.00351214, 1.34077777,
 -0.02996914, 0.94376421, 0.01157531, 0.02727938,-0.008313  , 0.0264462 ,
  1.39623442, 0.00766676, 1.32767808, 0.04413419,-0.08591746,-0.04812299,
  0.09349516, 0.70710529,-0.06476857,-0.69884573,-0.0861498 ]

qacc:
[ 2.97360629e+00,-5.02450400e+00, 1.87068391e+01,-2.75336875e+01,
 -6.97560170e-02,-4.60867233e+00, 1.74580019e+01,-2.86733417e+01,
  3.66137226e+00, 2.83347608e+00,-1.10019936e+01, 1.69128953e+01,
  5.64966589e-02,-3.53537110e-01, 2.03618970e+00,-6.66691440e+00,
 -4.36877276e+00, 1.25429052e+00,-2.63900795e+00, 6.52383890e+00,
 -1.43211335e+02, 2.65950750e+01]

qfrc_actuator:
[ 5.37887447e-05, 9.52286174e-04, 1.32282685e-04,-9.58428120e-05,
  5.33162301e-05, 3.49489968e-02, 1.10294678e-02, 1.78217164e-03,
  1.81762423e-05, 8.50365582e-04, 2.04508551e-04, 7.42789478e-05,
  0.00000000e+00,-1.66450477e-03, 0.00000000e+00,-1.03182431e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00381092158569276
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.82079157e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.82079157e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00767707, -0.07362544,  0.06180805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.01979388e-05, 2.34214230e-05, 5.84113691e-05,-5.71718773e-05,
  2.22427645e-05,-1.17986553e-06,-4.19224638e-05, 1.26947815e-05,
  3.43853699e-03,-4.10032870e-05, 1.30181474e-05,-2.84911702e-05,
  8.49886161e-06,-1.76261694e-05,-4.90494927e+00,-1.03388223e-04,
  3.40999106e-03,-7.69280667e-04]


--- Step 2367 ---
qpos:
[ 0.01864979, 0.03002118,-0.00943864,-0.02530095,-0.00351094, 1.34077833,
 -0.02996727, 0.94376431, 0.01157736, 0.02727957,-0.00831338, 0.02644703,
  1.39623394, 0.00766601, 1.32778263, 0.04413371,-0.08590737,-0.04813125,
  0.09350069, 0.70723871,-0.06470133,-0.69871656,-0.08615284]

qacc:
[ 4.82132833e+00,-2.24921526e+00, 5.41790974e+00, 8.85975341e-01,
 -4.80628019e-02,-9.16809289e-01, 3.49345744e+00,-6.49792587e+00,
  2.20261107e+00, 2.67821246e+00,-1.22171464e+01, 2.27881454e+01,
  5.86174750e-02, 1.60107386e-02, 1.28280815e+00,-4.40843930e+00,
  4.32253048e+00,-8.35180255e-01, 2.52979315e+00,-5.88068623e+00,
  1.38889731e+02,-1.28043227e+01]

qfrc_actuator:
[ 8.20087894e-05, 9.36128611e-04, 1.80399956e-04,-7.34996599e-05,
  5.13558201e-05, 3.49184847e-02, 1.10239068e-02, 1.76544337e-03,
  3.08972021e-05, 8.17900948e-04, 1.63505590e-04, 9.97383522e-05,
  0.00000000e+00,-1.63281265e-03, 0.00000000e+00,-1.05267254e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038134428759320216
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91134038e-14, -1.45567019e-14,  1.00000000e+00,  4.23795142e-28,
        1.00000000e+00,  1.45567019e-14, -1.00000000e+00,  0.00000000e+00,
        2.91134038e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1392223 , -0.0358027 ,  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:
[ 2.87171716e-05,-1.95408184e-05, 4.94920005e-05, 2.29618072e-05,
 -1.38956147e-05,-7.85410593e-06, 3.98910359e-06,-1.56328297e-05,
  1.33746653e-05,-4.12444600e-05,-4.59784207e-05, 2.42026547e-05,
  3.44647790e-03, 1.11926304e-05,-4.23562002e-07,-2.14974744e-05,
  4.45023914e-06, 4.62659691e-06,-4.90499098e+00,-8.59831130e-05,
  3.40498204e-03,-7.68981399e-04]


--- Step 2368 ---
qpos:
[ 0.01865036, 0.03002131,-0.00943729,-0.02530123,-0.00350998, 1.34077915,
 -0.02996619, 0.94376492, 0.01157851, 0.02727928,-0.00831416, 0.02644853,
  1.39623372, 0.00766547, 1.32788719, 0.04413264,-0.08591474,-0.0481345 ,
  0.09349566, 0.70717763,-0.06468677,-0.69878739,-0.08609063]

qacc:
[ 2.90978466e+00,-1.09099518e+00, 1.65345132e+00, 3.54759269e+00,
 -9.54859391e-02, 3.35821035e+00,-1.15849770e+01, 1.57709008e+01,
 -7.66027622e+00, 1.84717571e+00,-1.02720431e+01, 2.26937205e+01,
  4.69597714e-02, 1.45219099e-01, 1.79042837e+00,-6.23578093e+00,
 -4.36609006e+00, 1.25073792e+00,-2.64192998e+00, 6.48740920e+00,
 -1.43057220e+02, 2.66268126e+01]

qfrc_actuator:
[ 9.85115007e-05, 8.90929347e-04, 1.90579740e-04,-6.01158852e-05,
  3.20186048e-05, 3.49355043e-02, 1.09842490e-02, 1.79105184e-03,
 -1.57035020e-05, 7.80709760e-04, 1.39448115e-04, 1.32107326e-04,
  0.00000000e+00,-1.61353364e-03, 0.00000000e+00,-1.08249738e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003831890035114631
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44866243e-14, -2.17299364e-14,  1.00000000e+00,  3.14793425e-28,
        1.00000000e+00,  2.17299364e-14, -1.00000000e+00,  0.00000000e+00,
        1.44866243e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00763045, -0.07360316,  0.0618071 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.75491389e-05, 1.29791905e-05,-4.12011491e-05, 2.51305070e-05,
 -4.62221633e-05,-6.87088697e-05,-3.74009314e-05, 2.94800184e-05,
  3.43828046e-03, 2.75466864e-05,-4.54534032e-06,-3.15389169e-05,
  8.92074297e-06,-1.53458476e-05,-4.90495578e+00,-9.49276636e-05,
  3.41077371e-03,-7.69875240e-04]


--- Step 2369 ---
qpos:
[ 0.01865113, 0.0300214 ,-0.00943677,-0.02530165,-0.00350939, 1.3407804 ,
 -0.02996543, 0.9437658 , 0.0115791 , 0.02727824,-0.00831451, 0.02645004,
  1.39623393, 0.00766507, 1.32799199, 0.04412887,-0.08593761,-0.0481333 ,
  0.0934768 , 0.70694397,-0.06471839,-0.69903562,-0.08597071]

qacc:
[ 1.63509474e+00, 1.96131650e+00,-6.42995707e+00, 5.17765694e+00,
 -1.58897929e-01, 1.85732123e+00,-5.92785728e+00, 7.91720319e+00,
 -4.81924599e+00,-2.14088277e+00, 6.14812593e+00,-6.08424924e+00,
  2.82368625e-02, 1.76890766e-01, 8.53685981e+00,-2.93398013e+01,
 -3.87600756e+00, 1.11581270e+00,-3.45385201e+00, 5.89168927e+00,
 -1.26882223e+02, 2.33745540e+01]

qfrc_actuator:
[ 1.07981715e-04, 8.81787719e-04, 1.42647694e-04,-6.99185179e-05,
  2.41248670e-06, 3.49807352e-02, 1.09782533e-02, 1.80586795e-03,
 -4.35864540e-05, 7.41042105e-04, 1.61064072e-04, 1.32779007e-04,
  0.00000000e+00,-1.60186993e-03, 0.00000000e+00,-1.22388130e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.36032352,   4.51801002,   7.36032352,
        29.20789848, -33.51323953,   4.51801002, -33.51323953,
        63.23302995,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038158713604527356
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45474378e-14, -1.09105783e-14,  1.00000000e+00,  1.58720960e-28,
        1.00000000e+00,  1.09105783e-14, -1.00000000e+00,  0.00000000e+00,
        1.45474378e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, -0.07360897,  0.06180781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.58860171e-05, 4.50996957e-05,-7.40968162e-06, 1.45841345e-05,
 -2.92616737e-05,-8.45489358e-05, 3.84857576e-06,-2.99197767e-06,
  3.42466795e-03, 2.91018466e-05,-7.21106098e-06,-1.44113042e-04,
  6.89427044e-06, 3.80366904e-06,-4.90498803e+00,-8.98228751e-05,
  3.40483474e-03,-7.69212438e-04]


--- Step 2370 ---
qpos:
[ 0.01865097, 0.03002204,-0.00943747,-0.02530155,-0.00350916, 1.34078162,
 -0.02996401, 0.94376649, 0.01157934, 0.02727637,-0.00831427, 0.02645154,
  1.39623452, 0.00766526, 1.32809649, 0.04412543,-0.08594118,-0.04813571,
  0.09347387, 0.70692342,-0.06471174,-0.69906546,-0.08590201]

qacc:
[-7.99804723e+00, 5.22667713e+00,-1.97869435e+01, 3.04334348e+01,
 -1.55265045e-01,-2.12364400e+00, 7.28102458e+00,-8.46906696e+00,
 -2.86522276e+00,-2.77578841e+00, 8.36531083e+00,-8.87216541e+00,
 -9.01384641e-04, 4.58694161e-01,-1.45233668e+00, 4.46705671e+00,
  4.82485840e+00,-9.05219363e-01, 3.97948911e+00,-6.86446516e+00,
  1.54986874e+02,-1.52504670e+01]

qfrc_actuator:
[ 5.99831118e-05, 9.47296967e-04, 9.64271500e-05,-4.00334773e-05,
 -1.53621539e-05, 3.49716162e-02, 1.10100462e-02, 1.79649824e-03,
 -6.02093884e-05, 7.00361375e-04, 1.91677142e-04, 1.32571556e-04,
  0.00000000e+00,-1.55929746e-03, 0.00000000e+00,-1.19906392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038632851506427354
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43688982e-14, -2.87377965e-14,  1.00000000e+00,  4.12930474e-28,
        1.00000000e+00,  2.87377965e-14, -1.00000000e+00,  0.00000000e+00,
        1.43688982e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13916094, -0.03585386,  0.06180556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.48897472e-05, 1.48090417e-05, 4.01988377e-05,-7.88918789e-06,
 -1.75127609e-05,-8.72640947e-05, 1.35335240e-05,-3.75469552e-06,
  3.40300309e-03, 6.42627907e-05,-2.11318381e-05, 1.54326796e-05,
  5.28835500e-05, 4.43712951e-06,-4.90484654e+00,-1.21114633e-04,
  3.39156238e-03,-7.68302144e-04]


--- Step 2371 ---
qpos:
[ 0.01865058, 0.03002293,-0.00943847,-0.02530043,-0.0035091 , 1.3407821 ,
 -0.02996161, 0.94376814, 0.01157938, 0.02727415,-0.00831353, 0.02645263,
  1.39623534, 0.00766585, 1.32820084, 0.04412228,-0.08592765,-0.04814143,
  0.09348062, 0.70709212,-0.06467217,-0.69890158,-0.08587681]

qacc:
[-1.98086658e+00, 3.27731255e+00,-1.54926981e+01, 3.34195749e+01,
 -6.66296059e-02,-1.95216527e+00, 3.19974637e+00, 8.91228423e+00,
 -1.70379960e+00,-2.69143000e+00, 1.06553152e+01,-1.83158979e+01,
 -2.17214633e-02, 3.25721609e-01,-1.05534381e+00, 3.41692254e+00,
  4.27672754e+00,-8.26153485e-01, 2.42154665e+00,-5.76774807e+00,
  1.37440275e+02,-1.24899450e+01]

qfrc_actuator:
[ 4.95566572e-05, 9.68267010e-04, 8.74570940e-05, 1.30449437e-05,
 -8.14328032e-06, 3.48946562e-02, 1.10459108e-02, 1.84397148e-03,
 -7.00774334e-05, 7.12697475e-04, 2.27339351e-04, 1.14098876e-04,
  0.00000000e+00,-1.55193303e-03, 0.00000000e+00,-1.18300197e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.54193234,  -1.27364387,  -8.54193234,
        10.1813507 , -10.36174654,  -1.27364387, -10.36174654,
        78.12936704,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038712354560359735
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.4339389e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.4339389e-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([-0.13915263, -0.03586756,  0.06180519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.93085299e-05,-6.11517135e-05, 4.31029422e-05, 4.89191147e-05,
 -1.04170912e-05,-3.37719459e-05, 1.91901007e-05,-2.18160592e-05,
  3.38384740e-03, 4.24173461e-05,-8.30258576e-06, 1.41202435e-05,
  4.48456649e-06, 7.80725458e-07,-4.90499557e+00,-8.86228878e-05,
  3.39428943e-03,-7.66600156e-04]


--- Step 2372 ---
qpos:
[ 0.01865145, 0.03002383,-0.00943917,-0.02529904,-0.00350909, 1.34078221,
 -0.02995939, 0.94376969, 0.01157931, 0.02727237,-0.008313  , 0.02645309,
  1.39623609, 0.00766636, 1.32830518, 0.04411899,-0.08589884,-0.04815018,
  0.09349178, 0.70742987,-0.06460404,-0.69856452,-0.08588887]

qacc:
[ 1.07889274e+01,-2.67923272e-01,-2.12467282e-01, 4.47938041e+00,
 -2.42491532e-02,-2.29574617e-01, 3.68462288e-01,-1.31835053e+00,
 -1.03463835e+00,-1.28915300e-01, 3.97121878e+00,-1.48802306e+01,
 -2.88423434e-02,-3.18307732e-02, 3.77577653e-01,-1.36323216e+00,
  3.81811765e+00,-7.58012227e-01, 1.10134119e+00,-4.89189482e+00,
  1.22733624e+02,-1.02891431e+01]

qfrc_actuator:
[ 1.14604674e-04, 9.62588386e-04, 1.00406739e-04, 2.60779896e-05,
 -3.74336464e-06, 3.48664871e-02, 1.10303815e-02, 1.83570818e-03,
 -7.58941659e-05, 7.74461415e-04, 2.30394897e-04, 8.50742988e-05,
  0.00000000e+00,-1.58349035e-03, 0.00000000e+00,-1.19002737e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.49682004,  -1.54622963,  -8.49682004,
        11.05223236, -13.27564899,  -1.54622963, -13.27564899,
        81.5885296 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038361286207324943
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89412357e-14, -4.34118535e-14,  1.00000000e+00,  1.25639268e-27,
        1.00000000e+00,  4.34118535e-14, -1.00000000e+00,  0.00000000e+00,
        2.89412357e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13920356, -0.03586497,  0.06180681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.01293354e-06,-5.20997749e-05,-2.11526491e-05,-7.69669836e-06,
 -6.13951853e-06, 4.59734922e-05,-2.29632241e-06,-3.02310947e-05,
  3.37216179e-03,-8.87389828e-06,-3.47645339e-06,-7.59511329e-06,
  1.72889308e-05,-1.69277626e-05,-4.90493282e+00,-8.02623330e-05,
  3.40193754e-03,-7.66047727e-04]


--- Step 2373 ---
qpos:
[ 0.01865378, 0.03002477,-0.00943966,-0.02529819,-0.00350924, 1.34078215,
 -0.0299574 , 0.94377007, 0.01157951, 0.02727122,-0.00831264, 0.02645386,
  1.39623642, 0.00766698, 1.32840895, 0.04412   ,-0.08588976,-0.04815333,
  0.09349614, 0.70754784,-0.0645965 ,-0.69845336,-0.08582687]

qacc:
[ 1.25530461e+01,-1.71479067e+00, 8.42613150e+00,-1.81522565e+01,
 -6.65391220e-02,-1.53698556e+00, 7.14839438e+00,-1.95737410e+01,
  2.33300207e+00, 1.94560908e+00,-7.02247080e+00, 1.21803400e+01,
 -2.09114157e-02,-2.54532727e-02,-1.38178095e+01, 4.71029679e+01,
 -4.93140381e+00, 1.40004146e+00,-1.69891333e+00, 7.03733465e+00,
 -1.61664389e+02, 3.06200828e+01]

qfrc_actuator:
[ 1.88038038e-04, 9.58817094e-04, 1.08283657e-04,-2.32822837e-06,
 -1.88248665e-05, 3.48675240e-02, 1.10202724e-02, 1.77693728e-03,
 -6.15291419e-05, 8.29721115e-04, 2.32143046e-04, 1.03359850e-04,
  0.00000000e+00,-1.58483585e-03, 0.00000000e+00,-9.62063115e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003887416432756849
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.13985139e-15, -1.78496285e-14,  1.00000000e+00, -1.27443695e-28,
        1.00000000e+00,  1.78496285e-14, -1.00000000e+00,  0.00000000e+00,
       -7.13985139e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00750447, -0.07354324,  0.06180454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.92275812e-05,-3.21545200e-05,-2.29340593e-05,-6.11302250e-05,
  1.41975833e-05, 7.92535024e-05, 9.92961675e-06, 1.95899178e-05,
  3.37582037e-03,-6.69947484e-06,-4.55156526e-06, 2.26625485e-04,
  7.31061331e-05,-4.42664260e-05,-4.90472232e+00,-8.69233829e-05,
  3.41437533e-03,-7.66328772e-04]


--- Step 2374 ---
qpos:
[ 0.01865662, 0.03002542,-0.00943986,-0.02529799,-0.00350956, 1.34078191,
 -0.02995529, 0.94376939, 0.01157987, 0.02727071,-0.00831174, 0.02645479,
  1.39623657, 0.00766753, 1.32851281, 0.04412235,-0.08589809,-0.04815151,
  0.09348988, 0.70747218,-0.06464172,-0.69854142,-0.08569978]

qacc:
[ 4.46173765e+00,-2.52000210e+00, 1.11805654e+01,-2.27211255e+01,
 -7.00569104e-02,-2.41455373e+00, 9.80025614e+00,-2.08140298e+01,
  1.46171143e+00,-3.58946008e-01, 1.78398623e+00,-2.68934150e-01,
 -7.57981830e-05,-9.32148059e-02,-3.97541203e+00, 1.40890402e+01,
 -4.35157223e+00, 1.24251016e+00,-2.65388316e+00, 6.36527966e+00,
 -1.42464906e+02, 2.67057678e+01]

qfrc_actuator:
[ 2.12536157e-04, 9.20655033e-04, 1.13071929e-04,-3.71386742e-05,
 -2.77197084e-05, 3.48682659e-02, 1.10313129e-02, 1.72446456e-03,
 -5.31545287e-05, 8.80701937e-04, 2.68653283e-04, 1.13838422e-04,
  0.00000000e+00,-1.58595451e-03, 0.00000000e+00,-8.99268345e-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,   7.3560547 ,   4.52495702,   7.3560547 ,
        27.91507937, -31.34069272,   4.52495702, -31.34069272,
        59.58576471,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0039158995616684
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12637545e-14,  3.54395908e-15,  1.00000000e+00, -7.53578758e-29,
        1.00000000e+00, -3.54395908e-15, -1.00000000e+00,  0.00000000e+00,
        2.12637545e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00744046, -0.07352031,  0.06180326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.02583728e-05,-2.33712613e-05, 3.46278830e-07,-5.55257711e-05,
  8.81370938e-06, 9.82315337e-05, 5.47891256e-05, 1.45992119e-05,
  3.39620149e-03,-1.30804872e-05, 2.17217110e-05, 7.45390373e-05,
  1.04268142e-05,-9.62265583e-06,-4.90496546e+00,-7.19360940e-05,
  3.41392833e-03,-7.64679488e-04]


--- Step 2375 ---
qpos:
[ 0.01865905, 0.03002607,-0.00944009,-0.02529857,-0.00350972, 1.34078175,
 -0.02995317, 0.94376772, 0.01158   , 0.02727077,-0.00831061, 0.02645552,
  1.39623655, 0.00766782, 1.32861684, 0.0441248 ,-0.08592186,-0.04814526,
  0.09346975, 0.70722475,-0.06473317,-0.69880607,-0.08551514]

qacc:
[-3.58138733e+00,-1.53051218e+00, 8.75639436e+00,-2.22069164e+01,
  6.37634217e-02,-1.61314994e+00, 7.39407224e+00,-1.78793703e+01,
 -2.11063037e+00,-2.52206749e-01, 2.85297337e+00,-7.07129262e+00,
  1.16285370e-02,-2.11945087e-01,-3.16998905e-02, 4.58377782e-01,
 -3.86071870e+00, 1.10874803e+00,-3.46868013e+00, 5.75785722e+00,
 -1.26300569e+02, 2.34393463e+01]

qfrc_actuator:
[ 1.90279437e-04, 9.33174575e-04, 1.15858138e-04,-7.54629679e-05,
  2.67405950e-06, 3.48866637e-02, 1.10370134e-02, 1.67614481e-03,
 -6.61322124e-05, 8.93367563e-04, 2.72117881e-04, 1.01901606e-04,
  0.00000000e+00,-1.60455295e-03, 0.00000000e+00,-8.98853826e-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,   7.27040162,   4.66133427,   7.27040162,
        31.39721436, -35.50067773,   4.66133427, -35.50067773,
        64.00767355,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038933450995842084
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42579581e-14, -1.42579581e-14,  1.00000000e+00,  2.03289369e-28,
        1.00000000e+00,  1.42579581e-14, -1.00000000e+00,  0.00000000e+00,
        1.42579581e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0074926 , -0.07352999,  0.06180426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.84213309e-05, 3.86547584e-06,-4.63199016e-07,-5.02976915e-05,
 -1.26886663e-05, 7.95507192e-05, 3.10026642e-05,-5.55056482e-06,
  3.40498052e-03,-2.79856858e-05, 1.50952865e-05, 6.62880142e-06,
  1.57517184e-05,-4.87950208e-07,-4.90496441e+00,-1.05079406e-04,
  3.40503445e-03,-7.62901324e-04]


--- Step 2376 ---
qpos:
[ 0.01866051, 0.03002681,-0.00944012,-0.02529895,-0.0035095 , 1.34078163,
 -0.02995165, 0.9437669 , 0.01158031, 0.02727173,-0.00831011, 0.02645578,
  1.3962364 , 0.00766828, 1.32872059, 0.04412994,-0.08592616,-0.04814256,
  0.0934659 , 0.70719192,-0.0647858 ,-0.69885058,-0.08538299]

qacc:
[-8.36071332e+00, 5.46730105e-03,-6.93253739e-01, 3.87586888e+00,
  1.62045000e-01, 3.13171719e+00,-1.18810396e+01, 2.01146120e+01,
  1.57143112e+00, 1.92543597e+00,-3.13485516e+00,-4.78605039e+00,
  1.84412405e-02, 4.42396999e-02,-8.53066423e+00, 2.92421948e+01,
  4.86639817e+00,-8.88343366e-01, 4.06964748e+00,-7.07936276e+00,
  1.56181566e+02,-1.58247155e+01]

qfrc_actuator:
[ 1.40698213e-04, 9.58177022e-04, 1.35387662e-04,-6.22511010e-05,
  3.86382339e-05, 3.48799771e-02, 1.10040768e-02, 1.71942211e-03,
 -5.60668450e-05, 9.36100137e-04, 2.38110536e-04, 7.68125749e-05,
  0.00000000e+00,-1.58017255e-03, 0.00000000e+00,-7.57618192e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003832281963733898
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89702855e-14, -1.44851427e-14,  1.00000000e+00,  4.19638720e-28,
        1.00000000e+00,  1.44851427e-14, -1.00000000e+00,  0.00000000e+00,
        2.89702855e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13921872, -0.0359089 ,  0.06180694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.68506874e-05,-6.15350945e-06,-3.37128117e-05, 4.22140793e-05,
  9.72198198e-06, 9.33629667e-05,-1.39633155e-05,-2.07189977e-05,
  3.41327477e-03, 9.06786817e-06, 4.49810154e-06, 1.42814985e-04,
  6.79143920e-05,-8.61935316e-06,-4.90479493e+00,-1.70155240e-04,
  3.38909407e-03,-7.60769059e-04]


--- Step 2377 ---
qpos:
[ 0.01866205, 0.03002692,-0.00943906,-0.02529844,-0.00350903, 1.34078177,
 -0.02995121, 0.94376661, 0.01158073, 0.02727345,-0.00831025, 0.02645541,
  1.39623668, 0.00766893, 1.32882481, 0.04413269,-0.08591321,-0.0481431 ,
  0.09347205, 0.70734963,-0.06480512,-0.69869988,-0.08529527]

qacc:
[ 7.63594523e-01,-2.03060807e+00, 2.31330810e+00, 1.16904920e+01,
  1.07779679e-01, 4.18248183e+00,-1.43255339e+01, 1.84324074e+01,
  9.77452454e-01, 1.53283697e+00,-1.36998318e+00,-8.98892173e+00,
  1.56698385e-02, 2.16973548e-01, 7.88548538e+00,-2.65657077e+01,
  4.31243010e+00,-8.11387224e-01, 2.50039950e+00,-5.90642341e+00,
  1.38471125e+02,-1.28887749e+01]

qfrc_actuator:
[ 1.46457476e-04, 9.01815906e-04, 1.82501114e-04,-1.87935183e-05,
  4.21465210e-05, 3.48937335e-02, 1.09485596e-02, 1.74520812e-03,
 -5.02644701e-05, 9.60816007e-04, 2.00120210e-04, 4.41897809e-05,
  0.00000000e+00,-1.54807654e-03, 0.00000000e+00,-8.89572078e-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, -8.57384817, -1.03725814, -8.57384817,  9.58492896,
       -7.84072425, -1.03725814, -7.84072425, 73.44682558,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003844696080020797
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.44383717e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.44383717e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13920439, -0.03592487,  0.06180635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.11947081e-05, 5.02600690e-06,-5.93221617e-05, 2.55917468e-05,
  6.12467084e-06, 7.31159103e-05,-2.11594270e-05,-2.95123771e-05,
  3.41987467e-03, 3.28236998e-05, 1.60910194e-05,-1.23858666e-04,
  1.16455179e-05,-2.20252727e-06,-4.90497380e+00,-9.57597628e-05,
  3.39341678e-03,-7.56118590e-04]


--- Step 2378 ---
qpos:
[ 0.01866399, 0.03002663,-0.00943712,-0.02529812,-0.00350839, 1.34078199,
 -0.02995114, 0.94376661, 0.01158054, 0.0272751 ,-0.00831026, 0.02645505,
  1.39623698, 0.00766945, 1.32892907, 0.04413421,-0.08591785,-0.04813865,
  0.09346785, 0.70731145,-0.06487872,-0.69875047,-0.08514134]

qacc:
[ 3.47562502e+00,-3.43255767e+00, 1.22431992e+01,-1.66280894e+01,
  6.98386050e-02, 1.57210633e+00,-5.61646513e+00, 8.20041272e+00,
 -5.30690433e+00,-4.45244972e-01, 1.43733279e+00,-1.46682628e+00,
 -1.04992950e-03,-7.77484859e-02, 3.80310636e+00,-1.32091491e+01,
 -4.39590730e+00, 1.24816312e+00,-2.58892693e+00, 6.17063534e+00,
 -1.44086241e+02, 2.75012766e+01]

qfrc_actuator:
[ 1.66999522e-04, 8.86082502e-04, 2.27452906e-04,-2.89569269e-05,
  4.39086828e-05, 3.49017725e-02, 1.09334792e-02, 1.76047653e-03,
 -8.25306695e-05, 9.21245784e-04, 1.95528318e-04, 4.28927731e-05,
  0.00000000e+00,-1.58245277e-03, 0.00000000e+00,-9.50668616e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003854988990840136
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.07998657e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.07998657e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00758134, -0.07353909,  0.06180591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.01970678e-05,-1.66893337e-08,-2.00986567e-05, 1.42733667e-05,
 -3.20540453e-05,-4.37503096e-06, 6.86652034e-06, 5.26952850e-07,
  3.39803321e-03,-1.10975058e-05,-9.29049541e-06,-6.66416083e-05,
  1.86622945e-05,-1.10758503e-05,-4.90493394e+00,-5.12486749e-05,
  3.40225010e-03,-7.52768408e-04]


--- Step 2379 ---
qpos:
[ 0.01866409, 0.03002657,-0.00943543,-0.02529793,-0.00350764, 1.34078236,
 -0.02995139, 0.94376851, 0.01157996, 0.02727654,-0.00831021, 0.0264547 ,
  1.39623662, 0.00766934, 1.32903296, 0.04413766,-0.08593809,-0.04812975,
  0.09345   , 0.70709954,-0.06499986,-0.6989795 ,-0.08492889]

qacc:
[-1.57757117e+01, 7.96192657e-01,-1.81524004e+00,-1.76286074e-01,
  4.36474015e-02, 4.31580075e+00,-1.77462235e+01, 3.73350615e+01,
 -3.28221745e+00,-4.00903401e-01, 9.82222161e-01,-7.11255217e-01,
  1.39655054e-02,-5.71744606e-01,-6.39388851e+00, 2.15188793e+01,
 -3.90013907e+00, 1.11495776e+00,-3.40999944e+00, 5.59007899e+00,
 -1.27726411e+02, 2.41197737e+01]

qfrc_actuator:
[ 7.17920065e-05, 9.12507849e-04, 2.17603650e-04,-3.50686449e-05,
  4.46110572e-05, 3.49242207e-02, 1.09246212e-02, 1.85822594e-03,
 -1.01439467e-04, 8.96883313e-04, 1.92693136e-04, 4.22532325e-05,
  0.00000000e+00,-1.65645871e-03, 0.00000000e+00,-8.45172698e-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,   7.38866018,   4.47151849,   7.38866018,
        28.41639168, -32.68417787,   4.47151849, -32.68417787,
        62.64313658,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038402822121631347
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44549666e-14, -2.52961916e-14,  1.00000000e+00,  3.65655606e-28,
        1.00000000e+00,  2.52961916e-14, -1.00000000e+00,  0.00000000e+00,
        1.44549666e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00761592, -0.07354345,  0.06180656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.26379518e-05, 1.89355040e-05,-1.07303001e-05, 9.74907223e-05,
 -1.98441842e-05,-2.54387477e-05,-2.89225887e-06,-5.80753860e-07,
  3.39691900e-03,-7.81372873e-05,-1.36588001e-05, 1.00127063e-04,
  1.43641571e-05,-3.88979175e-06,-4.90496155e+00,-9.96306167e-05,
  3.39358864e-03,-7.50296772e-04]


--- Step 2380 ---
qpos:
[ 0.0186634 , 0.03002672,-0.00943447,-0.02529743,-0.00350698, 1.34078273,
 -0.02995225, 0.9437716 , 0.01158019, 0.02727776,-0.00830962, 0.02645432,
  1.39623591, 0.00766853, 1.32913703, 0.04413997,-0.08593907,-0.04812434,
  0.09344793, 0.70710013,-0.06508335,-0.69899074,-0.0847674 ]

qacc:
[-6.86681713e+00, 2.95221554e+00,-1.13798099e+01, 1.76328091e+01,
 -3.54764519e-02, 3.69201516e+00,-1.44773309e+01, 2.63051729e+01,
  6.94733295e+00,-1.90687563e+00, 6.50621660e+00,-7.83505256e+00,
  5.00550420e-02,-5.76475674e-01, 3.69965125e+00,-1.25860460e+01,
  4.81357148e+00,-8.74217605e-01, 3.94187911e+00,-6.83985326e+00,
  1.54515585e+02,-1.50735683e+01]

qfrc_actuator:
[ 3.34812148e-05, 9.10497811e-04, 1.75668557e-04,-2.09843305e-05,
  2.69206826e-05, 3.49019459e-02, 1.08840940e-02, 1.91497565e-03,
 -5.90642038e-05, 8.99569507e-04, 2.26445342e-04, 4.20013565e-05,
  0.00000000e+00,-1.68269542e-03, 0.00000000e+00,-9.08676607e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003886499712531709
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.85661419e-14, -1.42830710e-14,  1.00000000e+00,  4.08012233e-28,
        1.00000000e+00,  1.42830710e-14, -1.00000000e+00,  0.00000000e+00,
        2.85661419e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13915469, -0.03597478,  0.06180438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.02215422e-05,-1.09678233e-05,-3.51825822e-05, 5.92672154e-05,
  4.17899280e-05,-1.22223120e-05, 2.81047164e-05,-1.45523564e-06,
  3.43000803e-03,-7.33474705e-05, 2.83835191e-06,-6.01113125e-05,
  5.89403672e-05,-1.43820905e-05,-4.90481346e+00,-1.79720245e-04,
  3.37789497e-03,-7.47433645e-04]


--- Step 2381 ---
qpos:
[ 0.0186626 , 0.03002701,-0.00943429,-0.02529676,-0.00350646, 1.3407826 ,
 -0.02995306, 0.94377466, 0.01158024, 0.02727866,-0.00830828, 0.02645393,
  1.39623512, 0.00766754, 1.32924098, 0.04414251,-0.08592299,-0.04812212,
  0.0934554 , 0.70728941,-0.06513454,-0.69880879,-0.08464901]

qacc:
[-9.71348446e-01, 2.75366459e+00,-1.02992948e+01, 1.45399195e+01,
 -5.83178683e-02,-8.41934289e-01, 2.01005713e+00,-1.70911414e+00,
 -1.53478240e+00,-2.49765882e+00, 8.32019043e+00,-9.33143187e+00,
  6.40888156e-02,-1.93231733e-01,-8.96473823e-01, 2.84437279e+00,
  4.26696882e+00,-7.97699663e-01, 2.38753847e+00,-5.69011231e+00,
  1.37027939e+02,-1.22390362e+01]

qfrc_actuator:
[ 2.90034101e-05, 9.09104287e-04, 1.32805514e-04,-1.29159571e-05,
  1.60929307e-05, 3.48529248e-02, 1.08782458e-02, 1.91157490e-03,
 -6.97241431e-05, 8.83075532e-04, 2.63885811e-04, 4.20269955e-05,
  0.00000000e+00,-1.66218144e-03, 0.00000000e+00,-8.93761090e-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, -8.56930728, -1.07412734, -8.56930728,  9.66552501,
       -8.21057217, -1.07412734, -8.21057217, 74.13969212,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038920556075367763
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.85253639e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.85253639e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13914986, -0.03598814,  0.06180412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.68687563e-05,-6.01869743e-05,-1.02545522e-05,-3.38447254e-06,
 -9.43704161e-06,-1.76205178e-05, 3.83053397e-05, 4.41119823e-07,
  3.44693378e-03,-1.73591594e-05,-8.55860753e-06, 1.12154680e-05,
  1.25446258e-05,-4.97821898e-06,-4.90496082e+00,-8.61493173e-05,
  3.38394048e-03,-7.41226918e-04]


--- Step 2382 ---
qpos:
[ 0.01866105, 0.03002755,-0.00943501,-0.025296  ,-0.00350593, 1.34078254,
 -0.02995386, 0.94377726, 0.01157982, 0.027279  ,-0.00830657, 0.02645291,
  1.39623457, 0.00766671, 1.32934494, 0.04414452,-0.08589167,-0.04812282,
  0.09346715, 0.70764729,-0.06515779,-0.69845411,-0.08456734]

qacc:
[-6.35760730e+00, 2.99746444e+00,-1.05531239e+01, 1.32392248e+01,
  4.01500954e-03,-7.34814056e-01, 3.44474310e+00,-8.34150138e+00,
 -4.00948685e+00,-3.09101303e+00, 1.26058007e+01,-2.36940115e+01,
  6.25798567e-02, 8.63616243e-02, 1.61280042e+00,-5.63118592e+00,
  3.80968312e+00,-7.31605890e-01, 1.07053117e+00,-4.77137381e+00,
  1.22370474e+02,-9.98758791e+00]

qfrc_actuator:
[-8.80078163e-06, 9.25821295e-04, 8.97367754e-05,-8.45292209e-06,
  2.72231777e-05, 3.48948698e-02, 1.08927800e-02, 1.89057149e-03,
 -9.37826559e-05, 8.19748351e-04, 2.67616382e-04, 6.69415666e-06,
  0.00000000e+00,-1.63162642e-03, 0.00000000e+00,-9.21472017e-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,  -8.53105642,  -1.34456431,  -8.53105642,
        10.35488528, -10.90375899,  -1.34456431, -10.90375899,
        77.81905932,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038547886227079595
  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([-0.13920393, -0.03598535,  0.06180584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.15949359e-06, 6.54786021e-06, 1.49965102e-06,-2.31885973e-05,
 -2.43384356e-05,-6.52998508e-05, 4.79924209e-06,-3.47576941e-05,
  3.45072761e-03, 2.16698037e-05,-4.45426787e-06,-2.85972104e-05,
  2.70478536e-05,-1.06266839e-05,-4.90489703e+00,-2.30883016e-05,
  3.39438128e-03,-7.36303996e-04]


--- Step 2383 ---
qpos:
[ 0.01865942, 0.03002799,-0.00943587,-0.02529519,-0.0035052 , 1.34078281,
 -0.02995487, 0.94377854, 0.0115798 , 0.02727842,-0.00830462, 0.02645188,
  1.39623425, 0.00766595, 1.32944894, 0.0441455 ,-0.08588014,-0.04811792,
  0.09347226, 0.70778453,-0.0652432 ,-0.69832604,-0.08441052]

qacc:
[-8.31107011e-01, 3.90977225e-01,-1.72076131e+00, 2.69483050e+00,
  8.61275726e-02,-1.25700290e+00, 7.33079390e+00,-2.18743548e+01,
  3.47462411e+00,-1.90295567e+00, 5.07634014e+00,-5.00324327e+00,
  5.01887805e-02, 5.38141346e-02, 3.16322548e+00,-1.09810516e+01,
 -4.94902445e+00, 1.40185603e+00,-1.66286690e+00, 6.64637922e+00,
 -1.62311435e+02, 3.15814357e+01]

qfrc_actuator:
[-1.26716340e-05, 9.17738237e-04, 8.24673112e-05,-6.13088829e-06,
  5.14359686e-05, 3.49200199e-02, 1.08840572e-02, 1.82394470e-03,
 -7.22601698e-05, 7.46451080e-04, 2.68942215e-04, 4.03146798e-06,
  0.00000000e+00,-1.63080010e-03, 0.00000000e+00,-9.74089107e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00391455828932389
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.09034674e-15,  1.77258669e-14,  1.00000000e+00,  1.25682542e-28,
        1.00000000e+00, -1.77258669e-14, -1.00000000e+00,  0.00000000e+00,
       -7.09034674e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00744762, -0.07347441,  0.06180318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.48983016e-05, 2.83736617e-05,-7.94673879e-06,-6.69212126e-05,
  2.07908269e-05,-1.10351365e-04,-1.27955019e-05,-5.97281500e-06,
  3.43854812e-03, 1.52000772e-05,-6.88170111e-06,-5.51888756e-05,
  8.43434123e-05,-2.67466486e-05,-4.90468595e+00, 1.97216075e-05,
  3.40920477e-03,-7.32320232e-04]


--- Step 2384 ---
qpos:
[ 0.0186574 , 0.03002787,-0.00943605,-0.02529437,-0.00350423, 1.34078319,
 -0.02995592, 0.94377903, 0.01158004, 0.02727715,-0.00830274, 0.02645116,
  1.39623379, 0.00766519, 1.3295526 , 0.04414818,-0.08588607,-0.04810804,
  0.09346686, 0.70772745,-0.06538275,-0.69839773,-0.08418768]

qacc:
[-3.21682319e+00,-2.60554178e+00, 8.10724397e+00,-8.35902974e+00,
  9.97596456e-02,-1.08593542e+00, 5.36560568e+00,-1.39846818e+01,
  2.21090082e+00,-8.81164695e-02,-2.37110421e+00, 8.46872843e+00,
  4.51384963e-02,-8.94579678e-02,-5.63199252e+00, 1.89699468e+01,
 -4.36525688e+00, 1.24534518e+00,-2.62466006e+00, 5.98530885e+00,
 -1.42982984e+02, 2.75515001e+01]

qfrc_actuator:
[-3.20336632e-05, 8.77256072e-04, 1.14048046e-04,-5.08121027e-06,
  6.55476763e-05, 3.49170556e-02, 1.08793543e-02, 1.78424686e-03,
 -5.95819909e-05, 7.21005331e-04, 2.68816332e-04, 2.06071493e-05,
  0.00000000e+00,-1.64780096e-03, 0.00000000e+00,-8.81168190e-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,   7.17858167,   4.80153538,   7.17858167,
        31.04831455, -33.50720288,   4.80153538, -33.50720288,
        58.73162973,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003943209789847316
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.03882803e-15,  1.40776561e-14,  1.00000000e+00, -9.90902002e-29,
        1.00000000e+00, -1.40776561e-14, -1.00000000e+00,  0.00000000e+00,
        7.03882803e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00738355, -0.07345114,  0.06180191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.88267352e-05, 9.16777003e-06,-2.01698511e-06,-4.06289927e-05,
  1.32493184e-05,-9.00464455e-05,-2.47178599e-05, 1.12860716e-05,
  3.42716520e-03,-5.65500137e-06,-1.09910261e-05, 8.85525770e-05,
  1.98464722e-05,-7.10810471e-06,-4.90491883e+00,-2.77226379e-05,
  3.40563800e-03,-7.28955728e-04]


--- Step 2385 ---
qpos:
[ 0.01865517, 0.03002748,-0.00943589,-0.02529424,-0.00350305, 1.34078325,
 -0.02995691, 0.94378045, 0.01158009, 0.02727544,-0.00830071, 0.02645026,
  1.3962331 , 0.00766414, 1.32965622, 0.04415159,-0.08590749,-0.04809371,
  0.09344769, 0.70749805,-0.06556978,-0.69864642,-0.0839065 ]

qacc:
[-1.84456914e+00,-2.76140663e+00, 1.22648040e+01,-2.46890712e+01,
  8.64584741e-02, 9.82863923e-01,-5.64455694e+00, 1.59473703e+01,
 -1.64981770e+00,-1.36367335e+00, 4.86245932e+00,-8.11497719e+00,
  5.85878730e-02,-2.98990049e-01,-2.28868367e+00, 7.88333280e+00,
 -3.87111299e+00, 1.11235291e+00,-3.44533017e+00, 5.38546806e+00,
 -1.26709424e+02, 2.41864493e+01]

qfrc_actuator:
[-4.26171671e-05, 8.71106646e-04, 1.32657487e-04,-4.03020598e-05,
  7.34851147e-05, 3.48795507e-02, 1.08769834e-02, 1.83172311e-03,
 -6.99782356e-05, 7.24422978e-04, 2.85782703e-04, 1.28967596e-05,
  0.00000000e+00,-1.67544740e-03, 0.00000000e+00,-8.45258052e-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,   7.06220373,   4.97112215,   7.06220373,
        35.3667169 , -37.97436371,   4.97112215, -37.97436371,
        62.58448341,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003920463771032209
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41593328e-14,  7.07966640e-15,  1.00000000e+00, -1.00243353e-28,
        1.00000000e+00, -7.07966640e-15, -1.00000000e+00,  0.00000000e+00,
        1.41593328e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00743637, -0.07346073,  0.06180292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.49732358e-05,-3.40488094e-05,-1.99717637e-06, 4.67503051e-05,
 -1.00413538e-05,-5.15278360e-05,-4.29375872e-06,-1.22051084e-05,
  3.43396932e-03,-3.30565435e-05, 3.46557564e-06, 3.91237983e-05,
  2.40305326e-05,-1.15634868e-05,-4.90490680e+00,-1.17483221e-04,
  3.39400485e-03,-7.25287251e-04]


--- Step 2386 ---
qpos:
[ 0.01865317, 0.03002736,-0.00943632,-0.0252942 ,-0.00350187, 1.34078294,
 -0.02995789, 0.94378313, 0.01158001, 0.02727352,-0.00829914, 0.02644893,
  1.39623247, 0.00766266, 1.3297602 , 0.04415239,-0.08594272,-0.04807538,
  0.09341193, 0.70711471,-0.06579877,-0.69905278,-0.08357345]

qacc:
[ 1.99012918e+00, 1.86797648e+00,-5.78858470e+00, 5.11617988e+00,
  4.08425682e-03, 1.65184062e+00,-8.56110425e+00, 2.22323238e+01,
 -1.07806148e+00, 1.44243093e-01, 8.24339552e-01,-7.12460718e+00,
  6.96486647e-02,-3.20761345e-01, 8.42257476e+00,-2.87110365e+01,
 -3.45197915e+00, 9.99056937e-01,-4.14395902e+00, 4.84412380e+00,
 -1.13012294e+02, 2.13787085e+01]

qfrc_actuator:
[-3.01913021e-05, 9.03244697e-04, 1.08045545e-04,-4.33138445e-05,
  5.99025215e-05, 3.48572199e-02, 1.08759128e-02, 1.89458475e-03,
 -7.61171967e-05, 7.09658499e-04, 2.59558958e-04,-9.00367476e-06,
  0.00000000e+00,-1.69144067e-03, 0.00000000e+00,-9.85288640e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038566362605582105
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.19683521e-15,  3.59841760e-15,  1.00000000e+00,  2.58972185e-29,
        1.00000000e+00, -3.59841760e-15, -1.00000000e+00,  0.00000000e+00,
       -7.19683521e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00758165, -0.0734963 ,  0.06180572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.17418555e-06,-4.01483635e-05,-6.58446915e-06, 6.28641931e-05,
 -6.45381691e-06,-4.49524813e-05,-3.78200283e-05,-2.44929767e-05,
  3.44474352e-03,-3.44821421e-05, 3.46442652e-06,-1.37974424e-04,
  7.54762000e-05,-3.19218819e-05,-4.90472626e+00,-2.33954764e-04,
  3.37566965e-03,-7.21108069e-04]


--- Step 2387 ---
qpos:
[ 0.01865168, 0.03002761,-0.00943722,-0.02529318,-0.0035009 , 1.34078251,
 -0.02995838, 0.94378614, 0.01157985, 0.02727142,-0.00829826, 0.02644771,
  1.39623217, 0.00766161, 1.32986394, 0.04415352,-0.08595647,-0.04806074,
  0.09339832, 0.70696801,-0.06598639,-0.69921638,-0.08329759]

qacc:
[ 4.34744842e+00, 3.76823328e+00,-1.68619569e+01, 3.42283644e+01,
 -8.88355062e-02,-8.96874718e-01, 2.04859814e+00, 2.21940451e+00,
 -6.42737602e-01, 1.89025371e+00,-7.49648012e+00, 1.04819298e+01,
  5.65876401e-02, 2.88985132e-01,-1.37386641e+00, 4.28662304e+00,
  5.36826710e+00,-9.22615465e-01, 5.53508953e+00,-7.72328522e+00,
  1.72149861e+02,-1.68076409e+01]

qfrc_actuator:
[-4.32450223e-06, 9.40162578e-04, 9.38134992e-05, 8.16903956e-06,
  3.35208692e-05, 3.48796747e-02, 1.09111663e-02, 1.91272457e-03,
 -7.96935138e-05, 7.01700794e-04, 2.25721965e-04,-3.61257580e-06,
  0.00000000e+00,-1.62917790e-03, 0.00000000e+00,-9.61544618e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003951768368638857
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40471673e-14,  1.40471673e-14,  1.00000000e+00, -1.97322908e-28,
        1.00000000e+00, -1.40471673e-14, -1.00000000e+00,  0.00000000e+00,
        1.40471673e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13908247, -0.03608117,  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:
[ 2.62271332e-05, 3.96181139e-05,-1.47534761e-05, 5.10405044e-05,
 -2.56893291e-05, 8.53515429e-07, 2.84991894e-05, 1.81994333e-05,
 -3.78320068e-06,-4.19055544e-05,-4.86210445e-05, 1.68342640e-06,
  3.44203202e-03, 4.92378648e-05,-1.67060257e-05, 1.58157407e-05,
  1.58732841e-04,-6.24529354e-05,-4.90443053e+00,-3.66626050e-04,
  3.35168566e-03,-7.16303282e-04]


--- Step 2388 ---
qpos:
[ 0.01865051, 0.030028  ,-0.00943791,-0.02529191,-0.00350003, 1.34078177,
 -0.02995806, 0.94378935, 0.01157897, 0.02726957,-0.00829809, 0.02644755,
  1.39623228, 0.00766094, 1.32996768, 0.04415389,-0.08595131,-0.04804945,
  0.09339963, 0.70703029,-0.06613886,-0.69916611,-0.08306963]

qacc:
[ 2.76595890e+00, 1.23278031e-01,-1.22516831e+00, 5.07823488e+00,
 -4.66574273e-02,-2.26148166e+00, 6.48849346e+00,-3.18072192e+00,
 -6.27015019e+00, 4.50563686e+00,-2.00548220e+01, 3.93249930e+01,
  3.56336691e-02, 3.00850811e-01, 2.32153077e+00,-8.09344598e+00,
  4.72792814e+00,-8.36385471e-01, 3.73034556e+00,-6.32992798e+00,
  1.51706544e+02,-1.34595383e+01]

qfrc_actuator:
[ 1.14860071e-05, 9.44241771e-04, 1.03659218e-04, 2.03111625e-05,
  3.51809873e-05, 3.48578827e-02, 1.09499726e-02, 1.92219929e-03,
 -1.17239335e-04, 7.51123623e-04, 2.05473998e-04, 5.33067548e-05,
  0.00000000e+00,-1.60940881e-03, 0.00000000e+00,-1.00121113e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.59846648, -0.8081776 , -8.59846648,  9.18763115,
       -5.86511581, -0.8081776 , -5.86511581, 71.03725375,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003996468048746406
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.38900526e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.38900526e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13902368, -0.03610944,  0.06179914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.35212364e-05,-1.51911620e-05, 4.27554498e-05, 1.07611176e-05,
 -3.76752998e-05, 1.60840830e-05,-3.48177303e-05, 5.34794876e-05,
  3.42500415e-03, 4.76935832e-05,-6.53136278e-06,-4.11021883e-05,
  4.75189043e-05,-2.48570235e-05,-4.90480784e+00,-1.83358006e-04,
  3.35699940e-03,-7.04927690e-04]


--- Step 2389 ---
qpos:
[ 0.01864989, 0.0300283 ,-0.00943804,-0.02529119,-0.00349937, 1.34078094,
 -0.02995752, 0.94379094, 0.01157799, 0.02726828,-0.00829865, 0.02644768,
  1.39623258, 0.00766024, 1.33007153, 0.04415244,-0.08592938,-0.0480412 ,
  0.09340974, 0.70727819,-0.06626122,-0.69892602,-0.08288205]

qacc:
[ 4.68329246e+00,-2.82957884e+00, 1.22380070e+01,-2.25963384e+01,
 -8.65478216e-02,-3.49956730e+00, 1.46246994e+01,-3.15022487e+01,
 -8.77650415e-01, 3.39383887e+00,-1.22655413e+01, 1.81333148e+01,
  1.76434356e-02, 1.77548388e-02, 5.70530421e+00,-1.97034065e+01,
  4.19253889e+00,-7.61945696e-01, 2.19861634e+00,-5.21890306e+00,
  1.34575231e+02,-1.08139891e+01]

qfrc_actuator:
[ 3.89988588e-05, 9.28700417e-04, 1.27476381e-04,-8.56412167e-06,
  1.81454112e-05, 3.48452886e-02, 1.09548890e-02, 1.83772051e-03,
 -1.21221344e-04, 7.99127456e-04, 1.75932473e-04, 6.91349895e-05,
  0.00000000e+00,-1.63301182e-03, 0.00000000e+00,-1.09571295e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.56840146, -1.08132937, -8.56840146,  9.68933543,
       -8.3436974 , -1.08132937, -8.3436974 , 74.75141717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039894269700853704
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.95728380e-15,  1.39145676e-14,  1.00000000e+00, -9.68075956e-29,
        1.00000000e+00, -1.39145676e-14, -1.00000000e+00,  0.00000000e+00,
        6.95728380e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13903633, -0.03611829,  0.06179947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.50266668e-05,-1.23020265e-05, 7.13095180e-06,-8.34280773e-05,
 -5.08630654e-06, 5.21473992e-05,-2.86365428e-05, 1.63590909e-05,
  3.40467064e-03, 5.15763904e-06,-8.90074857e-06,-9.79677656e-05,
  1.83165877e-05,-8.25495822e-06,-4.90490033e+00,-4.71531266e-05,
  3.36626310e-03,-6.95276512e-04]


--- Step 2390 ---
qpos:
[ 0.01865063, 0.03002866,-0.00943793,-0.02529048,-0.00349892, 1.34078062,
 -0.02995738, 0.94378975, 0.01157799, 0.02726743,-0.00829927, 0.02644763,
  1.39623306, 0.00765979, 1.3301752 , 0.04415085,-0.08589248,-0.04803575,
  0.09342345, 0.70769191,-0.06635757,-0.69851613,-0.08272877]

qacc:
[ 1.17511724e+01,-6.28304328e-01, 2.32847607e+00,-2.76058886e+00,
 -8.71100022e-02,-2.98234153e+00, 1.62226256e+01,-4.65247949e+01,
  8.47108532e+00, 3.57268766e-01, 3.25804738e-01,-3.74971485e+00,
  3.20357546e-03, 1.96462528e-01, 1.18432951e-01,-7.99594104e-01,
  3.74469675e+00,-6.97647830e-01, 9.01451566e-01,-4.33003366e+00,
  1.20216226e+02,-8.72136766e+00]

qfrc_actuator:
[ 1.08687811e-04, 9.37056404e-04, 1.41480662e-04,-8.09211599e-06,
  7.78342568e-06, 3.48913730e-02, 1.09397347e-02, 1.69861285e-03,
 -6.98996036e-05, 8.28107253e-04, 1.76620581e-04, 6.06480650e-05,
  0.00000000e+00,-1.61137482e-03, 0.00000000e+00,-1.09747678e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.52766124,  -1.36593212,  -8.52766124,
        10.42956083, -11.19512309,  -1.36593212, -11.19512309,
        78.52872206,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003940931664769491
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.40857939e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.40857939e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13910578, -0.03611179,  0.06180171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.51518152e-05, 3.81727372e-05,-1.91934294e-05,-1.41200670e-04,
  5.11868052e-05, 5.29747595e-05, 8.51928885e-06,-6.92082876e-06,
  3.39494506e-03, 2.80940655e-05,-1.68387077e-05,-8.80051170e-06,
  4.60722073e-05,-6.26124239e-06,-4.90479449e+00, 5.68524660e-05,
  3.37968420e-03,-6.86880242e-04]


--- Step 2391 ---
qpos:
[ 0.01865186, 0.03002934,-0.00943804,-0.02528942,-0.00349879, 1.34078068,
 -0.02995754, 0.94378864, 0.01157896, 0.02726719,-0.00829971, 0.02644744,
  1.39623413, 0.00765963, 1.3302792 , 0.04414555,-0.08587567,-0.04802457,
  0.09343102, 0.70788101,-0.06651869,-0.69833648,-0.08249789]

qacc:
[ 4.15060401e+00, 1.75666181e+00,-7.14397440e+00, 1.32857400e+01,
 -1.34674462e-01, 1.44412898e+00,-4.24257552e+00, 4.27971133e+00,
  8.18784561e+00,-6.89676642e-03, 1.78478347e+00,-4.97133900e+00,
 -1.78302168e-02, 3.51102103e-01, 1.17722204e+01,-4.04375922e+01,
 -5.02652169e+00, 1.43094455e+00,-1.53266149e+00, 6.25029911e+00,
 -1.65172780e+02, 3.31500286e+01]

qfrc_actuator:
[ 1.31629215e-04, 9.59639636e-04, 1.31938558e-04, 9.65950597e-06,
 -1.62440789e-05, 3.49188530e-02, 1.09308314e-02, 1.70604842e-03,
 -2.19537361e-05, 8.81078922e-04, 1.95073725e-04, 5.56892156e-05,
  0.00000000e+00,-1.58060830e-03, 0.00000000e+00,-1.29310371e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038813445562784904
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25142864e-14, -4.29061247e-14,  1.00000000e+00,  5.36939533e-28,
        1.00000000e+00,  4.29061247e-14, -1.00000000e+00,  0.00000000e+00,
        1.25142864e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00752417, -0.07345258,  0.06180448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.88893075e-05, 4.05977744e-05,-7.76272395e-06, 4.74443597e-06,
  4.94599659e-05, 8.41148361e-05, 3.02210164e-05,-2.52730370e-06,
  3.38548573e-03, 4.65636337e-05,-9.69309928e-06,-1.98513554e-04,
  1.13812023e-04,-1.45428355e-05,-4.90455092e+00, 1.38687194e-04,
  3.39725580e-03,-6.79407220e-04]


--- Step 2392 ---
qpos:
[ 0.01865232, 0.03003006,-0.00943787,-0.0252885 ,-0.00349881, 1.34078057,
 -0.02995709, 0.943789  , 0.0115805 , 0.02726768,-0.00830022, 0.0264465 ,
  1.39623562, 0.00765987, 1.33038311, 0.04413826,-0.0858766 ,-0.04800831,
  0.09342855, 0.70787244,-0.06673629,-0.69835966,-0.08219887]

qacc:
[-6.57975392e+00,-1.01081079e+00, 4.33856407e+00,-7.35157423e+00,
 -6.74363736e-02, 6.42316077e-01,-5.42183371e+00, 2.19911760e+01,
  4.83292251e+00,-3.87233706e-01, 5.87766286e+00,-1.91407138e+01,
 -5.42697044e-02, 4.19462827e-01, 5.84553164e+00,-2.06142614e+01,
 -4.43114952e+00, 1.27153272e+00,-2.51222353e+00, 5.59960072e+00,
 -1.45412676e+02, 2.89384420e+01]

qfrc_actuator:
[ 9.13529923e-05, 9.54982659e-04, 1.44150592e-04, 1.92586377e-06,
 -1.27709348e-05, 3.48995753e-02, 1.09612390e-02, 1.78192232e-03,
  5.85034205e-06, 9.12584374e-04, 1.88457592e-04, 1.73722880e-05,
  0.00000000e+00,-1.56225491e-03, 0.00000000e+00,-1.38836830e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.83288839,   5.28189485,   6.83288839,
        36.89563484, -36.55741956,   5.28189485, -36.55741956,
        55.92862803,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003919381114872771
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.30152716e-14, -2.83264881e-14,  1.00000000e+00,  6.51941816e-28,
        1.00000000e+00,  2.83264881e-14, -1.00000000e+00,  0.00000000e+00,
        2.30152716e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00743863, -0.07342333,  0.06180279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.95073235e-05, 1.80151694e-06, 3.76036013e-05, 7.69748943e-05,
  2.92795177e-05, 8.47116637e-05, 1.44011841e-05,-3.37157133e-05,
  3.35620349e-03, 5.06456178e-05,-2.82030109e-05,-1.07976345e-04,
  3.41938814e-05,-4.60889230e-06,-4.90482034e+00, 4.26609989e-05,
  3.39269215e-03,-6.74515904e-04]


--- Step 2393 ---
qpos:
[ 0.01865196, 0.03003053,-0.00943736,-0.02528799,-0.00349862, 1.34078057,
 -0.0299566 , 0.94378993, 0.01158236, 0.02726824,-0.00830052, 0.02644517,
  1.39623717, 0.00766078, 1.33048635, 0.04413387,-0.08589324,-0.04798754,
  0.09341272, 0.70768844,-0.06700268,-0.69856267,-0.08184076]

qacc:
[-7.11262983e+00,-2.13073334e+00, 8.82270067e+00,-1.62314053e+01,
  9.05427997e-02, 1.00792466e+00,-4.28155742e+00, 1.02079202e+01,
  2.75776912e+00,-1.28099162e+00, 6.35039147e+00,-1.34542875e+01,
 -7.91789943e-02, 5.03774075e-01,-9.70200352e+00, 3.25695538e+01,
 -3.93047468e+00, 1.12736389e+00,-3.34238077e+00, 4.89808314e+00,
 -1.28876022e+02, 2.47423054e+01]

qfrc_actuator:
[ 4.97103854e-05, 9.16358874e-04, 1.51238367e-04,-2.07468837e-05,
  2.49239060e-05, 3.49059124e-02, 1.09611815e-02, 1.80865909e-03,
  2.15773121e-05, 8.77607305e-04, 1.84737147e-04,-4.79600243e-06,
  0.00000000e+00,-1.53383156e-03, 0.00000000e+00,-1.22839820e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.82019817,   5.29827083,   6.82019817,
        40.8292958 , -41.44034615,   5.29827083, -41.44034615,
        61.98044177,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003904450743872123
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.59838608e-07, -5.59838604e-07,  1.00000000e+00, -3.13419265e-13,
        1.00000000e+00,  5.59838604e-07, -1.00000000e+00,  5.04870979e-29,
       -5.59838608e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00747572, -0.07329043,  0.06180346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.61666101e-05, 1.70032265e-05, 6.83184153e-06, 2.96794242e-05,
  1.66156043e-05, 1.39298949e-05, 1.43880259e-05,-1.86946810e-05,
  3.33499645e-03, 5.87747680e-05,-2.54608946e-05, 1.50214449e-04,
  2.70127862e-05,-1.84172247e-05,-4.90483233e+00,-9.31405223e-05,
  3.38023276e-03,-6.69195804e-04]


--- Step 2394 ---
qpos:
[ 0.01865074, 0.03003124,-0.00943723,-0.02528812,-0.00349827, 1.34078092,
 -0.02995646, 0.94379049, 0.01158439, 0.02726838,-0.00830006, 0.02644396,
  1.39623851, 0.00766206, 1.33058923, 0.04413305,-0.08589074,-0.04796993,
  0.09341219, 0.70771546,-0.06723404,-0.69854923,-0.08153148]

qacc:
[-7.23916376e+00, 7.90314322e-02, 2.91448431e+00,-1.35557051e+01,
  6.95670087e-02, 7.65078529e-01,-1.14855419e+00,-3.62613774e+00,
  1.52280523e+00,-2.46441105e+00, 7.49642923e+00,-6.41084816e+00,
 -8.03662027e-02, 2.58875598e-01,-1.13513837e+01, 3.89203136e+01,
  4.78800298e+00,-7.92439892e-01, 3.82757008e+00,-6.44842853e+00,
  1.53360693e+02,-1.36285993e+01]

qfrc_actuator:
[ 7.61799537e-06, 9.46418106e-04, 1.37329493e-04,-5.20625770e-05,
  2.95840639e-05, 3.49274047e-02, 1.09431764e-02, 1.78848376e-03,
  3.00762387e-05, 8.38596319e-04, 2.18007219e-04, 4.19777927e-07,
  0.00000000e+00,-1.53529051e-03, 0.00000000e+00,-1.04363207e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038898152654630452
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42708965e-14, -1.42708965e-14,  1.00000000e+00,  2.03658488e-28,
        1.00000000e+00,  1.42708965e-14, -1.00000000e+00,  0.00000000e+00,
        1.42708965e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13918743, -0.0361422 ,  0.06180405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.01239495e-05, 3.31284547e-05,-1.30304088e-05,-1.87739400e-05,
  8.99178568e-06,-2.90524998e-05, 3.72740065e-05, 5.94880036e-06,
  3.33175586e-03, 2.41873038e-05, 5.12561486e-06, 1.89901396e-04,
  6.97072837e-05,-4.74500959e-05,-4.90466828e+00,-2.52359398e-04,
  3.36154358e-03,-6.63264327e-04]


--- Step 2395 ---
qpos:
[ 0.01865007, 0.03003218,-0.00943732,-0.02528828,-0.0034978 , 1.34078137,
 -0.02995648, 0.9437915 , 0.01158617, 0.02726851,-0.00829873, 0.02644241,
  1.39623959, 0.00766309, 1.33069234, 0.04413244,-0.08587124,-0.04795523,
  0.09342082, 0.70792998,-0.06743556,-0.69834368,-0.08126309]

qacc:
[ 4.60795111e+00, 8.62896045e-01,-2.50853522e+00, 2.11125693e+00,
  4.99674230e-02, 1.35379447e+00,-5.20224133e+00, 9.76832952e+00,
 -2.18225260e+00,-3.10460234e+00, 1.24414094e+01,-1.95425779e+01,
 -6.62353277e-02,-1.52915693e-01,-2.67227113e-01, 1.44073827e+00,
  4.24624334e+00,-7.24346191e-01, 2.28989096e+00,-5.25128341e+00,
  1.36059496e+02,-1.07952937e+01]

qfrc_actuator:
[ 3.66097206e-05, 9.64016218e-04, 1.29153616e-04,-5.26651870e-05,
  3.21398707e-05, 3.49221909e-02, 1.09325272e-02, 1.81189009e-03,
  1.65043881e-05, 8.68638347e-04, 2.72826659e-04,-1.37881364e-05,
  0.00000000e+00,-1.57240705e-03, 0.00000000e+00,-1.04110313e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.60137164, -0.77664837, -8.60137164,  9.11489478,
       -5.29972682, -0.77664837, -5.29972682, 67.33077641,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038922023043334864
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.42621444e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.42621444e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13918731, -0.03615541,  0.06180394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.44494035e-05, 9.99826264e-06,-6.20200389e-06, 2.35859991e-05,
 -1.33196914e-05, 2.17516443e-05, 5.36123714e-05,-1.40460828e-05,
  3.34154498e-03,-3.15862780e-05, 2.17668065e-05, 1.33887422e-05,
  2.55739651e-05,-1.64153708e-05,-4.90481635e+00,-6.25542110e-05,
  3.37179595e-03,-6.49849864e-04]


--- Step 2396 ---
qpos:
[ 0.0186501 , 0.03003272,-0.00943757,-0.02528769,-0.00349724, 1.34078179,
 -0.0299572 , 0.9437942 , 0.01158742, 0.02726958,-0.00829775, 0.02644102,
  1.39624076, 0.0076638 , 1.33079598, 0.0441282 ,-0.08586976,-0.04793596,
  0.09341988, 0.70794173,-0.06768217,-0.69834503,-0.08094345]

qacc:
[ 5.98730139e+00, 1.44613753e+00,-9.13839027e+00, 2.28213060e+01,
  3.38463821e-02, 4.71602874e+00,-1.89342988e+01, 3.61074765e+01,
 -4.48008682e+00, 2.53058171e+00,-7.81155416e+00, 1.01791687e+01,
 -5.92393677e-02,-1.04883299e-01, 1.17485447e+01,-3.99342094e+01,
 -4.50168064e+00, 1.14087205e+00,-2.39241160e+00, 3.50859118e+00,
 -1.47595101e+02, 1.86770833e+01]

qfrc_actuator:
[ 7.17031517e-05, 9.03053177e-04, 1.06672178e-04,-1.74343147e-05,
  3.34136278e-05, 3.49010691e-02, 1.08907394e-02, 1.89626485e-03,
 -9.94633221e-06, 9.57633248e-04, 2.69166911e-04,-3.74433028e-06,
  0.00000000e+00,-1.57718580e-03, 0.00000000e+00,-1.23474045e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00388775632736605
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.85569087e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.85569087e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00753759, -0.07146819,  0.06180418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.81299459e-06,-1.60963281e-05,-3.98451666e-05, 8.50421683e-05,
 -2.68333203e-05, 1.11615325e-04, 6.93959977e-06, 1.25587252e-05,
  3.35483104e-03,-2.38265343e-05, 7.86744205e-06,-1.90909195e-04,
  4.19076429e-05,-1.29173977e-06,-4.90475487e+00, 8.85826671e-05,
  3.38571388e-03,-6.37836574e-04]


--- Step 2397 ---
qpos:
[ 0.01864951, 0.03003299,-0.00943837,-0.02528666,-0.00349678, 1.34078174,
 -0.02995821, 0.94379757, 0.01158835, 0.02727156,-0.00829744, 0.02644012,
  1.39624188, 0.00766461, 1.33089938, 0.04412404,-0.08588423,-0.0479126 ,
  0.09340597, 0.70777387,-0.06796829,-0.69852956,-0.08057858]

qacc:
[-5.27435705e+00, 2.08655000e+00,-9.76414564e+00, 1.82820791e+01,
 -3.96580205e-02, 1.33026720e+00,-6.43423230e+00, 1.35564970e+01,
 -2.82569355e+00, 4.10050577e+00,-1.50037303e+01, 2.41063741e+01,
 -6.82267194e-02, 1.23057265e-01,-6.01479393e-01, 1.58237944e+00,
 -3.99008439e+00, 1.02083684e+00,-3.24212877e+00, 3.13901576e+00,
 -1.30682685e+02, 1.63355100e+01]

qfrc_actuator:
[ 3.90725197e-05, 8.84250212e-04, 7.56184648e-05, 3.01034232e-06,
  1.61561506e-05, 3.48527485e-02, 1.08663691e-02, 1.92703810e-03,
 -2.60052580e-05, 9.92281416e-04, 2.31283796e-04, 2.05059844e-05,
  0.00000000e+00,-1.56239392e-03, 0.00000000e+00,-1.22278832e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.2145187 ,   5.99721053,   6.2145187 ,
        49.73857935, -42.5915493 ,   5.99721053, -42.5915493 ,
        52.77121235,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038781193971250474
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43139356e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.43139356e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0075609 , -0.07146933,  0.06180461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.14591999e-05,-6.24611672e-05,-2.95553281e-05, 3.10959312e-05,
 -1.68025179e-05, 9.89833349e-05,-1.35565425e-05, 2.95179172e-05,
  3.35036381e-03, 6.90208051e-06,-2.09903588e-05, 1.55973675e-06,
  2.53913632e-05,-1.87020853e-05,-4.90480047e+00,-7.16279376e-05,
  3.37758185e-03,-6.32229340e-04]


--- Step 2398 ---
qpos:
[ 0.01864888, 0.03003308,-0.00943929,-0.02528613,-0.00349647, 1.34078129,
 -0.02995922, 0.94380092, 0.01158839, 0.02727349,-0.00829688, 0.02643924,
  1.39624287, 0.00766581, 1.33100226, 0.04412304,-0.08587976,-0.04789247,
  0.09340694, 0.70781595,-0.06822272,-0.6984991 ,-0.08025747]

qacc:
[-3.59632264e-01,-9.01284760e-01, 4.97827063e+00,-1.32432757e+01,
 -5.96743097e-02,-5.83757192e-01, 1.30928996e+00,-1.14705427e+00,
 -7.57680331e+00,-7.31197703e-01, 2.50173280e+00,-2.71070049e+00,
 -6.92637985e-02, 2.75554971e-01,-1.02748898e+01, 3.48731292e+01,
  4.73648313e+00,-8.03980059e-01, 3.71877912e+00,-5.59303403e+00,
  1.52166128e+02,-1.07925076e+01]

qfrc_actuator:
[ 3.78498620e-05, 8.90780166e-04, 7.53922208e-05,-2.08972171e-05,
  5.67444346e-06, 3.48418044e-02, 1.08700837e-02, 1.92600473e-03,
 -7.13205126e-05, 9.40727044e-04, 2.26582784e-04, 1.73590200e-05,
  0.00000000e+00,-1.53614940e-03, 0.00000000e+00,-1.05422765e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039081322995786
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42040102e-14, -1.42040102e-14,  1.00000000e+00,  2.01753907e-28,
        1.00000000e+00,  1.42040102e-14, -1.00000000e+00,  0.00000000e+00,
        1.42040102e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13917348, -0.03619525,  0.06180318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.72557997e-05,-5.03382412e-05,-1.09493960e-05,-3.05324414e-06,
 -4.57670975e-05, 2.18632784e-06, 1.50739048e-05, 1.19804519e-06,
  3.35216529e-03, 2.82283197e-05,-1.05385591e-05, 1.65722958e-04,
  6.04393682e-05,-4.97001358e-05,-4.90466388e+00,-2.38517452e-04,
  3.36346006e-03,-6.26006983e-04]


--- Step 2399 ---
qpos:
[ 0.01864859, 0.03003278,-0.00944013,-0.02528623,-0.00349628, 1.34078064,
 -0.02996053, 0.94380353, 0.01158823, 0.02727565,-0.00829699, 0.02643836,
  1.39624385, 0.00766729, 1.33110513, 0.04412336,-0.08585848,-0.04787525,
  0.09341669, 0.70804454,-0.06845007,-0.69827775,-0.07997308]

qacc:
[ 2.88136539e+00,-2.06091294e+00, 9.20149347e+00,-1.97998249e+01,
 -5.72155578e-02,-6.96879193e-01, 3.46566778e+00,-1.13689541e+01,
 -1.72413740e+00, 2.17391282e+00,-7.31994136e+00, 8.22940743e+00,
 -6.55145398e-02, 2.38416356e-01,-4.02533991e+00, 1.40658541e+01,
  4.20369876e+00,-7.30537549e-01, 2.19632670e+00,-4.53982886e+00,
  1.35038158e+02,-8.45296454e+00]

qfrc_actuator:
[ 5.51457599e-05, 8.59258261e-04, 7.57012562e-05,-5.29079676e-05,
 -6.56889465e-07, 3.48356618e-02, 1.08549608e-02, 1.88855516e-03,
 -8.02392625e-05, 9.44552716e-04, 1.87878429e-04, 1.58172083e-05,
  0.00000000e+00,-1.52112099e-03, 0.00000000e+00,-9.90084922e-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, -8.54266324, -1.26873229, -8.54266324, 10.10605736,
       -9.8957823 , -1.26873229, -9.8957823 , 75.26691767,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003906507172110454
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42099192e-14, -1.42099192e-14,  1.00000000e+00,  2.01921803e-28,
        1.00000000e+00,  1.42099192e-14, -1.00000000e+00,  0.00000000e+00,
        1.42099192e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13917846, -0.03620523,  0.06180326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.65304624e-05,-3.62146000e-05,-2.62992267e-05,-3.93517475e-05,
 -1.02524299e-05, 8.12291332e-06,-3.63799835e-05,-9.04923421e-07,
  3.35900233e-03, 2.35520025e-05, 1.26674796e-05, 7.18214580e-05,
  2.30707233e-05,-1.51437271e-05,-4.90479125e+00,-4.08186944e-05,
  3.37269907e-03,-6.11765011e-04]


--- Step 2400 ---
qpos:
[ 0.0186485 , 0.03003194,-0.00944088,-0.02528668,-0.00349636, 1.34077966,
 -0.02996199, 0.94380568, 0.01158796, 0.02727781,-0.00829723, 0.0264378 ,
  1.3962448 , 0.00766879, 1.33120817, 0.04412345,-0.08585548,-0.04785413,
  0.09341716, 0.70806572,-0.06870748,-0.6982669 ,-0.07965903]

qacc:
[ 1.81120717e+00,-1.68111236e+00, 6.49415086e+00,-1.25075160e+01,
 -1.08345487e-01,-8.34761115e-01, 3.15408838e+00,-7.92115700e+00,
 -9.08407915e-01, 1.07305903e+00,-5.19236676e+00, 1.10499403e+01,
 -6.56773174e-02, 7.23013504e-02, 9.30758407e-01,-2.89430164e+00,
 -4.57076707e+00, 9.78198261e-01,-2.32035936e+00, 1.02862995e+00,
 -1.49154279e+02, 5.49274847e+00]

qfrc_actuator:
[ 6.54403040e-05, 8.22949776e-04, 7.61667161e-05,-7.17038476e-05,
 -2.22000974e-05, 3.48146016e-02, 1.08465922e-02, 1.86547894e-03,
 -8.54067338e-05, 9.45852173e-04, 1.82853551e-04, 3.29973522e-05,
  0.00000000e+00,-1.53061652e-03, 0.00000000e+00,-1.00578004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038708690121047606
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43407465e-14, -2.86814930e-14,  1.00000000e+00,  4.11314020e-28,
        1.00000000e+00,  2.86814930e-14, -1.00000000e+00,  0.00000000e+00,
        1.43407465e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00798379, -0.06918564,  0.06180493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.13130594e-05,-4.74122160e-05,-1.95939564e-05,-2.58473475e-05,
 -5.45683998e-06,-1.79066430e-06,-7.88095457e-06, 1.62496448e-05,
  3.35900248e-03, 1.52925630e-07, 1.14105365e-05,-1.06212922e-05,
  4.42890309e-05, 3.98963572e-06,-4.90471500e+00, 1.21773725e-04,
  3.38605881e-03,-5.98732440e-04]


--- Step 2401 ---
qpos:
[ 0.01864889, 0.03003077,-0.00944173,-0.02528703,-0.00349654, 1.34077856,
 -0.02996306, 0.94380714, 0.01158695, 0.02727951,-0.00829676, 0.02643711,
  1.39624565, 0.00767025, 1.33131124, 0.04412337,-0.08586868,-0.04782949,
  0.09340492, 0.70790323,-0.06899114,-0.69844237,-0.07931891]

qacc:
[ 4.02565444e+00, 3.93625743e-02,-1.26172973e+00, 3.57828844e+00,
 -4.66336123e-02,-2.36559173e+00, 8.94094557e+00,-1.56406992e+01,
 -6.36376238e+00,-2.88184340e+00, 9.99553348e+00,-1.31862933e+01,
 -6.47724950e-02, 2.05540848e-02, 5.88453709e-01,-1.96314082e+00,
 -4.05103187e+00, 8.76293525e-01,-3.17889771e+00, 9.23485330e-01,
 -1.32031226e+02, 4.68510442e+00]

qfrc_actuator:
[ 8.92777370e-05, 8.19572321e-04, 7.67007030e-05,-6.48278267e-05,
 -1.71901558e-05, 3.48380620e-02, 1.08777472e-02, 1.83330012e-03,
 -1.23842259e-04, 9.10261405e-04, 2.15528497e-04, 2.55800290e-05,
  0.00000000e+00,-1.53692355e-03, 0.00000000e+00,-1.01509814e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038649744991028634
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87252354e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.87252354e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00799856, -0.06918473,  0.0618052 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.34962158e-05,-7.36731618e-06, 1.88982447e-05,-3.47780130e-05,
 -3.85898430e-05,-3.76004290e-05, 3.18754640e-05,-7.45334748e-06,
  3.36048826e-03,-6.98173830e-06, 1.24440219e-06,-9.09174911e-06,
  1.94553359e-05,-1.61729144e-05,-4.90479774e+00,-5.25173159e-05,
  3.38367490e-03,-5.93374860e-04]


--- Step 2402 ---
qpos:
[ 0.0186499 , 0.03002921,-0.00944258,-0.02528695,-0.00349677, 1.34077754,
 -0.02996329, 0.94380816, 0.01158651, 0.0272807 ,-0.00829633, 0.0264357 ,
  1.39624637, 0.00767146, 1.33141442, 0.04412217,-0.08586314,-0.04780825,
  0.09340718, 0.70795021,-0.06924767,-0.69840381,-0.07901513]

qacc:
[ 5.39270061e+00, 3.60160103e-01,-3.86951506e+00, 1.16261217e+01,
 -1.66050546e-02,-2.94323132e+00, 1.06302666e+01,-1.43769212e+01,
  4.96860970e+00,-2.05911793e+00, 9.34684662e+00,-2.12354039e+01,
 -5.90921802e-02,-1.27921197e-01, 3.54325478e+00,-1.21538200e+01,
  4.68517311e+00,-8.47434406e-01, 3.62592797e+00,-4.35140980e+00,
  1.51238475e+02,-6.65254164e+00]

qfrc_actuator:
[ 1.20897893e-04, 8.00463295e-04, 7.74178713e-05,-4.28770853e-05,
 -1.40442316e-05, 3.48704020e-02, 1.09321442e-02, 1.81381948e-03,
 -9.27900971e-05, 8.52994743e-04, 1.99008122e-04,-1.40169854e-05,
  0.00000000e+00,-1.55901881e-03, 0.00000000e+00,-1.07381013e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003912448817851619
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83766786e-14, -2.83766786e-14,  1.00000000e+00,  8.05235886e-28,
        1.00000000e+00,  2.83766786e-14, -1.00000000e+00,  0.00000000e+00,
        2.83766786e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13917643, -0.03623318,  0.06180298])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.82991013e-06, 3.09261025e-05, 5.40909572e-05,-1.99551194e-05,
  2.99136750e-05,-7.21103913e-05,-2.06424306e-05,-4.02523765e-05,
  3.36485787e-03,-2.70046552e-05,-2.81663883e-06,-5.95999989e-05,
  4.74894417e-05,-4.77185246e-05,-4.90469283e+00,-2.12656128e-04,
  3.37526262e-03,-5.87450633e-04]


--- Step 2403 ---
qpos:
[ 0.01865094, 0.03002751,-0.00944351,-0.02528697,-0.00349714, 1.34077675,
 -0.02996293, 0.94380964, 0.01158645, 0.02728069,-0.00829558, 0.02643562,
  1.396247  , 0.00767237, 1.33151773, 0.04411894,-0.08584095,-0.04779006,
  0.09341791, 0.70818327,-0.06948086,-0.69817516,-0.07874208]

qacc:
[ 2.28917066e-01,-1.88958347e-01, 8.77470041e-01,-2.56402601e+00,
 -6.43466744e-02,-4.89091605e-01, 1.04095159e+00, 4.15537267e+00,
  3.23952513e+00, 2.70677462e-01,-8.85901383e+00, 3.22064678e+01,
 -5.33061840e-02,-1.40790557e-01, 6.36385604e+00,-2.19694561e+01,
  4.16206967e+00,-7.62703665e-01, 2.11767188e+00,-3.53494699e+00,
  1.34252769e+02,-5.09263313e+00]

qfrc_actuator:
[ 1.21335993e-04, 8.07611614e-04, 7.81889119e-05,-4.77515397e-05,
 -2.97960604e-05, 3.48901690e-02, 1.09643622e-02, 1.83749151e-03,
 -7.43337712e-05, 7.65212150e-04, 2.06696332e-04, 5.19782562e-05,
  0.00000000e+00,-1.57260650e-03, 0.00000000e+00,-1.17889869e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00390815828371683
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42039158e-14,  1.42039158e-14,  1.00000000e+00, -2.01751224e-28,
        1.00000000e+00, -1.42039158e-14, -1.00000000e+00,  0.00000000e+00,
        1.42039158e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13918434, -0.03623901,  0.06180319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.86050419e-05, 4.68647532e-05, 4.38408160e-05, 2.57248845e-05,
  1.93136736e-05,-1.34132018e-04,-1.11600067e-05, 6.14055845e-05,
  3.37188585e-03,-2.79464348e-05,-1.04400334e-05,-1.09335986e-04,
  1.58952780e-05,-1.12663739e-05,-4.90480235e+00,-2.43391748e-05,
  3.38189449e-03,-5.73641160e-04]


--- Step 2404 ---
qpos:
[ 0.01865163, 0.03002597,-0.00944488,-0.02528672,-0.00349768, 1.3407758 ,
 -0.02996193, 0.94381003, 0.01158593, 0.02727955,-0.00829443, 0.02643667,
  1.39624805, 0.00767305, 1.33162158, 0.04410943,-0.08583707,-0.04776787,
  0.09341938, 0.70820879,-0.06974399,-0.69815716,-0.07843897]

qacc:
[-2.99564368e+00, 2.01800514e+00,-8.02749753e+00, 1.33332093e+01,
 -6.97980744e-02,-3.80692268e+00, 1.43974180e+01,-2.49050213e+01,
 -3.95714092e+00,-2.95455824e-01,-5.86763574e+00, 2.55232398e+01,
 -6.04615641e-02, 3.90552601e-02, 1.97851701e+01,-6.80221522e+01,
 -4.57548940e+00, 9.99918841e-01,-2.31360794e+00, 9.71549875e-01,
 -1.49262564e+02, 5.60388444e+00]

qfrc_actuator:
[ 1.03414813e-04, 8.30415344e-04, 6.13179423e-05,-3.28466375e-05,
 -3.90053943e-05, 3.48489487e-02, 1.09832039e-02, 1.77982659e-03,
 -9.89674257e-05, 7.13257357e-04, 2.28572015e-04, 1.08563453e-04,
  0.00000000e+00,-1.56319458e-03, 0.00000000e+00,-1.50572468e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038652589555933925
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87231215e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.87231215e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00800029, -0.06917363,  0.06180519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.02026222e-05,-5.93976653e-06, 3.37552840e-05,-5.43727560e-05,
 -2.41161517e-05,-1.26638054e-04,-5.09054007e-06, 5.16437010e-05,
  3.37552412e-03,-3.81271023e-06,-1.92188033e-05,-3.34761729e-04,
  4.11176473e-05, 1.04055454e-05,-4.90471371e+00, 1.36091974e-04,
  3.39343641e-03,-5.60716840e-04]


--- Step 2405 ---
qpos:
[ 0.01865279, 0.03002414,-0.00944572,-0.02528631,-0.00349837, 1.34077502,
 -0.02996106, 0.94380974, 0.01158545, 0.02727823,-0.0082939 , 0.02643695,
  1.39624918, 0.00767364, 1.33172523, 0.04409707,-0.08581647,-0.04774878,
  0.09342949, 0.70842155,-0.06998505,-0.69794792,-0.07816463]

qacc:
[ 4.04979389e+00,-1.53159231e+00, 4.17998887e+00,-1.90207022e+00,
 -5.93748478e-02,-5.74827986e-01, 3.52692649e+00,-1.10405915e+01,
  4.34445460e-01,-6.84594839e-02, 3.14070262e+00,-1.52636211e+01,
 -8.31405947e-02, 5.75086854e-02, 8.31571084e+00,-2.95132380e+01,
  4.17838007e+00,-7.76051075e-01, 2.15915403e+00,-3.19682613e+00,
  1.34948396e+02,-3.87614996e+00]

qfrc_actuator:
[ 1.28099260e-04, 8.09111260e-04, 8.75143181e-05,-2.41668971e-05,
 -4.42152983e-05, 3.48601907e-02, 1.09759610e-02, 1.74571769e-03,
 -9.55043342e-05, 7.36483138e-04, 2.05493708e-04, 7.04107967e-05,
  0.00000000e+00,-1.57543638e-03, 0.00000000e+00,-1.64099626e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038628872321991164
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43703784e-14, -2.87407568e-14,  1.00000000e+00,  4.13015551e-28,
        1.00000000e+00,  2.87407568e-14, -1.00000000e+00,  0.00000000e+00,
        1.43703784e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13925059, -0.03623696,  0.06180531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.71488237e-05, 1.29300750e-05,-6.15758152e-06,-3.45574319e-05,
  2.70848661e-06,-4.64139360e-05,-4.80793051e-05,-4.27521189e-05,
  3.35484163e-03,-4.61752353e-06,-4.82185377e-05,-1.56880369e-04,
  1.34120365e-05,-1.34249342e-05,-4.90480234e+00,-3.69981036e-05,
  3.39145850e-03,-5.55387401e-04]


--- Step 2406 ---
qpos:
[ 0.01865492, 0.03002265,-0.0094462 ,-0.02528621,-0.00349915, 1.34077467,
 -0.02996045, 0.94380972, 0.01158537, 0.02727694,-0.00829411, 0.02643676,
  1.39624989, 0.00767454, 1.33182784, 0.04408949,-0.08581405,-0.04772567,
  0.09343019, 0.70842828,-0.07025571,-0.69794791,-0.0778603 ]

qacc:
[ 8.37717467e+00,-1.22210080e+00, 6.32459724e+00,-1.25879913e+01,
 -4.47410239e-02, 1.72389679e+00,-5.49127080e+00, 7.58125402e+00,
  3.30094902e+00, 1.09160615e+00,-1.85331827e+00,-5.22536998e+00,
 -8.46768641e-02, 1.64329915e-01,-1.59598648e+01, 5.36122213e+01,
 -4.54574616e+00, 1.00468246e+00,-2.35551139e+00, 9.48606617e-01,
 -1.48215083e+02, 5.57939586e+00]

qfrc_actuator:
[ 1.77669174e-04, 8.68247689e-04, 1.21003280e-04,-3.69779892e-05,
 -4.69844045e-05, 3.49026581e-02, 1.09713513e-02, 1.76127988e-03,
 -7.55163933e-05, 7.51049602e-04, 1.74056338e-04, 4.78661915e-05,
  0.00000000e+00,-1.56520908e-03, 0.00000000e+00,-1.37820901e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039038790817929117
  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([ 0.00791392, -0.06914711,  0.06180349])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.29027113e-05, 4.73803307e-05,-3.79494300e-06, 1.49687847e-05,
  2.00512208e-05,-2.31117890e-05,-4.84180249e-05,-2.70283140e-05,
  3.35033004e-03, 1.02863176e-05,-3.98426092e-05, 2.47837989e-04,
  3.42346735e-05, 1.11861065e-05,-4.90472987e+00, 1.25857806e-04,
  3.40173828e-03,-5.42320540e-04]


--- Step 2407 ---
qpos:
[ 0.01865695, 0.03002212,-0.00944714,-0.02528629,-0.00350001, 1.34077443,
 -0.02995979, 0.94380955, 0.01158518, 0.02727557,-0.00829446, 0.02643626,
  1.39625074, 0.0076758 , 1.3319305 , 0.04408235,-0.08582775,-0.04769897,
  0.09341803, 0.70825257,-0.07055241,-0.6981331 ,-0.07752953]

qacc:
[-9.88696518e-01, 2.17177361e+00,-5.16087199e+00, 2.11988745e+00,
 -3.08279052e-02,-2.47329683e-01, 1.30212339e+00,-2.92424543e+00,
 -8.94774072e-01,-3.03972584e-01, 2.22558328e+00,-7.13701804e+00,
 -7.24117560e-02, 3.33414816e-01,-1.24363771e+00, 4.49913041e+00,
 -4.02874342e+00, 8.97903064e-01,-3.21054842e+00, 8.06884474e-01,
 -1.31209985e+02, 4.84348837e+00]

qfrc_actuator:
[ 1.70465774e-04, 9.39620255e-04, 1.05565194e-04,-4.45146019e-05,
 -4.82676269e-05, 3.48925172e-02, 1.09684994e-02, 1.75271307e-03,
 -8.14764863e-05, 7.60296814e-04, 1.73470594e-04, 3.47039232e-05,
  0.00000000e+00,-1.52411413e-03, 0.00000000e+00,-1.36238600e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038938407726126015
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42561431e-14, -1.42561431e-14,  1.00000000e+00,  2.03237616e-28,
        1.00000000e+00,  1.42561431e-14, -1.00000000e+00,  0.00000000e+00,
        1.42561431e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00793825, -0.06914983,  0.06180395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.90654450e-06, 1.57782097e-05, 6.42329840e-06,-6.90665117e-06,
 -5.38220864e-06,-1.47802231e-05,-1.22415325e-05,-1.63510797e-05,
  3.37137982e-03, 3.58653260e-05, 9.85050724e-06, 2.47057136e-05,
  1.17549612e-05,-1.59033922e-05,-4.90479805e+00,-4.78018853e-05,
  3.39920815e-03,-5.36918618e-04]


--- Step 2408 ---
qpos:
[ 0.01865818, 0.03002199,-0.00944803,-0.02528676,-0.00350092, 1.34077406,
 -0.02995959, 0.94380899, 0.01158492, 0.0272744 ,-0.00829473, 0.02643625,
  1.39625167, 0.0076771 , 1.33203339, 0.04407379,-0.08582276,-0.04767578,
  0.09342029, 0.70828702,-0.07082645,-0.69810379,-0.07722826]

qacc:
[-6.78820310e+00,-4.09499304e-01, 3.90844710e+00,-1.11570991e+01,
 -1.95757945e-02, 3.92746430e-01,-6.87517096e-01,-3.90263656e+00,
 -5.99489479e-01, 1.04441477e+00,-5.41224155e+00, 1.35824758e+01,
 -8.00806671e-02, 1.32202735e-01, 4.64243941e+00,-1.57187200e+01,
  4.67340706e+00,-8.75126359e-01, 3.60233897e+00,-3.17708694e+00,
  1.51236562e+02,-2.64617992e+00]

qfrc_actuator:
[ 1.29895594e-04, 9.28823904e-04, 9.69485528e-05,-6.66517286e-05,
 -4.86497969e-05, 3.48509489e-02, 1.09309839e-02, 1.72997675e-03,
 -8.49147279e-05, 8.01934998e-04, 1.91097197e-04, 6.26898144e-05,
  0.00000000e+00,-1.53568145e-03, 0.00000000e+00,-1.43906373e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038742398645410098
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86565381e-14, -1.43282691e-14,  1.00000000e+00,  4.10598589e-28,
        1.00000000e+00,  1.43282691e-14, -1.00000000e+00,  0.00000000e+00,
        2.86565381e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13923857, -0.03625619,  0.06180479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.64497444e-06,-3.17907230e-05,-3.39013281e-05,-2.22334638e-05,
 -3.60461686e-06, 3.01956757e-05, 1.25211417e-05, 2.66158265e-05,
  3.36421885e-03, 6.37502560e-06, 5.05438649e-06,-7.45324661e-05,
  4.14367931e-05,-5.27317013e-05,-4.90468233e+00,-2.07564626e-04,
  3.39069498e-03,-5.30950116e-04]


--- Step 2409 ---
qpos:
[ 0.01865892, 0.0300217 ,-0.00944822,-0.02528678,-0.00350185, 1.34077338,
 -0.02995977, 0.94380817, 0.01158532, 0.0272737 ,-0.00829494, 0.02643654,
  1.39625221, 0.00767832, 1.33213593, 0.0440674 ,-0.08580114,-0.04765571,
  0.09343095, 0.70850817,-0.07108088,-0.69788398,-0.07695211]

qacc:
[-4.22865249e+00,-1.19817406e+00, 2.08355425e+00, 4.75914573e+00,
 -1.10042045e-02, 1.93183339e-01,-5.86014240e-01,-2.27450180e+00,
  5.54081065e+00, 1.04523990e+00,-4.11798921e+00, 8.88172752e+00,
 -7.79160008e-02,-6.29069172e-02,-7.09441797e+00, 2.40571525e+01,
  4.15459550e+00,-7.81787561e-01, 2.10114185e+00,-2.56555964e+00,
  1.34283050e+02,-1.78170337e+00]

qfrc_actuator:
[ 1.05534125e-04, 9.04412222e-04, 1.27612962e-04,-4.40002938e-05,
 -4.84888986e-05, 3.48262395e-02, 1.09086726e-02, 1.71679782e-03,
 -5.13270831e-05, 8.45024042e-04, 2.01736785e-04, 7.91922153e-05,
  0.00000000e+00,-1.56091492e-03, 0.00000000e+00,-1.32102165e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038717806733906054
  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([-0.13924331, -0.03625989,  0.06180491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.17599697e-06,-4.95942438e-05,-3.30406731e-05,-1.56451053e-05,
  3.34870023e-05, 6.37452394e-05, 1.93569021e-05, 1.87509813e-05,
  3.35976792e-03,-2.06786779e-05,-8.54711519e-06, 1.13969403e-04,
  9.22130829e-06,-1.07542579e-05,-4.90479591e+00,-1.85308495e-05,
  3.39484986e-03,-5.16902998e-04]


--- Step 2410 ---
qpos:
[ 0.01866005, 0.0300216 ,-0.00944812,-0.02528655,-0.00350265, 1.34077256,
 -0.02996028, 0.94380649, 0.01158576, 0.02727291,-0.00829452, 0.02643741,
  1.39625225, 0.00767939, 1.33223819, 0.04406412,-0.08579772,-0.04763152,
  0.09343222, 0.70852301,-0.0713647 ,-0.69787369,-0.07664555]

qacc:
[ 3.36069045e+00,-5.33922676e-02,-5.62384586e-01, 4.42795429e+00,
  5.66036948e-02,-7.66685847e-01, 4.04083246e+00,-1.33842511e+01,
  4.93451932e-01,-6.96820804e-01,-7.89629787e-02, 9.01333689e+00,
 -5.27133946e-02,-1.76601694e-01,-9.84658531e+00, 3.38174275e+01,
 -4.54804668e+00, 1.02799046e+00,-2.34852985e+00, 9.26693478e-01,
 -1.48431677e+02, 5.64076295e+00]

qfrc_actuator:
[ 1.26424489e-04, 9.25474464e-04, 1.45671370e-04,-3.06738457e-05,
 -3.02512743e-05, 3.48296198e-02, 1.08955882e-02, 1.67386729e-03,
 -4.94736104e-05, 8.17622390e-04, 2.25919486e-04, 1.06549880e-04,
  0.00000000e+00,-1.57650467e-03, 0.00000000e+00,-1.16018108e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00388326585253166
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.14424482e-14,  1.78687068e-14,  1.00000000e+00, -3.83148820e-28,
        1.00000000e+00, -1.78687068e-14, -1.00000000e+00,  0.00000000e+00,
        2.14424482e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00796469, -0.069149  ,  0.06180444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.63591393e-05,-3.09847584e-05,-2.70049081e-05,-4.57551167e-05,
  2.85244130e-06, 1.30873950e-05, 4.03923168e-05, 3.11241747e-05,
  3.37905267e-03,-3.28182659e-05, 7.06710643e-06, 1.65755024e-04,
  3.37021918e-05, 1.67489211e-05,-4.90471160e+00, 1.48432644e-04,
  3.40446807e-03,-5.03449587e-04]


--- Step 2411 ---
qpos:
[ 0.01866073, 0.03002218,-0.00944858,-0.02528616,-0.00350328, 1.34077167,
 -0.02996137, 0.94380569, 0.01158589, 0.02727163,-0.00829327, 0.02643898,
  1.39625175, 0.00768009, 1.3323404 , 0.04406313,-0.08581043,-0.04760367,
  0.09342067, 0.70835513,-0.0716745 ,-0.69804888,-0.07631215]

qacc:
[-3.87474199e+00, 2.79356552e+00,-9.25444142e+00, 1.22261200e+01,
  7.20715770e-02, 2.96377257e+00,-1.16163985e+01, 2.04109475e+01,
 -2.74258917e+00,-1.51366344e+00, 1.45093800e+00, 9.84781094e+00,
 -1.95940478e-02,-3.51396732e-01,-6.98504241e+00, 2.43179497e+01,
 -4.03140022e+00, 9.17481350e-01,-3.20349490e+00, 7.51419016e-01,
 -1.31411467e+02, 4.95870196e+00]

qfrc_actuator:
[ 1.02767030e-04, 9.73552330e-04, 1.20787369e-04,-2.29270319e-05,
 -1.90696662e-05, 3.48320623e-02, 1.08703884e-02, 1.72030715e-03,
 -6.63261584e-05, 7.66036561e-04, 2.57633209e-04, 1.40029333e-04,
  0.00000000e+00,-1.60394469e-03, 0.00000000e+00,-1.04648189e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003875049526342343
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.37197823e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.37197823e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0079847 , -0.06915177,  0.06180482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.08482525e-05,-2.13514543e-05,-3.56768204e-05, 4.36515649e-05,
 -1.67692529e-05,-3.45659254e-05, 4.04718093e-05, 3.60424895e-05,
  3.40437010e-03,-5.23750143e-05, 1.92510319e-05, 1.23328507e-04,
  7.95937038e-06,-1.39720511e-05,-4.90478784e+00,-3.07175454e-05,
  3.40228866e-03,-4.97884005e-04]


--- Step 2412 ---
qpos:
[ 0.01866009, 0.03002302,-0.0094492 ,-0.02528531,-0.00350389, 1.3407711 ,
 -0.02996361, 0.94380718, 0.01158615, 0.02727039,-0.00829232, 0.02644025,
  1.39625084, 0.00768038, 1.33244268, 0.04406353,-0.08580452,-0.04757931,
  0.09342331, 0.70839687,-0.07196399,-0.69801025,-0.07600495]

qacc:
[-1.13563128e+01, 1.75703613e+00,-7.69228176e+00, 1.57346543e+01,
  4.70436106e-03, 7.44571826e+00,-2.84634344e+01, 5.09609828e+01,
  1.19627780e+00, 2.86054381e-01, 3.23867464e-01,-4.98890711e+00,
  1.23720341e-02,-3.69028856e-01,-4.11819904e+00, 1.45149944e+01,
  4.65305601e+00,-8.72173608e-01, 3.54554013e+00,-2.59711356e+00,
  1.50602874e+02,-7.12143459e-01]

qfrc_actuator:
[ 3.53111130e-05, 9.66244895e-04, 1.06376513e-04,-7.71607919e-07,
 -2.99645639e-05, 3.48694385e-02, 1.08205428e-02, 1.83671966e-03,
 -5.85385887e-05, 7.71406543e-04, 2.40159709e-04, 1.23558259e-04,
  0.00000000e+00,-1.62045939e-03, 0.00000000e+00,-9.79236959e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038767909006362164
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43188407e-14,  1.43188407e-14,  1.00000000e+00, -2.05029198e-28,
        1.00000000e+00, -1.43188407e-14, -1.00000000e+00,  0.00000000e+00,
        1.43188407e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13923929, -0.03627329,  0.06180468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.42464510e-06, 1.99046648e-05,-5.68011436e-05, 1.15732647e-04,
  7.27879964e-06,-4.03191533e-06,-1.83838557e-05,-1.58532583e-05,
  3.43077808e-03,-5.00040236e-05, 1.92288167e-05, 7.58613646e-05,
  3.49575644e-05,-5.35625204e-05,-4.90467858e+00,-1.95497839e-04,
  3.39414583e-03,-4.91735972e-04]


--- Step 2413 ---
qpos:
[ 0.01865968, 0.03002368,-0.0094492 ,-0.02528454,-0.0035047 , 1.34077063,
 -0.02996606, 0.94380899, 0.01158685, 0.02726951,-0.00829229, 0.02644133,
  1.39624975, 0.00768028, 1.33254519, 0.04406341,-0.08578206,-0.04755805,
  0.09343416, 0.70862485,-0.07223585,-0.69778168,-0.07572009]

qacc:
[ 1.99796999e+00,-2.15639597e+00, 7.69306333e+00,-1.00083773e+01,
 -8.03641774e-02, 1.25273036e+00,-4.58195350e+00, 7.60158638e+00,
  3.68457168e+00, 2.62771246e+00,-7.87279122e+00, 5.64399546e+00,
  3.56958782e-02,-3.20514296e-01, 1.89192218e+00,-6.14811708e+00,
  4.13801636e+00,-7.77022812e-01, 2.05277120e+00,-2.07402870e+00,
  1.33748277e+02,-1.51774154e-01]

qfrc_actuator:
[ 4.91455297e-05, 9.43619775e-04, 1.33578248e-04,-5.84975853e-06,
 -5.40146676e-05, 3.48741402e-02, 1.08099754e-02, 1.85134430e-03,
 -3.63034167e-05, 7.92841816e-04, 1.93965182e-04, 1.13341898e-04,
  0.00000000e+00,-1.63024331e-03, 0.00000000e+00,-1.01089297e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038726199165343422
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43342627e-14, -1.43342627e-14,  1.00000000e+00,  2.05471087e-28,
        1.00000000e+00,  1.43342627e-14, -1.00000000e+00,  0.00000000e+00,
        1.43342627e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13924619, -0.03627549,  0.06180489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.32078215e-05, 8.08816312e-06,-9.73847690e-06, 1.62385364e-05,
  2.24456556e-05, 1.47377440e-05,-4.98398819e-05,-1.13362533e-05,
  3.45131273e-03,-3.96599433e-05, 1.38807178e-05,-2.57136949e-05,
  6.34760887e-06,-8.74425732e-06,-4.90478021e+00,-1.43909730e-06,
  3.39772318e-03,-4.77183717e-04]


--- Step 2414 ---
qpos:
[ 0.01865978, 0.03002441,-0.0094492 ,-0.02528383,-0.00350559, 1.34077017,
 -0.02996829, 0.9438106 , 0.01158815, 0.02726894,-0.00829259, 0.02644189,
  1.3962484 , 0.00767979, 1.33264767, 0.04406361,-0.08577806,-0.04753335,
  0.09343574, 0.70864253,-0.07252038,-0.69776583,-0.0754282 ]

qacc:
[ 4.39942018e+00,-2.51718549e-03, 3.59659448e-01,-1.32682708e+00,
 -3.44237335e-02,-9.26227062e-01, 3.44058125e+00,-5.28912148e+00,
  5.15591928e+00, 2.66135974e-01, 1.83173325e+00,-1.04534779e+01,
  5.14535884e-02,-3.65670310e-01,-9.96800928e-01, 3.39722662e+00,
 -4.61513938e+00, 8.61286174e-01,-2.31491840e+00,-1.57137081e+00,
 -1.49475225e+02,-8.73732582e+00]

qfrc_actuator:
[ 7.52250382e-05, 9.47640805e-04, 1.31771377e-04,-9.15252801e-06,
 -5.02557772e-05, 3.48770873e-02, 1.08224973e-02, 1.84145279e-03,
 -5.75050978e-06, 8.23603239e-04, 1.84546126e-04, 8.91493424e-05,
  0.00000000e+00,-1.65359518e-03, 0.00000000e+00,-9.94024317e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038732079340234524
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43320865e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.43320865e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00866188, -0.06680245,  0.06180491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.95564587e-06, 6.01201294e-06, 1.34777916e-05,-9.55897964e-06,
  3.12152927e-05, 2.82613369e-05,-1.28983296e-05,-2.55073905e-05,
  3.45988897e-03,-4.36024344e-05, 2.69629465e-07, 1.64833524e-05,
  3.35618629e-05, 2.19873373e-05,-4.90468698e+00, 1.72901509e-04,
  3.40691653e-03,-4.63093078e-04]


--- Step 2415 ---
qpos:
[ 0.01865985, 0.03002521,-0.00944976,-0.02528347,-0.00350636, 1.34076995,
 -0.02997077, 0.94381277, 0.01158947, 0.02726853,-0.00829295, 0.02644181,
  1.39624687, 0.00767873, 1.33275034, 0.04406232,-0.08579042,-0.04750558,
  0.09342463, 0.70847406,-0.07281618,-0.69793823,-0.07513013]

qacc:
[-2.98343746e-01, 9.03865416e-01,-1.61463631e+00,-3.63347892e+00,
  5.02149432e-02, 1.92506253e+00,-7.06392994e+00, 1.25125835e+01,
  9.64774207e-02,-9.29855296e-01, 6.28307059e+00,-1.72864785e+01,
  7.10752401e-02,-4.68889187e-01, 4.72748057e+00,-1.61814701e+01,
 -4.09015029e+00, 7.68460256e-01,-3.17501820e+00,-1.49162699e+00,
 -1.32293941e+02,-7.71841035e+00]

qfrc_actuator:
[ 7.27715731e-05, 9.31966422e-04, 9.51897824e-05,-2.91387013e-05,
 -2.98439593e-05, 3.48967881e-02, 1.08130183e-02, 1.87049862e-03,
 -6.05665110e-06, 8.24338243e-04, 1.79208765e-04, 5.69662985e-05,
  0.00000000e+00,-1.68492586e-03, 0.00000000e+00,-1.07293095e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003868295697556666
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43502864e-14, -2.87005728e-14,  1.00000000e+00,  4.11861441e-28,
        1.00000000e+00,  2.87005728e-14, -1.00000000e+00,  0.00000000e+00,
        1.43502864e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00867405, -0.06680406,  0.06180514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.45287014e-05, 2.53831248e-05,-7.04437043e-06, 2.93986839e-05,
  6.17478189e-07, 1.28191278e-05,-1.96194704e-06,-3.19150169e-05,
  3.47286100e-03,-5.51663570e-05,-5.10272651e-07,-7.85044219e-05,
  2.43402378e-06,-1.10238350e-05,-4.90479881e+00,-1.51627521e-05,
  3.40911902e-03,-4.57984839e-04]


--- Step 2416 ---
qpos:
[ 0.01866058, 0.03002585,-0.0094504 ,-0.02528336,-0.00350695, 1.34076942,
 -0.0299728 , 0.9438146 , 0.01159043, 0.02726827,-0.00829311, 0.02644133,
  1.39624538, 0.00767713, 1.33285327, 0.04405776,-0.08578427,-0.04748146,
  0.09342754, 0.70851534,-0.07309573,-0.69789702,-0.07485169]

qacc:
[ 5.66078596e+00,-4.92398301e-01, 2.47819149e+00,-6.46752524e+00,
  7.30187107e-02,-2.19466792e+00, 7.38142470e+00,-1.02276043e+01,
 -3.05579521e+00,-1.16690501e+00, 6.18468405e+00,-1.36318883e+01,
  8.19977484e-02,-4.06134844e-01, 1.03038510e+01,-3.54971269e+01,
  4.63010539e+00,-9.13602728e-01, 3.50467264e+00,-1.47898269e+00,
  1.50190047e+02, 3.03004157e+00]

qfrc_actuator:
[ 1.06796634e-04, 9.22204522e-04, 9.15472334e-05,-4.10634979e-05,
 -1.73607293e-05, 3.48552978e-02, 1.08262179e-02, 1.85121414e-03,
 -2.45266154e-05, 8.42608640e-04, 1.93943170e-04, 3.80678063e-05,
  0.00000000e+00,-1.70295914e-03, 0.00000000e+00,-1.24314243e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003873810873215415
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43298558e-14,  1.43298558e-14,  1.00000000e+00, -2.05344767e-28,
        1.00000000e+00, -1.43298558e-14, -1.00000000e+00,  0.00000000e+00,
        1.43298558e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13924599, -0.03628088,  0.06180484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.10698245e-05,-2.79353017e-05, 1.82314226e-05,-1.80473304e-05,
 -1.84477006e-05, 2.36897848e-05, 1.60470188e-05,-1.90360137e-05,
  3.48152269e-03,-4.47055332e-05,-1.17434217e-05,-1.75273059e-04,
  2.52772244e-05,-5.05182854e-05,-4.90471804e+00,-1.66643596e-04,
  3.40472213e-03,-4.52352872e-04]


--- Step 2417 ---
qpos:
[ 0.01866102, 0.03002625,-0.00945079,-0.02528305,-0.00350724, 1.34076872,
 -0.02997465, 0.94381549, 0.01159081, 0.02726806,-0.00829304, 0.0264403 ,
  1.39624373, 0.00767549, 1.33295564, 0.0440552 ,-0.08576163,-0.04746057,
  0.09343852, 0.70874294,-0.07336099,-0.69766604,-0.07459027]

qacc:
[-2.45187539e+00,-6.09037551e-01, 9.17831543e-01, 2.13928450e+00,
  1.30976071e-01,-2.30568441e+00, 9.19234797e+00,-1.87222768e+01,
 -4.88933906e+00,-1.76722196e+00, 8.74546796e+00,-1.88161972e+01,
  8.44231534e-02,-1.59945538e-01,-6.90342826e+00, 2.29225599e+01,
  4.11977608e+00,-8.08154983e-01, 2.01857498e+00,-1.17162367e+00,
  1.33404347e+02, 2.89004201e+00]

qfrc_actuator:
[ 9.10188982e-05, 9.16182976e-04, 1.07419080e-04,-3.03637291e-05,
  8.01689608e-06, 3.48485556e-02, 1.08346843e-02, 1.80361588e-03,
 -5.35294341e-05, 8.35825095e-04, 2.02732135e-04, 9.41084421e-06,
  0.00000000e+00,-1.69506032e-03, 0.00000000e+00,-1.12844504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003868746117362376
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86972314e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.86972314e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1392535 , -0.03627988,  0.06180509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.78279971e-05,-1.91627341e-05, 4.55251503e-06,-4.83227233e-05,
 -2.95357379e-05, 8.97178417e-06, 1.50080072e-05,-2.74540261e-05,
  3.47939902e-03,-9.62208376e-06,-2.72202288e-05, 1.02901799e-04,
 -1.42751216e-07,-4.91314371e-06,-4.90480874e+00, 1.14415888e-05,
  3.40668262e-03,-4.38805125e-04]


--- Step 2418 ---
qpos:
[ 0.01866093, 0.03002644,-0.0094507 ,-0.02528299,-0.00350736, 1.34076821,
 -0.02997656, 0.94381647, 0.01159119, 0.02726752,-0.00829268, 0.02643932,
  1.39624176, 0.00767417, 1.33305723, 0.04405901,-0.08575745,-0.04743613,
  0.09344027, 0.70876014,-0.07363846,-0.69764802,-0.07432152]

qacc:
[-4.58939701e+00,-2.13119986e+00, 8.22280925e+00,-1.30244794e+01,
  6.83473652e-02, 5.73192967e-01,-1.78664676e+00, 2.55284041e+00,
 -3.75158184e-02,-1.06783793e+00, 2.95777048e+00,-2.19523618e+00,
  9.96526719e-02, 2.07017586e-03,-2.04390776e+01, 6.97608194e+01,
 -4.61564223e+00, 8.87040124e-01,-2.30825274e+00,-1.54473188e+00,
 -1.49592008e+02,-8.80043419e+00]

qfrc_actuator:
[ 6.37951304e-05, 9.12554442e-04, 1.34704965e-04,-4.19318972e-05,
  5.41985064e-06, 3.48803888e-02, 1.08403925e-02, 1.81076719e-03,
 -5.29882034e-05, 7.96311121e-04, 2.07826756e-04, 1.07177173e-05,
  0.00000000e+00,-1.67188891e-03, 0.00000000e+00,-7.93517082e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038711269180475086
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43397911e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.43397911e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00866809, -0.06680238,  0.06180503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.97570738e-05, 2.06799877e-05, 1.06453590e-06, 5.58609739e-06,
 -3.20875167e-07,-3.25732031e-05, 7.85195840e-06, 1.68025681e-06,
  3.48753382e-03, 1.55533571e-05,-1.47008742e-06, 3.37090670e-04,
  2.93967013e-05, 2.71629977e-05,-4.90470729e+00, 1.77012992e-04,
  3.41463098e-03,-4.25406373e-04]


--- 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,
  1.39623983, 0.0076732 , 1.33315878, 0.04406643,-0.08576964,-0.04740854,
  0.09342934, 0.7085911 ,-0.07392697,-0.69781846,-0.07404628]

qacc:
[ 6.05943697e+00, 3.45407770e-01, 1.16978182e+00,-8.96898371e+00,
  9.63406951e-02,-3.72534788e-01, 3.68350912e-01, 4.47725654e+00,
  5.94865192e+00,-1.83290472e+00, 2.80735384e+00, 7.81144833e+00,
  1.17346029e-01, 9.53696879e-02,-1.10026029e+01, 3.83972208e+01,
 -4.09071719e+00, 7.89599093e-01,-3.16920286e+00,-1.49925305e+00,
 -1.32394801e+02,-7.71033799e+00]

qfrc_actuator:
[ 1.01079047e-04, 9.28180489e-04, 1.15240134e-04,-6.65061916e-05,
  2.15673360e-05, 3.48818361e-02, 1.08623741e-02, 1.83235842e-03,
 -1.73060097e-05, 7.90762319e-04, 2.63838624e-04, 4.73661916e-05,
  0.00000000e+00,-1.63990261e-03, 0.00000000e+00,-6.15653226e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038666635454837894
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87126876e-14, -1.43563438e-14,  1.00000000e+00,  4.12209215e-28,
        1.00000000e+00,  1.43563438e-14, -1.00000000e+00,  0.00000000e+00,
        2.87126876e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00867902, -0.06680493,  0.06180524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.78237089e-05, 1.32709616e-05, 2.63159273e-05, 2.23714455e-05,
  3.56595270e-05,-2.20514394e-05, 5.03134187e-05, 3.55596552e-05,
  3.50334127e-03, 3.13286417e-05, 3.60283392e-05, 1.96279846e-04,
 -2.87319141e-06,-8.15807699e-06,-4.90482060e+00,-2.13898292e-06,
  3.41640582e-03,-4.20568051e-04]


--- Step 2420 ---
qpos:
[ 0.01866191, 0.0300273 ,-0.00945177,-0.02528374,-0.0035068 , 1.3407673 ,
 -0.0299796 , 0.94381919, 0.01159306, 0.02726539,-0.00828947, 0.02643915,
  1.39623814, 0.00767252, 1.33326056, 0.04407529,-0.08576336,-0.04738468,
  0.0934323 , 0.70863186,-0.07420215,-0.69777542,-0.07378612]

qacc:
[-2.13787859e+00, 1.64040226e+00,-6.07016416e+00, 8.22590206e+00,
  1.51249223e-01, 5.80591227e-02, 1.80832835e-01,-1.23451436e+00,
 -2.28225522e+00,-1.08439417e+00, 1.67649659e+00, 4.96229781e+00,
  1.16585989e-01, 1.11573343e-01,-4.03831259e+00, 1.45942675e+01,
  4.61656559e+00,-9.33121919e-01, 3.47408354e+00,-6.91445252e-01,
  1.49883269e+02, 5.66852487e+00]

qfrc_actuator:
[ 8.72741223e-05, 9.19516123e-04, 8.61511838e-05,-6.30447751e-05,
  4.88308932e-05, 3.48829087e-02, 1.08581740e-02, 1.82675234e-03,
 -3.22458906e-05, 7.88080355e-04, 2.96356757e-04, 6.90661602e-05,
  0.00000000e+00,-1.62053071e-03, 0.00000000e+00,-5.49580289e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038679579291502203
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87030791e-14, -1.43515396e-14,  1.00000000e+00,  4.11933375e-28,
        1.00000000e+00,  1.43515396e-14, -1.00000000e+00,  0.00000000e+00,
        2.87030791e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13925456, -0.03627773,  0.06180513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.37064347e-05, 1.42421049e-05, 2.05080895e-06,-3.91774061e-06,
 -1.39085613e-05,-3.06005882e-06, 3.53870539e-05, 2.31865701e-05,
  3.50071409e-03, 3.34595582e-05, 3.55103063e-05, 8.09406975e-05,
  1.91461645e-05,-4.91402063e-05,-4.90474074e+00,-1.45691535e-04,
  3.41166329e-03,-4.15230719e-04]


--- Step 2421 ---
qpos:
[ 0.01866245, 0.03002738,-0.0094522 ,-0.02528334,-0.00350614, 1.34076715,
 -0.02998121, 0.94382042, 0.01159333, 0.02726426,-0.00828748, 0.02643921,
  1.39623673, 0.00767187, 1.33336269, 0.04408325,-0.08574065,-0.04736411,
  0.09344324, 0.70885897,-0.07446548,-0.6975427 ,-0.07353927]

qacc:
[ 1.53564854e+00, 2.34667102e-02,-3.90214037e+00, 1.62900617e+01,
  8.31501875e-02, 3.94317214e-01,-7.39473569e-01,-4.79770320e-01,
 -4.52133989e+00,-3.02972636e-01, 1.48055254e+00,-2.96455855e+00,
  1.07998235e-01,-2.32846776e-02, 3.26763796e+00,-1.06738145e+01,
  4.10921329e+00,-8.21991578e-01, 1.99323608e+00,-5.28225152e-01,
  1.33152472e+02, 5.05926883e+00]

qfrc_actuator:
[ 9.67459121e-05, 8.96344184e-04, 1.04813822e-04,-2.53784291e-05,
  4.70378512e-05, 3.49013887e-02, 1.08562753e-02, 1.82291499e-03,
 -5.91209118e-05, 7.87051647e-04, 2.96978173e-04, 6.40204427e-05,
  0.00000000e+00,-1.62655936e-03, 0.00000000e+00,-6.03111510e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038624396483686457
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43720437e-14, -1.43720437e-14,  1.00000000e+00, -2.06555639e-28,
        1.00000000e+00,  1.43720437e-14, -1.00000000e+00,  0.00000000e+00,
       -1.43720437e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13926231, -0.03627478,  0.0618054 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.40359571e-05, 2.66497093e-05, 1.00966697e-06,-3.44097960e-06,
 -2.72874883e-05, 5.58047759e-06, 5.14247578e-06,-3.50242695e-06,
  3.48867005e-03, 1.31408409e-05, 2.21696136e-05,-4.52371530e-05,
 -4.35368575e-06,-2.41009912e-06,-4.90482474e+00, 2.26984745e-05,
  3.41281965e-03,-4.02281219e-04]


--- Step 2422 ---
qpos:
[ 0.01866345, 0.03002716,-0.00945241,-0.02528215,-0.00350553, 1.34076697,
 -0.02998245, 0.94382159, 0.01159293, 0.02726341,-0.00828586, 0.02643886,
  1.39623556, 0.007671  , 1.33346518, 0.04408853,-0.08573639,-0.04733988,
  0.09344498, 0.70887558,-0.07474057,-0.69752319,-0.0732848 ]

qacc:
[ 3.90652192e+00, 6.17526868e-01,-6.15128080e+00, 1.97700961e+01,
 -1.72672549e-02,-1.11204094e+00, 3.72256485e+00,-3.88211161e+00,
 -5.73007788e+00, 5.60077548e-01, 2.72772357e-01,-6.96273584e+00,
  9.76035597e-02,-1.72663200e-01, 8.61107312e+00,-2.93946891e+01,
 -4.61515382e+00, 9.12256250e-01,-2.30200109e+00,-1.50975249e+00,
 -1.49701301e+02,-8.87498995e+00]

qfrc_actuator:
[ 1.19858413e-04, 8.82635695e-04, 1.15973075e-04, 1.43747975e-05,
  2.78287612e-05, 3.48946448e-02, 1.08735843e-02, 1.82017093e-03,
 -9.27891857e-05, 8.04620614e-04, 2.78762322e-04, 4.32640606e-05,
  0.00000000e+00,-1.64768734e-03, 0.00000000e+00,-7.44385750e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003870638913177425
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.17079951e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.17079951e-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([ 0.00866973, -0.06680614,  0.06180508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.00401674e-06, 8.09778467e-06, 2.25396678e-05,-1.99408940e-06,
 -3.44670539e-05, 2.16106968e-05,-1.65596599e-05,-2.04083106e-05,
  3.47469701e-03,-9.48859779e-06, 2.09854610e-06,-1.41700597e-04,
  2.66265916e-05, 3.12310291e-05,-4.90471820e+00, 1.83480579e-04,
  3.42010277e-03,-3.89262071e-04]


--- Step 2423 ---
qpos:
[ 0.01866402, 0.03002715,-0.00945293,-0.02528156,-0.00350532, 1.34076675,
 -0.02998311, 0.94382168, 0.01159179, 0.02726306,-0.00828519, 0.02643862,
  1.39623437, 0.0076698 , 1.33356759, 0.04409276,-0.0857485 ,-0.04731242,
  0.09343405, 0.70870587,-0.07502644,-0.69769233,-0.07302354]

qacc:
[-3.61926699e+00,-1.09587503e-01, 3.36055719e+00,-1.34620536e+01,
 -1.73668268e-01,-3.51356654e+00, 1.36174691e+01,-2.43835865e+01,
 -6.40298801e+00, 3.54624632e+00,-1.21280303e+01, 1.51625063e+01,
  9.20361443e-02,-3.00566016e-01, 3.07177151e+00,-1.09255261e+01,
 -4.09039793e+00, 8.10356129e-01,-3.16384981e+00,-1.50171103e+00,
 -1.32487053e+02,-7.71201172e+00]

qfrc_actuator:
[ 9.75497128e-05, 9.10192273e-04, 1.04873225e-04,-1.59845808e-05,
 -1.94236763e-05, 3.48906753e-02, 1.09019983e-02, 1.76483169e-03,
 -1.30181960e-04, 8.33090209e-04, 2.31898782e-04, 4.89476275e-05,
  0.00000000e+00,-1.67763493e-03, 0.00000000e+00,-7.94149571e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003866484353829608
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43570091e-14, -1.43570091e-14,  1.00000000e+00,  2.06123712e-28,
        1.00000000e+00,  1.43570091e-14, -1.00000000e+00,  0.00000000e+00,
        1.43570091e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00867971, -0.06680964,  0.06180527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.02093324e-05, 4.86333357e-06, 3.25077127e-05,-5.44813971e-05,
 -3.83942230e-05, 3.62587014e-05,-4.51525319e-05, 5.63994380e-06,
  3.46220613e-03,-2.83118231e-05,-1.73600532e-05,-5.80162364e-05,
 -6.42589019e-06,-6.32319937e-06,-4.90483234e+00, 9.15033905e-06,
  3.42154685e-03,-3.84571882e-04]


--- Step 2424 ---
qpos:
[ 0.01866536, 0.03002725,-0.00945351,-0.02528237,-0.00350545, 1.34076692,
 -0.02998385, 0.94382075, 0.01158986, 0.02726305,-0.00828508, 0.02643844,
  1.39623344, 0.00766836, 1.33367022, 0.04409365,-0.08574217,-0.04728871,
  0.09343694, 0.70874599,-0.07530123,-0.69764803,-0.07277408]

qacc:
[ 6.53698455e+00,-2.57618472e+00, 1.52978715e+01,-3.95543975e+01,
 -1.38838466e-01,-9.84759937e-01, 5.90554785e+00,-1.71098569e+01,
 -6.71986147e+00, 2.19828518e+00,-7.40838792e+00, 9.12739737e+00,
  9.08985290e-02,-1.81718006e-01, 1.04101009e+01,-3.59620881e+01,
  4.60936583e+00,-9.39091189e-01, 3.45231531e+00,-1.08761186e-01,
  1.49671722e+02, 7.62545344e+00]

qfrc_actuator:
[ 1.37444099e-04, 9.08843810e-04, 9.85970519e-05,-8.73335523e-05,
 -2.98580275e-05, 3.49239181e-02, 1.09012022e-02, 1.71449275e-03,
 -1.69465353e-04, 8.50011923e-04, 2.04078092e-04, 5.23874023e-05,
  0.00000000e+00,-1.67718182e-03, 0.00000000e+00,-9.67087272e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003860800163234236
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87562935e-14, -1.43781467e-14,  1.00000000e+00,  4.13462207e-28,
        1.00000000e+00,  1.43781467e-14, -1.00000000e+00,  0.00000000e+00,
        2.87562935e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1392636 , -0.03626807,  0.06180548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.01054508e-05, 4.06552533e-05, 2.25811175e-06,-5.05035269e-05,
 -4.03940351e-05, 2.81010028e-05,-2.57000768e-05, 3.54224475e-06,
  3.46340873e-03,-1.17959679e-05,-1.59954755e-05,-1.78774079e-04,
  1.50728557e-05,-4.87305544e-05,-4.90475286e+00,-1.30068647e-04,
  3.41654768e-03,-3.79395830e-04]


--- Step 2425 ---
qpos:
[ 0.01866751, 0.03002713,-0.00945379,-0.02528333,-0.00350567, 1.34076699,
 -0.02998477, 0.94382066, 0.01158748, 0.0272634 ,-0.00828504, 0.02643758,
  1.39623266, 0.00766686, 1.33377264, 0.04409345,-0.08571942,-0.0472683 ,
  0.09344772, 0.7089725 ,-0.07556605,-0.69741409,-0.0725352 ]

qacc:
[ 6.98539126e+00,-1.43620960e+00, 5.24056378e+00,-7.92368733e+00,
 -4.14216246e-02, 1.77530168e+00,-7.64800772e+00, 1.63484493e+01,
 -3.90552949e+00,-7.62720160e-01, 6.28580460e+00,-1.82811678e+01,
  7.80104394e-02,-6.92049565e-02, 2.98638166e+00,-1.09024403e+01,
  4.10383099e+00,-8.25114414e-01, 1.97541629e+00,-4.48891888e-02,
  1.32981666e+02, 6.69048774e+00]

qfrc_actuator:
[ 1.78140430e-04, 8.90173797e-04, 1.12856163e-04,-9.34679243e-05,
 -1.81198545e-05, 3.48903096e-02, 1.08833231e-02, 1.75627774e-03,
 -1.91793460e-04, 8.77707359e-04, 2.05437682e-04, 1.89789505e-05,
  0.00000000e+00,-1.67617628e-03, 0.00000000e+00,-1.01594617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038551405596909255
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43992548e-14, -1.43992548e-14,  1.00000000e+00,  2.07338539e-28,
        1.00000000e+00,  1.43992548e-14, -1.00000000e+00,  0.00000000e+00,
        1.43992548e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13927129, -0.03626396,  0.06180575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.19607159e-05,-1.21975962e-05,-1.11510020e-05, 4.19002396e-05,
 -2.35003126e-05, 3.82318028e-05, 4.12017870e-06,-3.30230493e-05,
  3.44999480e-03, 2.11164807e-06,-2.90032921e-05,-6.13029639e-05,
 -7.26566269e-06,-7.24106063e-07,-4.90483263e+00, 3.29941181e-05,
  3.41726003e-03,-3.66753673e-04]


--- Step 2426 ---
qpos:
[ 0.01866944, 0.03002745,-0.00945453,-0.02528335,-0.00350618, 1.34076678,
 -0.0299855 , 0.94382106, 0.01158553, 0.02726389,-0.00828494, 0.02643669,
  1.39623198, 0.0076656 , 1.33387465, 0.04409463,-0.08571513,-0.04724415,
  0.09344933, 0.70898842,-0.07584232,-0.69739355,-0.07228838]

qacc:
[-1.89361493e+00, 3.81224906e+00,-1.66530534e+01, 3.31935751e+01,
 -1.22413334e-01,-1.36325375e-02,-1.43285777e+00, 7.22044720e+00,
  3.75472097e+00,-6.26368850e-02, 5.99664859e-01,-1.30484557e+00,
  6.99633734e-02, 9.00394904e-02,-4.79192853e+00, 1.58636637e+01,
 -4.61412790e+00, 9.35818171e-01,-2.29652162e+00,-1.50533761e+00,
 -1.49794638e+02,-8.89162030e+00]

qfrc_actuator:
[ 1.65704836e-04, 9.50170848e-04, 1.03593502e-04,-4.34255549e-05,
 -4.64351025e-05, 3.48701696e-02, 1.08908202e-02, 1.78088667e-03,
 -1.68457260e-04, 8.76223966e-04, 2.06274105e-04, 1.74405835e-05,
  0.00000000e+00,-1.65719712e-03, 0.00000000e+00,-9.38012044e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038712062466714423
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.96218577e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.96218577e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00866795, -0.06681366,  0.06180507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.53840241e-05,-2.78095320e-05, 5.07165523e-06, 2.48855086e-05,
  2.26634923e-05, 1.93051101e-05, 8.09448658e-06,-3.98540104e-07,
  3.44216346e-03, 2.33367655e-05,-2.08003483e-05, 7.06318700e-05,
  2.46295893e-05, 3.45756724e-05,-4.90472278e+00, 1.91891847e-04,
  3.42413744e-03,-3.53882664e-04]


--- Step 2427 ---
qpos:
[ 0.01867156, 0.0300286 ,-0.00945561,-0.02528282,-0.00350729, 1.34076675,
 -0.02998602, 0.94382137, 0.01158354, 0.02726445,-0.00828478, 0.0264358 ,
  1.39623171, 0.00766485, 1.3339766 , 0.04409602,-0.0857272 ,-0.04721668,
  0.09343829, 0.70881797,-0.07612922,-0.6975618 ,-0.07203445]

qacc:
[ 1.52631976e+00, 3.12637511e+00,-1.18635836e+01, 2.11675713e+01,
 -2.52731897e-01,-5.18412141e-01, 2.17480495e+00,-3.12479963e+00,
 -4.25625479e-01,-3.59848525e-02, 2.87701696e-01,-4.66595710e-01,
  5.76641751e-02, 3.56816685e-01,-7.31905554e-01, 2.43297587e+00,
 -4.08955833e+00, 8.29844284e-01,-3.15923306e+00,-1.52969255e+00,
 -1.32564299e+02,-7.66780746e+00]

qfrc_actuator:
[ 1.75353824e-04, 1.02127324e-03, 9.86095330e-05,-1.39526027e-05,
 -9.85516533e-05, 3.49115977e-02, 1.09132542e-02, 1.77743688e-03,
 -1.71694158e-04, 8.75058069e-04, 2.06696426e-04, 1.68916324e-05,
  0.00000000e+00,-1.60994045e-03, 0.00000000e+00,-9.28057085e-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, -4.0605846 ,  7.62223258, -4.0605846 , 69.52757451,
       32.43851595,  7.62223258, 32.43851595, 25.91730291,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038672402028415848
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.38282616e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.38282616e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00867724, -0.06681806,  0.06180526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.30279303e-05, 2.77857367e-05, 1.83026562e-05,-3.56053306e-06,
 -2.56530513e-06, 1.12695706e-05, 5.38547232e-06, 5.50019220e-07,
  3.43741849e-03, 5.89978039e-05,-2.19301608e-06, 1.10930193e-05,
 -8.96563873e-06,-5.13349131e-06,-4.90483715e+00, 1.93653839e-05,
  3.42536501e-03,-3.49247758e-04]


--- Step 2428 ---
qpos:
[ 0.01867308, 0.03003001,-0.00945621,-0.02528263,-0.003509  , 1.340767  ,
 -0.02998635, 0.94382232, 0.01158083, 0.02726521,-0.00828521, 0.02643459,
  1.39623196, 0.0076648 , 1.33407846, 0.04409785,-0.08572084,-0.04719296,
  0.09344101, 0.7088574 ,-0.07640685,-0.69751659,-0.07178981]

qacc:
[-5.05153127e+00,-1.64982080e+00, 7.77797603e+00,-1.43956927e+01,
 -2.54822054e-01, 9.82087116e-01,-4.06242548e+00, 1.07512234e+01,
 -6.10291670e+00, 1.25630409e+00,-2.72491010e+00,-2.01204443e+00,
  2.91245958e-02, 5.36363347e-01,-1.42283579e+00, 4.82933597e+00,
  4.60655082e+00,-9.36417041e-01, 3.43774417e+00, 3.45564846e-01,
  1.49538130e+02, 9.15726562e+00]

qfrc_actuator:
[ 1.44684068e-04, 1.00972728e-03, 1.14001612e-04,-3.23082560e-05,
 -1.29019939e-04, 3.49363599e-02, 1.09267905e-02, 1.81080671e-03,
 -2.08313748e-04, 8.74088180e-04, 1.71355011e-04,-8.31665862e-07,
  0.00000000e+00,-1.56383448e-03, 0.00000000e+00,-9.05015365e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003853422930194625
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44056731e-14,  1.44056731e-14,  1.00000000e+00, -2.07523419e-28,
        1.00000000e+00, -1.44056731e-14, -1.00000000e+00,  0.00000000e+00,
        1.44056731e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13927207, -0.03625458,  0.06180584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.36234634e-05, 4.36048828e-05, 2.09511801e-05, 3.46590550e-05,
 -3.66892742e-05, 6.44084146e-06,-3.23394485e-05,-1.70431877e-05,
  3.41617088e-03, 7.99358582e-05,-9.92149210e-07, 2.30608353e-05,
  1.22009776e-05,-4.89565492e-05,-4.90475758e+00,-1.18269232e-04,
  3.42020811e-03,-3.44131202e-04]


--- Step 2429 ---
qpos:
[ 0.01867388, 0.03003101,-0.00945597,-0.02528259,-0.00351091, 1.34076766,
 -0.0299868 , 0.94382263, 0.01157805, 0.02726603,-0.00828605, 0.02643353,
  1.39623236, 0.00766512, 1.33418017, 0.04410094,-0.08569808,-0.04717252,
  0.09345158, 0.70908327,-0.07667604,-0.69728171,-0.07155366]

qacc:
[-6.17697148e+00,-3.18316464e+00, 1.12552465e+01,-1.50495199e+01,
 -8.73908947e-02,-2.62912707e-01, 2.80791599e+00,-1.00965863e+01,
 -6.38960982e-01, 1.50732004e+00,-5.91135270e+00, 9.12358422e+00,
  6.53373834e-03, 2.50704455e-01,-4.02546642e+00, 1.37742882e+01,
  4.10202749e+00,-8.21372867e-01, 1.96366453e+00, 3.38739040e-01,
  1.32876242e+02, 7.98730901e+00]

qfrc_actuator:
[ 1.08274044e-04, 9.48820888e-04, 1.40942405e-04,-4.32038794e-05,
 -1.10750139e-04, 3.49509429e-02, 1.09171857e-02, 1.77680835e-03,
 -2.11022604e-04, 8.73076638e-04, 1.50671088e-04, 6.96153154e-06,
  0.00000000e+00,-1.57208265e-03, 0.00000000e+00,-8.38923357e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003847827861701028
  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([-0.13927951, -0.03624982,  0.06180611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.52368946e-05, 4.38422751e-05, 2.32722963e-06,-3.12683603e-05,
 -3.77731674e-06,-4.86170691e-06,-2.39289607e-05, 6.62149926e-06,
  3.39024700e-03, 3.63039114e-05, 1.04666518e-06, 6.69595498e-05,
 -9.43314058e-06, 4.48145878e-07,-4.90483452e+00, 4.27775846e-05,
  3.42062829e-03,-3.31569142e-04]


--- 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,
  1.39623277, 0.00766537, 1.33428203, 0.04410344,-0.08569376,-0.04714825,
  0.09345298, 0.7090985 ,-0.07695655,-0.69726036,-0.07130919]

qacc:
[-8.39273568e-01, 8.05656354e-02,-1.76960440e+00, 6.14322087e+00,
  1.12250330e-01, 4.91511871e-01,-1.05156242e+00, 1.06837983e-01,
  8.72887687e+00,-5.01121747e-01, 3.09056022e+00,-7.93312493e+00,
  2.03361045e-03,-3.64166188e-02, 1.96250071e+00,-6.55580345e+00,
 -4.61266768e+00, 9.57552173e-01,-2.29199307e+00,-1.54389086e+00,
 -1.49868970e+02,-8.82827424e+00]

qfrc_actuator:
[ 1.04294874e-04, 9.29874146e-04, 1.38760207e-04,-3.19080841e-05,
 -6.33923964e-05, 3.49591890e-02, 1.09116692e-02, 1.77442134e-03,
 -1.58233871e-04, 8.89865536e-04, 1.56589245e-04,-5.78165377e-06,
  0.00000000e+00,-1.59512791e-03, 0.00000000e+00,-8.72268806e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003872381983999855
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25432505e-14, -1.43351434e-14,  1.00000000e+00, -1.79809295e-28,
        1.00000000e+00,  1.43351434e-14, -1.00000000e+00,  0.00000000e+00,
       -1.25432505e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00866378, -0.06682465,  0.06180504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.08007825e-06,-2.66048161e-05,-3.24827683e-06, 1.13475184e-05,
  3.24455552e-05, 3.20103408e-05, 2.40777473e-06,-1.72521701e-06,
  5.26786245e-05, 9.38350988e-06, 2.19554869e-06,-1.36486094e-05,
  3.38291931e-03,-4.82642226e-06, 6.36402307e-06,-2.98637162e-05,
  2.30676938e-05, 3.74959557e-05,-4.90472238e+00, 2.02131550e-04,
  3.42720817e-03,-3.18657602e-04]


--- Step 2431 ---
qpos:
[ 0.01867558, 0.03003221,-0.00945533,-0.02528257,-0.00351382, 1.34076974,
 -0.02998787, 0.94382242, 0.01157518, 0.02726794,-0.0082882 , 0.02643074,
  1.39623323, 0.00766562, 1.3343839 , 0.04410554,-0.0857058 ,-0.04712059,
  0.09344176, 0.70892733,-0.07724767,-0.69742792,-0.07105724]

qacc:
[ 2.50633293e+00,-1.80419601e+00, 8.07708684e+00,-1.73870030e+01,
  1.66425660e-01,-9.38145773e-01, 4.87210797e+00,-1.27005377e+01,
  5.50352291e+00, 1.31895509e+00,-4.06502335e+00, 2.93768019e+00,
 -1.45967657e-03, 1.85786755e-02, 1.26510798e+00,-4.39042918e+00,
 -4.08829124e+00, 8.47928550e-01,-3.15547674e+00,-1.59315324e+00,
 -1.32624531e+02,-7.55956876e+00]

qfrc_actuator:
[ 1.19438431e-04, 9.00584193e-04, 1.37311801e-04,-6.08981377e-05,
 -3.44764598e-05, 3.49635963e-02, 1.09086199e-02, 1.73741447e-03,
 -1.26471111e-04, 8.81774660e-04, 1.24959049e-04,-1.27265139e-05,
  0.00000000e+00,-1.59126245e-03, 0.00000000e+00,-8.92932177e-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, -4.79380286,  7.1837477 , -4.79380286, 57.69006927,
       32.73413882,  7.1837477 , 32.73413882, 30.48025557,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038685095094650457
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.38105998e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.38105998e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00867262, -0.06682986,  0.06180522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.80908734e-05, 2.25300065e-05, 3.43571917e-06,-3.60133759e-05,
  3.33109775e-05,-2.98215619e-06,-2.98955656e-05,-6.73212186e-06,
  3.38165712e-03, 2.38760662e-06,-2.94957161e-06,-2.21088104e-05,
 -1.09269315e-05,-4.35435979e-06,-4.90483653e+00, 2.89492004e-05,
  3.42833360e-03,-3.14000998e-04]


--- Step 2432 ---
qpos:
[ 0.01867743, 0.03003208,-0.0094546 ,-0.02528317,-0.00351499, 1.34077102,
 -0.0299884 , 0.94382118, 0.01157377, 0.02726795,-0.00828946, 0.02643002,
  1.39623343, 0.00766584, 1.33448546, 0.04410971,-0.08569941,-0.04709664,
  0.09344425, 0.70896612,-0.07753106,-0.69738193,-0.07081258]

qacc:
[ 7.42772242e+00,-2.48746631e+00, 9.18326004e+00,-1.51463324e+01,
  3.64475665e-02,-1.16233063e+00, 5.61955735e+00,-1.40052560e+01,
 -2.52813692e+00,-3.56831095e-02,-4.80475695e+00, 1.78692740e+01,
  8.13837051e-04,-9.70736833e-02,-6.74797740e+00, 2.29160963e+01,
  4.60678513e+00,-9.27982008e-01, 3.42874993e+00, 7.19301214e-01,
  1.49463937e+02, 1.04238298e+01]

qfrc_actuator:
[ 1.63457978e-04, 8.65286785e-04, 1.54001336e-04,-7.78599680e-05,
 -5.23650330e-05, 3.49656574e-02, 1.09070082e-02, 1.69807480e-03,
 -1.42862312e-04, 7.69940995e-04, 1.06817902e-04, 1.92553284e-05,
  0.00000000e+00,-1.60680344e-03, 0.00000000e+00,-7.81654399e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003846518392832607
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44315315e-14, -1.44315315e-14,  1.00000000e+00,  2.08269101e-28,
        1.00000000e+00,  1.44315315e-14, -1.00000000e+00,  0.00000000e+00,
        1.44315315e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13927931, -0.03623897,  0.06180617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.05318089e-05, 1.41080364e-05, 2.12898237e-06,-3.93966935e-05,
 -1.54136944e-05,-1.19974642e-04,-2.26677590e-05, 3.06909659e-05,
  3.37921344e-03,-1.35115547e-05,-5.80056848e-06, 1.09198206e-04,
  1.00077866e-05,-4.96531154e-05,-4.90475652e+00,-1.09390433e-04,
  3.42311721e-03,-3.08859507e-04]


--- Step 2433 ---
qpos:
[ 0.01867911, 0.03003167,-0.00945411,-0.02528292,-0.0035162 , 1.34077228,
 -0.02998919, 0.94382019, 0.01157183, 0.02726695,-0.00829059, 0.02643037,
  1.39623366, 0.0076658 , 1.33458732, 0.04411215,-0.08567661,-0.04707595,
  0.09345457, 0.70919141,-0.07780735,-0.69714616,-0.07057472]

qacc:
[-1.51268916e+00, 2.05309928e+00,-1.14075118e+01, 2.65863157e+01,
 -1.41962404e-02, 1.11013704e+00,-4.20592348e+00, 6.67193064e+00,
 -4.50258465e+00, 5.52621572e-01,-8.46271069e+00, 2.77033814e+01,
  1.20412157e-02,-1.59998819e-01, 5.69283850e+00,-1.92679650e+01,
  4.10270418e+00,-8.13016459e-01, 1.95655898e+00, 6.60496723e-01,
  1.32819911e+02, 9.07703208e+00]

qfrc_actuator:
[ 1.53103979e-04, 8.62248819e-04, 1.45745793e-04,-3.43383787e-05,
 -6.26811500e-05, 3.49485424e-02, 1.08884971e-02, 1.71094128e-03,
 -1.69706837e-04, 7.21181963e-04, 1.14141574e-04, 7.38075670e-05,
  0.00000000e+00,-1.61618814e-03, 0.00000000e+00,-8.77575099e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00384110989148808
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89037038e-14, -1.44518519e-14,  1.00000000e+00,  4.17712046e-28,
        1.00000000e+00,  1.44518519e-14, -1.00000000e+00,  0.00000000e+00,
        2.89037038e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13928638, -0.03623386,  0.06180643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.09167747e-06,-1.00876167e-05,-1.66669990e-05, 1.24388103e-05,
 -2.73394990e-05,-1.19210847e-04,-1.91735933e-05, 4.92285663e-05,
  3.39200513e-03,-2.07228640e-05, 7.81722019e-06,-9.09627844e-05,
 -1.11861592e-05, 1.30484340e-06,-4.90483140e+00, 5.23740574e-05,
  3.42329705e-03,-2.96184580e-04]


--- Step 2434 ---
qpos:
[ 0.01868031, 0.03003109,-0.00945376,-0.02528252,-0.00351733, 1.34077357,
 -0.02999023, 0.94381936, 0.01157027, 0.0272662 ,-0.00829189, 0.02643089,
  1.39623397, 0.00766577, 1.33468917, 0.04411377,-0.08567226,-0.04705134,
  0.09345574, 0.70920604,-0.07809498,-0.69712404,-0.07032809]

qacc:
[-4.13313092e+00, 5.05473166e-01,-2.75773885e+00, 5.74052736e+00,
  3.33469661e-02, 9.86339650e-01,-3.47690662e+00, 4.78845059e+00,
  3.24511721e+00, 1.12272219e+00,-4.22741860e+00, 7.13457691e+00,
  6.87552521e-03, 2.27793761e-02, 2.45757007e+00,-8.61907924e+00,
 -4.61077086e+00, 9.77699727e-01,-2.28846610e+00,-1.62632729e+00,
 -1.49924159e+02,-8.68342405e+00]

qfrc_actuator:
[ 1.28572526e-04, 8.60758223e-04, 1.40743061e-04,-2.65830171e-05,
 -5.06160066e-05, 3.49555442e-02, 1.08778655e-02, 1.71889971e-03,
 -1.49214581e-04, 8.17203101e-04, 1.36668103e-04, 8.79955440e-05,
  0.00000000e+00,-1.60389943e-03, 0.00000000e+00,-9.17309627e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038738213996732107
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25385898e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.25385898e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00865809, -0.06683874,  0.06180499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.64678369e-06,-1.47401553e-06,-1.41385801e-05, 7.45413760e-06,
  1.96445035e-05, 2.75396502e-05,-2.73321713e-06, 9.37868142e-06,
  3.39076158e-03, 4.24088724e-06,-9.47379840e-06,-4.44878600e-05,
  2.17512581e-05, 4.02339665e-05,-4.90471744e+00, 2.14242916e-04,
  3.42961237e-03,-2.83065266e-04]


--- 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,
  1.39623431, 0.00766586, 1.33479083, 0.04411589,-0.08568425,-0.04702327,
  0.0934443 , 0.70903428,-0.07839337,-0.69729088,-0.07007357]

qacc:
[-5.58007892e+00, 9.50048691e-01,-1.97406550e+00,-2.07941002e+00,
 -1.52790813e-02, 1.81325002e+00,-8.07427986e+00, 1.98953254e+01,
  5.15762906e+00,-3.48985099e+00, 1.63402105e+01,-3.29359021e+01,
  7.32503906e-04, 7.90592569e-02,-1.79196638e+00, 5.86436623e+00,
 -4.08660635e+00, 8.64806115e-01,-3.15260206e+00,-1.69309065e+00,
 -1.32668035e+02,-7.38538375e+00]

qfrc_actuator:
[ 9.59105355e-05, 8.77950474e-04, 1.19938783e-04,-3.99337116e-05,
 -6.07263710e-05, 3.49769591e-02, 1.08898057e-02, 1.77717169e-03,
 -1.18772038e-04, 8.21711877e-04, 1.68557826e-04, 4.29459705e-05,
  0.00000000e+00,-1.59651910e-03, 0.00000000e+00,-8.88049989e-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, -5.31289695,  6.80881068, -5.31289695, 48.99915415,
       31.49497861,  6.80881068, 31.49497861, 33.21181208,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003869972217857516
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.68951307e-14, -1.43440697e-14,  1.00000000e+00,  3.85785629e-28,
        1.00000000e+00,  1.43440697e-14, -1.00000000e+00,  0.00000000e+00,
        2.68951307e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00866666, -0.06684469,  0.06180517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.40961538e-06, 1.80494488e-05, 1.02600065e-05, 5.79850391e-05,
  3.10235431e-05, 1.97897197e-05, 3.75867815e-05,-4.37791281e-05,
  3.38591887e-03, 1.12516536e-05,-1.09825263e-05, 2.51639217e-05,
 -1.25773275e-05,-3.82993457e-06,-4.90483109e+00, 3.82170165e-05,
  3.43074532e-03,-2.78318326e-04]


--- Step 2436 ---
qpos:
[ 0.01868067, 0.03003052,-0.00945471,-0.02528209,-0.00351986, 1.34077626,
 -0.02999164, 0.94382027, 0.01156908, 0.0272645 ,-0.00829242, 0.02642962,
  1.39623504, 0.0076661 , 1.33489277, 0.04411531,-0.0856778 ,-0.04699887,
  0.09344655, 0.70907256,-0.0786854 ,-0.69724402,-0.06982466]

qacc:
[-6.38359407e+00, 2.72633959e+00,-9.80225212e+00, 1.36373078e+01,
 -8.96982513e-02,-8.96336164e-01, 2.12749656e+00, 2.13884208e+00,
  6.15615494e+00,-3.83719909e+00, 1.52347737e+01,-2.51498893e+01,
 -9.24349158e-03, 2.04388998e-01, 8.60500455e+00,-2.94775835e+01,
  4.60911969e+00,-9.15468834e-01, 3.42383328e+00, 1.04318726e+00,
  1.49431835e+02, 1.15278642e+01]

qfrc_actuator:
[ 5.87297046e-05, 9.06119970e-04, 9.00405594e-05,-3.00795885e-05,
 -8.40586048e-05, 3.49714528e-02, 1.09150621e-02, 1.79359822e-03,
 -8.27327606e-05, 7.89156923e-04, 2.05356848e-04, 1.66105870e-05,
  0.00000000e+00,-1.57444677e-03, 0.00000000e+00,-1.03141607e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003840474321228589
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.44542436e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.44542436e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13928497, -0.03622233,  0.06180646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.59377100e-05, 8.22036350e-06, 3.16551809e-05, 1.86152772e-05,
  3.69520284e-05,-1.55584339e-05, 4.40165339e-05,-2.50363152e-05,
  3.38444244e-03, 2.73354156e-05,-3.59645563e-06,-1.43695942e-04,
  8.15685536e-06,-5.07350536e-05,-4.90475044e+00,-1.02879979e-04,
  3.42556493e-03,-2.73076597e-04]


--- Step 2437 ---
qpos:
[ 0.01868004, 0.03003044,-0.00945552,-0.02528203,-0.00352133, 1.34077749,
 -0.02999198, 0.94382043, 0.01156962, 0.02726369,-0.00829201, 0.02642909,
  1.39623617, 0.00766676, 1.33499464, 0.04411334,-0.08565493,-0.04697767,
  0.09345661, 0.70929744,-0.07897153,-0.69700726,-0.06958108]

qacc:
[-3.81415455e+00,-4.60730099e-01, 2.76749424e+00,-7.02595625e+00,
 -3.76827136e-02,-1.21891020e+00, 4.81139879e+00,-9.61832525e+00,
  6.65146510e+00, 2.84601428e-01,-2.21230850e+00, 7.97129221e+00,
 -3.71290211e-02, 4.00614793e-01, 4.08110751e+00,-1.43911233e+01,
  4.10507980e+00,-8.01347152e-01, 1.95280148e+00, 9.44872741e-01,
  1.32797748e+02, 1.00418174e+01]

qfrc_actuator:
[ 3.69421006e-05, 9.05121938e-04, 9.05949114e-05,-4.21444397e-05,
 -7.96281488e-05, 3.49499072e-02, 1.09123313e-02, 1.76749426e-03,
 -4.36916695e-05, 8.23458588e-04, 2.26859912e-04, 3.69761641e-05,
  0.00000000e+00,-1.54363554e-03, 0.00000000e+00,-1.09782683e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003835311574849988
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44737005e-14, -1.44737005e-14,  1.00000000e+00,  2.09488007e-28,
        1.00000000e+00,  1.44737005e-14, -1.00000000e+00,  0.00000000e+00,
        1.44737005e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13929163, -0.03621709,  0.06180671])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.08973729e-05,-1.02547881e-05, 3.02550398e-06,-2.44948211e-05,
  4.01139280e-05, 3.36688958e-05, 2.28544991e-05, 2.07368629e-05,
  3.36495710e-03, 5.07519143e-05,-1.96435184e-05,-7.53667427e-05,
 -1.27309303e-05, 1.98650796e-06,-4.90482355e+00, 6.20330397e-05,
  3.42550480e-03,-2.60113056e-04]


--- Step 2438 ---
qpos:
[ 0.01867845, 0.03003033,-0.00945598,-0.02528248,-0.00352267, 1.3407783 ,
 -0.0299925 , 0.943821  , 0.01157028, 0.02726325,-0.00829171, 0.02642881,
  1.39623726, 0.00766757, 1.33509624, 0.04411191,-0.0856505 ,-0.04695248,
  0.09345753, 0.70931167,-0.07926919,-0.69698418,-0.06932824]

qacc:
[-8.10566710e+00,-2.03857163e+00, 9.33058173e+00,-1.85605407e+01,
  5.05777490e-02, 6.67432313e-01,-3.70516513e+00, 8.37467341e+00,
  1.01118974e+00, 1.28196883e+00,-4.92596702e+00, 9.13276763e+00,
 -5.44517369e-02, 1.45771887e-01,-2.00397785e+00, 6.43495266e+00,
 -4.60841649e+00, 9.96656381e-01,-2.28591028e+00,-1.74940171e+00,
 -1.49961531e+02,-8.46297377e+00]

qfrc_actuator:
[-1.11149095e-05, 9.04524883e-04, 1.08996726e-04,-6.70139186e-05,
 -5.85782526e-05, 3.49010372e-02, 1.08930110e-02, 1.78756076e-03,
 -3.87028260e-05, 8.44253296e-04, 2.21697511e-04, 4.91901817e-05,
  0.00000000e+00,-1.56116936e-03, 0.00000000e+00,-1.06505089e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038752743097220446
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.95277773e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.95277773e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00865153, -0.06685563,  0.06180494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.46097748e-05,-5.46952888e-05,-2.17011585e-05, 1.92805816e-05,
  6.17129158e-06, 4.52736313e-05, 5.32973451e-06, 1.48517427e-05,
  3.34504792e-03, 1.22620649e-05,-1.82029644e-05, 2.58492292e-05,
  2.05701874e-05, 4.29904042e-05,-4.90470793e+00, 2.28353845e-04,
  3.43154777e-03,-2.46627822e-04]


--- Step 2439 ---
qpos:
[ 0.01867596, 0.0300302 ,-0.00945622,-0.02528321,-0.00352398, 1.34077891,
 -0.02999339, 0.94382318, 0.01157065, 0.02726307,-0.00829165, 0.02642766,
  1.39623836, 0.00766831, 1.33519792, 0.04410918,-0.08566241,-0.04692377,
  0.09344585, 0.70913951,-0.07957787,-0.6971501 ,-0.06906704]

qacc:
[-7.79075041e+00,-1.21249841e+00, 5.55372027e+00,-1.09434317e+01,
  1.37053109e-02, 3.45793094e+00,-1.49125189e+01, 3.17183678e+01,
 -2.48370882e+00,-7.41451951e-01, 6.82855400e+00,-2.16318736e+01,
 -5.50547151e-02, 1.37947232e-02, 4.07912378e+00,-1.40724471e+01,
 -4.08449687e+00, 8.80798335e-01,-3.15056770e+00,-1.82729129e+00,
 -1.32696185e+02,-7.14921175e+00]

qfrc_actuator:
[-5.65015857e-05, 9.04238167e-04, 1.20015804e-04,-8.14568232e-05,
 -6.32350024e-05, 3.49071452e-02, 1.08817363e-02, 1.87012805e-03,
 -5.37976926e-05, 8.38937472e-04, 2.00788103e-04, 3.22381637e-06,
  0.00000000e+00,-1.57210888e-03, 0.00000000e+00,-1.13389369e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.6954608 ,  6.49218785, -5.6954608 , 42.56073383,
       29.76114142,  6.49218785, 29.76114142, 34.74519141,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038713993896573595
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79234773e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.79234773e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00865995, -0.06686223,  0.06180512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.97501755e-06,-2.78180128e-05,-2.38776844e-05, 8.07351530e-05,
 -1.49003465e-05, 2.17563650e-05,-1.03844134e-05,-4.35519370e-05,
  3.34619425e-03,-6.44299345e-06,-6.52990425e-06,-6.99741582e-05,
 -1.40893736e-05,-3.44747451e-06,-4.90482091e+00, 4.74058419e-05,
  3.43279407e-03,-2.41725743e-04]


--- Step 2440 ---
qpos:
[ 0.01867295, 0.03003007,-0.00945634,-0.02528376,-0.00352529, 1.34077979,
 -0.02999453, 0.94382422, 0.01157049, 0.02726298,-0.0082918 , 0.02642668,
  1.39623952, 0.00766891, 1.33529971, 0.04410429,-0.08565586,-0.04689866,
  0.09344786, 0.70917751,-0.07988147,-0.69710215,-0.06880996]

qacc:
[-4.50278106e+00, 2.99448644e-02,-8.84874591e-01, 3.86642991e+00,
  1.58274336e-04,-8.98109874e-01, 5.72529647e+00,-1.84585957e+01,
 -4.51803988e+00, 1.06784215e+00,-4.36696331e+00, 7.61885331e+00,
 -5.91034697e-02,-1.95206798e-03, 6.68665618e+00,-2.31274994e+01,
  4.61287193e+00,-8.99838149e-01, 3.42168304e+00, 1.33769981e+00,
  1.49426886e+02, 1.25377335e+01]

qfrc_actuator:
[-8.21922135e-05, 9.04121761e-04, 1.26591265e-04,-7.19023101e-05,
 -6.55239155e-05, 3.49461945e-02, 1.08755415e-02, 1.81131486e-03,
 -8.05816019e-05, 8.35654429e-04, 1.88362678e-04, 1.21272010e-05,
  0.00000000e+00,-1.57891953e-03, 0.00000000e+00,-1.24433237e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038354545530591283
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44731610e-14, -2.89463220e-14,  1.00000000e+00,  4.18944778e-28,
        1.00000000e+00,  2.89463220e-14, -1.00000000e+00,  0.00000000e+00,
        1.44731610e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13928895, -0.03620537,  0.0618067 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.89193710e-08, 2.14164114e-05,-1.19826833e-05,-5.84750293e-05,
 -2.72111648e-05, 4.87595351e-06,-1.07124667e-05, 8.63232891e-06,
  3.34565180e-03,-9.28763226e-06,-1.28725589e-05,-1.15647808e-04,
  6.42165495e-06,-5.21552539e-05,-4.90473953e+00,-9.83965643e-05,
  3.42774415e-03,-2.36312673e-04]


--- 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,
  1.3962403 , 0.00766939, 1.33540107, 0.04410111,-0.08563288,-0.0468767 ,
  0.09345767, 0.7094022 ,-0.08018032,-0.69686411,-0.06855689]

qacc:
[ 5.14244824e-01, 1.81718786e-02,-5.55069165e-01, 2.48101963e+00,
  5.86615251e-02,-1.80989627e+00, 7.50911527e+00,-1.49345049e+01,
  2.12522930e-01, 2.42714629e+00,-1.39787836e+01, 3.46178115e+01,
 -5.72008762e-02,-1.14057167e-01,-5.83853408e+00, 1.94766802e+01,
  4.10859401e+00,-7.87096866e-01, 1.95126880e+00, 1.20831663e+00,
  1.32797028e+02, 1.09367192e+01]

qfrc_actuator:
[-7.83325907e-05, 9.04110331e-04, 1.30508603e-04,-6.60606797e-05,
 -4.86204317e-05, 3.49513550e-02, 1.08901922e-02, 1.77630221e-03,
 -7.85190376e-05, 8.15921669e-04, 1.81096525e-04, 7.10132335e-05,
  0.00000000e+00,-1.60092210e-03, 0.00000000e+00,-1.14757551e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038305521296181574
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89833681e-14,  1.44916841e-14,  1.00000000e+00, -4.20017814e-28,
        1.00000000e+00, -1.44916841e-14, -1.00000000e+00,  0.00000000e+00,
        2.89833681e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1392952 , -0.03620014,  0.06180693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.69392810e-05, 1.29031274e-05, 1.57633606e-05,-3.60750638e-05,
  1.26680913e-06,-1.88516054e-05,-7.27373886e-06, 5.88961495e-05,
  3.34303962e-03,-2.47290368e-05,-2.06997037e-05, 8.82321233e-05,
 -1.42024137e-05, 2.60153770e-06,-4.90481083e+00, 7.19564950e-05,
  3.42741448e-03,-2.22891683e-04]


--- Step 2442 ---
qpos:
[ 0.0186678 , 0.03002978,-0.00945656,-0.02528521,-0.00352747, 1.34078136,
 -0.0299957 , 0.94382513, 0.01157025, 0.02726216,-0.00829257, 0.02642747,
  1.39624049, 0.00766997, 1.33550172, 0.04410377,-0.08562832,-0.04685068,
  0.09345834, 0.70941628,-0.08049103,-0.69683977,-0.06829401]

qacc:
[ 6.50283739e+00,-8.41923592e-01, 5.40871215e+00,-1.53714601e+01,
  7.11965021e-02,-1.61613947e+00, 4.14833150e+00,-6.62710176e-02,
  2.14075213e-01, 1.24245754e+00,-6.53045545e+00, 1.37749933e+01,
 -3.41172433e-02,-6.30455070e-02,-1.86996228e+01, 6.38704647e+01,
 -4.60558906e+00, 1.01484986e+00,-2.28425172e+00,-1.90910967e+00,
 -1.49982997e+02,-8.17417243e+00]

qfrc_actuator:
[-3.93650035e-05, 8.86396657e-04, 1.15068375e-04,-9.79607550e-05,
 -3.80924316e-05, 3.49185184e-02, 1.09169430e-02, 1.79110797e-03,
 -7.72429825e-05, 7.86553730e-04, 1.59135335e-04, 8.78056356e-05,
  0.00000000e+00,-1.59648714e-03, 0.00000000e+00,-8.40743892e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038765694757604274
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.94978659e-15, -1.43196585e-14,  1.00000000e+00,  1.28157888e-28,
        1.00000000e+00,  1.43196585e-14, -1.00000000e+00,  0.00000000e+00,
        8.94978659e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00864455, -0.06687505,  0.06180488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.05388958e-05,-2.37038477e-05, 3.00111083e-05, 1.48199073e-05,
  1.30332573e-06,-3.88758737e-05,-2.47078360e-05, 1.68797132e-05,
  3.36129512e-03,-1.39764646e-05,-8.41675137e-07, 3.08862253e-04,
  1.94582011e-05, 4.59374471e-05,-4.90469344e+00, 2.44639990e-04,
  3.43315163e-03,-2.08884027e-04]


--- 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,
  1.39624035, 0.0076705 , 1.33560239, 0.04410939,-0.08564009,-0.04682108,
  0.09344641, 0.709244  ,-0.08081312,-0.69700442,-0.06802226]

qacc:
[ 4.16389059e+00,-2.21610980e+00, 1.05964445e+01,-2.32413702e+01,
  1.26442878e-01,-2.88798635e+00, 1.07597225e+01,-1.91149615e+01,
 -5.74435536e+00,-6.53825809e-01, 2.72585847e+00,-5.69085583e+00,
 -2.52197757e-03,-1.15761645e-01,-8.92924471e+00, 3.12663280e+01,
 -4.08195762e+00, 8.96253489e-01,-3.14930118e+00,-1.99299633e+00,
 -1.32710732e+02,-6.85605476e+00]

qfrc_actuator:
[-1.55605853e-05, 8.75857163e-04, 1.23729060e-04,-1.34087458e-04,
 -1.37219946e-05, 3.48987721e-02, 1.09327353e-02, 1.74632239e-03,
 -1.11954804e-04, 7.87053094e-04, 1.64092491e-04, 7.96661305e-05,
  0.00000000e+00,-1.59411900e-03, 0.00000000e+00,-6.96712052e-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, -5.99102268,  6.22048423, -5.99102268, 37.63402079,
       27.92799005,  6.22048423, 27.92799005, 35.53414453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038726366667337433
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79177509e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.79177509e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00865292, -0.06688225,  0.06180506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.65070600e-05,-2.65452350e-05, 1.50057055e-05,-4.42730740e-05,
 -3.46890351e-05,-2.55963157e-05,-5.52147683e-06,-1.03309049e-05,
  3.39086235e-03,-1.66468131e-05, 3.25556997e-05, 1.60837273e-04,
 -1.55792959e-05,-3.11680787e-06,-4.90480569e+00, 5.67037696e-05,
  3.43461669e-03,-2.03762990e-04]


--- 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,
  1.39624015, 0.0076707 , 1.33570356, 0.04411371,-0.08563339,-0.046795  ,
  0.09344817, 0.70928199,-0.0811314 ,-0.69695499,-0.06775324]

qacc:
[ 2.58289327e+00,-1.09082439e-01,-2.73017588e+00, 1.29952452e+01,
  1.25657618e-01,-1.33504365e+00, 5.36033046e+00,-1.08527880e+01,
  2.39993199e+00,-2.75415750e+00, 1.17444393e+01,-2.12176280e+01,
  1.47444912e-02,-2.33315589e-01, 4.65332731e+00,-1.52133439e+01,
  4.61755620e+00,-8.81607204e-01, 3.42120326e+00, 1.61703482e+00,
  1.49436883e+02, 1.35008540e+01]

qfrc_actuator:
[-8.83389883e-07, 8.69776495e-04, 1.46582315e-04,-1.01371947e-04,
  1.00342330e-06, 3.49046991e-02, 1.09419263e-02, 1.72006937e-03,
 -9.65601842e-05, 8.05513512e-04, 2.02766629e-04, 5.69732139e-05,
  0.00000000e+00,-1.61063308e-03, 0.00000000e+00,-7.74089563e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00383146740779311
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89764444e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.89764444e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13929134, -0.03618854,  0.06180688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.62986384e-05,-7.15444443e-06, 4.40664829e-06,-2.76371038e-05,
  1.43677212e-05, 2.58043744e-06, 3.23635006e-05,-2.41787762e-05,
  3.40700973e-03,-3.06469708e-05, 2.93607246e-05,-6.50369947e-05,
  4.64327528e-06,-5.38826337e-05,-4.90472356e+00,-9.57309896e-05,
  3.42979410e-03,-1.98108549e-04]


--- 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,
  1.39624019, 0.00767072, 1.33580515, 0.04411477,-0.08561885,-0.04676992,
  0.09348176, 0.70940801,-0.08145136,-0.69681568,-0.06748229]

qacc:
[ 4.54608642e+00, 3.74808194e+00,-1.77703369e+01, 3.74473211e+01,
  4.34176281e-02,-2.08235251e+00, 7.05831347e+00,-9.58183013e+00,
  4.54724667e+00,-6.16681604e-01, 3.57763042e+00,-8.42894426e+00,
  1.22143390e-02,-5.55426726e-02, 1.04836945e+01,-3.57659296e+01,
  1.95783395e+00,-2.49877836e-01, 7.95648084e+00, 5.99530059e-01,
  6.24142637e+01, 7.90288162e+00]

qfrc_actuator:
[ 2.60615626e-05, 8.84287722e-04, 1.24433770e-04,-4.61535091e-05,
 -7.92855517e-06, 3.48904277e-02, 1.09650243e-02, 1.70495944e-03,
 -6.95372383e-05, 8.16972012e-04, 2.07849055e-04, 4.36935223e-05,
  0.00000000e+00,-1.60266848e-03, 0.00000000e+00,-9.45736770e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038267766810831114
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42700604e-07,  1.42700619e-07,  1.00000000e+00,  2.03634646e-14,
        1.00000000e+00, -1.42700619e-07, -1.00000000e+00,  3.15544362e-30,
       -1.42700604e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.10183924, -0.04395847,  0.0618071 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.25187074e-05,-1.81997786e-05, 2.13877069e-05,-1.58370068e-05,
  2.74417554e-05, 1.85830690e-05, 8.77302659e-06,-1.25186663e-05,
  3.40986005e-03,-6.01769764e-06, 2.19302996e-06,-1.72447104e-04,
 -1.56929842e-05, 3.24279531e-06,-4.90479277e+00, 8.23165670e-05,
  3.42914393e-03,-1.84061599e-04]


--- 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,
  1.39624062, 0.00767087, 1.33590686, 0.04411278,-0.08562041,-0.04674122,
  0.09350236, 0.70935019,-0.08178201,-0.69686287,-0.06720233]

qacc:
[ 2.82637465e+00, 9.33584333e-01,-4.06739841e+00, 8.68445956e+00,
 -5.42093298e-02, 6.36065242e-02, 7.72236717e-01,-6.39016678e+00,
 -1.93655499e-01, 1.31120707e+00,-3.93840923e+00, 2.63819730e+00,
 -7.54843530e-03, 1.89196361e-01, 9.45000548e+00,-3.27693056e+01,
 -4.02165589e+00, 9.03445424e-01,-3.24716942e+00,-1.84387366e+00,
 -1.30935291e+02,-6.88349968e+00]

qfrc_actuator:
[ 4.22623057e-05, 9.10869516e-04, 1.29236160e-04,-3.14208055e-05,
 -3.09792226e-05, 3.48819880e-02, 1.09428224e-02, 1.67877080e-03,
 -7.14078335e-05, 8.06284412e-04, 1.75282238e-04, 3.60299856e-05,
  0.00000000e+00,-1.58004000e-03, 0.00000000e+00,-1.10045286e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003823522223661821
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.35922836e-14, -4.35549852e-14,  1.00000000e+00,  1.02756156e-27,
        1.00000000e+00,  4.35549852e-14, -1.00000000e+00,  0.00000000e+00,
        2.35922836e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00877133, -0.06692437,  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:
[ 1.70020620e-05, 2.90287856e-05, 5.66951345e-06, 1.53871481e-05,
 -1.56532919e-05,-1.48019876e-05,-2.37949649e-05,-2.64761554e-05,
 -1.06239642e-06, 1.01331290e-06,-2.80748335e-05,-6.80640186e-06,
  3.39782965e-03, 2.54623392e-05,-2.08825905e-05,-1.64686728e-04,
 -5.97776480e-06, 2.57314896e-05,-4.90475305e+00, 1.67238528e-04,
  3.43212381e-03,-1.71823294e-04]


--- Step 2447 ---
qpos:
[ 0.01866254, 0.0300283 ,-0.00945649,-0.02528787,-0.00353009, 1.34078207,
 -0.02999454, 0.94381982, 0.01156899, 0.02725897,-0.00829343, 0.02642669,
  1.39624082, 0.00767129, 1.33600781, 0.04411428,-0.08563634,-0.04670931,
  0.09350711, 0.70912832,-0.08212304,-0.69707627,-0.06691414]

qacc:
[-1.25624171e+00,-3.76250029e-01, 3.25727018e+00,-7.84665327e+00,
 -1.40529819e-01, 1.66120941e+00,-5.57163403e+00, 5.50830406e+00,
 -1.89694389e-01, 2.95395308e-01,-1.67347052e+00, 5.06079845e+00,
 -2.17771532e-02, 1.29398059e-01,-1.17028756e+01, 3.93034275e+01,
 -3.59535280e+00, 8.03999340e-01,-3.96006008e+00,-1.94009971e+00,
 -1.16788912e+02,-5.76681677e+00]

qfrc_actuator:
[ 3.42529886e-05, 9.62300490e-04, 1.49954397e-04,-4.05932614e-05,
 -6.23115970e-05, 3.48769286e-02, 1.09118172e-02, 1.68174799e-03,
 -7.25216826e-05, 8.35519160e-04, 1.91679673e-04, 4.94432079e-05,
  0.00000000e+00,-1.58434850e-03, 0.00000000e+00,-9.06605730e-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, -6.0721475 ,  6.14131921, -6.0721475 , 33.82959882,
       24.90947544,  6.14131921, 24.90947544, 33.26527543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037774264816059847
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.18468425e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.18468425e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00888441, -0.06695376,  0.06180961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.05831413e-05,-1.87015254e-05,-3.73875441e-05, 1.21899580e-06,
 -1.14538320e-06, 2.37351353e-05, 1.29248301e-05, 1.23558687e-05,
  3.37807351e-03, 1.49762929e-05,-2.91118298e-05, 1.81692717e-04,
 -1.49996245e-05,-2.24991963e-05,-4.90477371e+00, 1.46232135e-06,
  3.43113500e-03,-1.65811050e-04]


--- Step 2448 ---
qpos:
[ 0.01866175, 0.03002913,-0.00945656,-0.02528761,-0.00353121, 1.34078203,
 -0.02999495, 0.94381968, 0.01156897, 0.02725877,-0.00829352, 0.02642693,
  1.39624046, 0.00767195, 1.33610801, 0.04412272,-0.08563423,-0.0466808 ,
  0.09352426, 0.7091117 ,-0.08246197,-0.6970807 ,-0.06662669]

qacc:
[-7.89534041e-01, 1.59588443e+00,-5.57625851e+00, 9.53995771e+00,
 -1.46358423e-01, 2.83891594e+00,-1.22169844e+01, 2.69579774e+01,
 -1.13085673e-01, 9.24605998e-01,-5.00116619e+00, 1.32543007e+01,
 -1.66531396e-03,-1.13163300e-02,-2.21249255e+01, 7.57426331e+01,
  4.51306299e+00,-8.49752727e-01, 3.09694282e+00, 1.92588613e+00,
  1.45726586e+02, 1.44506049e+01]

qfrc_actuator:
[ 2.98144043e-05, 9.92763431e-04, 1.44490070e-04,-2.82151065e-05,
 -8.06051991e-05, 3.48916574e-02, 1.09114166e-02, 1.75512896e-03,
 -7.31714991e-05, 8.53135240e-04, 2.01535259e-04, 7.52205138e-05,
  0.00000000e+00,-1.58726853e-03, 0.00000000e+00,-5.44458255e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00380543918291594
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.37619538e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.37619538e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1393324 , -0.03616275,  0.06180836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.22769899e-05,-2.89689262e-06,-8.27966817e-06, 7.17483817e-05,
 -6.77684542e-07, 3.41056887e-05, 1.67858702e-05, 2.74841604e-05,
  3.38920631e-03,-1.74414950e-06, 6.84106164e-06, 3.68542057e-04,
  1.62954931e-05,-7.09908950e-05,-4.90465201e+00,-1.36189424e-04,
  3.42466467e-03,-1.59392840e-04]


--- Step 2449 ---
qpos:
[ 0.01866091, 0.03003004,-0.00945673,-0.02528714,-0.00353246, 1.34078221,
 -0.02999547, 0.94382005, 0.01156962, 0.02725871,-0.00829372, 0.0264275 ,
  1.39623976, 0.00767257, 1.33620826, 0.04413474,-0.085616  ,-0.04665526,
  0.09354814, 0.70927775,-0.08279876,-0.69689914,-0.06634028]

qacc:
[-4.05960337e-01, 8.51263650e-01,-3.76098178e+00, 7.53471754e+00,
 -6.08018037e-02, 1.42663062e+00,-5.36710028e+00, 1.04191785e+01,
  5.81503145e+00, 1.17028498e+00,-5.33567754e+00, 1.12030435e+01,
  3.13478902e-02,-1.44360342e-01,-1.07712650e+01, 3.77861269e+01,
  4.02873875e+00,-7.43079715e-01, 1.68338260e+00, 1.72832015e+00,
  1.29728298e+02, 1.26381466e+01]

qfrc_actuator:
[ 2.75210478e-05, 9.57094376e-04, 1.23549411e-04,-2.10388429e-05,
 -7.31762455e-05, 3.49182829e-02, 1.09114495e-02, 1.78061493e-03,
 -3.80377033e-05, 8.45906877e-04, 1.89650686e-04, 9.02933125e-05,
  0.00000000e+00,-1.58942254e-03, 0.00000000e+00,-3.70213890e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037948664571768806
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46279591e-14,  1.46279591e-14,  1.00000000e+00, -2.13977187e-28,
        1.00000000e+00, -1.46279591e-14, -1.00000000e+00,  0.00000000e+00,
        1.46279591e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13934856, -0.03615539,  0.06180893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.75551773e-05, 2.55588298e-05, 6.28434191e-07, 2.68189149e-05,
  3.51233472e-05, 1.64963071e-05,-1.81822809e-06, 1.76501941e-05,
  3.41746820e-03,-1.55281617e-05, 4.26634459e-05, 1.95324257e-04,
 -1.81376494e-05,-1.11963349e-05,-4.90476873e+00, 4.12503352e-05,
  3.42180557e-03,-1.44904858e-04]


--- 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,
  1.39623927, 0.00767292, 1.33630931, 0.04414379,-0.08558327,-0.04663234,
  0.09357396, 0.70960743,-0.08313337,-0.69655068,-0.0660551 ]

qacc:
[ 2.77575877e+00,-1.05536467e+00, 6.07290057e+00,-1.59940351e+01,
  1.04439599e-01,-1.04970377e-01, 5.75413918e-01,-1.03266400e+00,
 -2.32968664e+00,-6.52541187e-01, 3.42189928e+00,-7.08798989e+00,
  4.47827751e-02,-1.56450899e-01, 1.01849930e+01,-3.39289387e+01,
  3.62316462e+00,-6.54351972e-01, 4.87186214e-01, 1.58627045e+00,
  1.16330393e+02, 1.11415867e+01]

qfrc_actuator:
[ 4.42599445e-05, 9.35274547e-04, 1.11117355e-04,-5.25543486e-05,
 -3.26250081e-05, 3.49163094e-02, 1.09117405e-02, 1.77770067e-03,
 -5.31340758e-05, 8.59264206e-04, 2.00420171e-04, 8.11563749e-05,
  0.00000000e+00,-1.59094245e-03, 0.00000000e+00,-5.38919071e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00374604003281144
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.4818622e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.4818622e-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([-0.13941834, -0.03613839,  0.06181127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.01777138e-05, 1.30936459e-05, 6.14968827e-06,-1.50574769e-06,
 -1.40629888e-05, 2.29805686e-05, 1.45648397e-05,-8.15143597e-06,
  3.43383971e-03,-1.52904259e-05, 3.74675040e-05,-1.53254308e-04,
  8.85126709e-07, 3.80170236e-05,-4.90469986e+00, 2.22843889e-04,
  3.42480614e-03,-1.29705643e-04]


--- Step 2451 ---
qpos:
[ 0.01866078, 0.03003185,-0.00945752,-0.02528742,-0.00353413, 1.34078283,
 -0.02999633, 0.94381964, 0.01156917, 0.02725912,-0.00829397, 0.02642816,
  1.39623928, 0.00767301, 1.33641104, 0.04414679,-0.08556922,-0.04660512,
  0.09359097, 0.70972395,-0.0834805 ,-0.69641851,-0.06575859]

qacc:
[ 7.65848069e+00, 8.15744683e-01,-2.47421690e+00, 2.01799292e+00,
  1.46829678e-01,-1.90765408e+00, 8.55983487e+00,-1.99186444e+01,
 -1.04044247e+01, 6.35857112e-01,-1.37134224e+00,-2.52699566e-01,
  2.77334477e-02,-4.69673104e-02, 1.93010671e+01,-6.60447290e+01,
 -4.66717914e+00, 1.07680779e+00,-2.20543651e+00,-2.21302319e+00,
 -1.51864540e+02,-7.64937038e+00]

qfrc_actuator:
[ 8.98190111e-05, 9.57400406e-04, 1.03820376e-04,-5.33130619e-05,
 -8.03871585e-06, 3.49149612e-02, 1.09120651e-02, 1.72258683e-03,
 -1.15438927e-04, 8.67153354e-04, 1.89043387e-04, 7.56358399e-05,
  0.00000000e+00,-1.59182975e-03, 0.00000000e+00,-8.55004743e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003751124848307995
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29487179e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.29487179e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00895873, -0.06699662,  0.06181115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.24204081e-05, 7.05292817e-06, 3.54214771e-06,-5.45747798e-05,
 -6.27085974e-05, 2.33919433e-05,-5.11843236e-06,-4.19071933e-06,
  3.42315705e-03,-2.49671675e-06,-4.34399257e-06,-3.20899168e-04,
  5.81025454e-05, 7.91239706e-05,-4.90449989e+00, 4.04292702e-04,
  3.43309484e-03,-1.13971989e-04]


--- Step 2452 ---
qpos:
[ 0.01866136, 0.03003296,-0.0094582 ,-0.02528725,-0.00353476, 1.34078298,
 -0.02999633, 0.94381859, 0.01156829, 0.02725975,-0.00829438, 0.02642836,
  1.39623912, 0.00767309, 1.33651216, 0.04415102,-0.08557172,-0.04657409,
  0.09359568, 0.70965185,-0.08383985,-0.69647771,-0.06545179]

qacc:
[ 1.69811390e+00, 1.24575525e+00,-5.57379382e+00, 1.13852689e+01,
  1.52107714e-02,-1.84435041e+00, 6.31345497e+00,-8.83624353e+00,
 -4.50511875e-01, 7.66190133e-01,-1.79769192e+00, 4.96092356e-01,
  8.96503279e-03,-6.75668734e-02,-4.62035193e+00, 1.48353411e+01,
 -4.14055913e+00, 9.50373482e-01,-3.07300725e+00,-2.33711238e+00,
 -1.34420761e+02,-6.28098933e+00]

qfrc_actuator:
[ 9.87126743e-05, 9.70204266e-04, 9.98150119e-05,-3.59228654e-05,
 -2.87355600e-05, 3.48962098e-02, 1.09301303e-02, 1.70821173e-03,
 -1.16251998e-04, 8.89372533e-04, 1.82414687e-04, 7.22701028e-05,
  0.00000000e+00,-1.61000406e-03, 0.00000000e+00,-7.75939496e-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, -6.44607901,  5.74759448, -6.44607901, 28.29926951,
       22.05246825,  5.74759448, 22.05246825, 33.3687892 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003761008368725595
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.2247786e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.2247786e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00893804, -0.06699943,  0.06181078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.37212987e-06,-1.57986355e-05, 1.82464945e-05,-1.53257948e-05,
 -2.64009725e-06, 3.40290613e-05,-2.57234371e-06,-2.62036773e-06,
  3.39822077e-03,-8.13920917e-06,-4.04159531e-05, 5.99552585e-05,
 -9.06221441e-06, 2.59951022e-05,-4.90471964e+00, 1.80989030e-04,
  3.43877737e-03,-1.08173811e-04]


--- 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,
  1.39623883, 0.00767302, 1.33661312, 0.04415541,-0.08558901,-0.04653968,
  0.09358515, 0.70941166,-0.08421106,-0.69670722,-0.0651356 ]

qacc:
[-2.04156100e+00,-1.67068679e+00, 2.58085142e+00, 6.41578055e+00,
 -3.31225393e-02,-1.50302746e-02,-3.74167376e+00, 2.15239211e+01,
 -2.97871570e+00,-2.48144245e-01, 3.08332345e+00,-9.96954490e+00,
  1.98995128e-02,-1.50061885e-01,-7.57355953e-01, 2.30383429e+00,
 -3.69485379e+00, 8.44108494e-01,-3.81189901e+00,-2.40885846e+00,
 -1.19745451e+02,-5.18463320e+00]

qfrc_actuator:
[ 8.59447397e-05, 9.24105212e-04, 1.33271098e-04,-7.99993509e-06,
 -4.09245835e-05, 3.48850217e-02, 1.09762387e-02, 1.78894752e-03,
 -1.34106968e-04, 9.02263050e-04, 1.78708591e-04, 5.24641425e-05,
  0.00000000e+00,-1.62092969e-03, 0.00000000e+00,-7.66431944e-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, -6.45706325,  5.73525161, -6.45706325, 29.85034121,
       23.88386846,  5.73525161, 23.88386846, 35.52614282,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003725762705317201
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30368628e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.30368628e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00902142, -0.06702316,  0.06181241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.60581809e-06,-1.68213241e-05, 4.46433451e-05, 8.04394610e-05,
 -1.79185779e-05, 3.12537494e-05, 2.91164448e-06,-1.84887108e-05,
  3.40672272e-03,-1.81223198e-05,-1.18717951e-05, 7.65992244e-06,
 -1.58866998e-05,-2.77533634e-05,-4.90472780e+00,-3.22871294e-06,
  3.43814331e-03,-1.01728863e-04]


--- 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,
  1.39623867, 0.00767289, 1.33671416, 0.04415853,-0.08558759,-0.04650863,
  0.09358854, 0.70938331,-0.08458187,-0.69672074,-0.06481848]

qacc:
[-4.25996571e+00,-3.36393897e+00, 1.19891115e+01,-1.80667335e+01,
  1.76211975e-02, 4.64623826e-01,-2.24557734e+00, 8.51380236e+00,
 -7.62872723e+00,-1.96829120e+00, 1.10454443e+01,-2.70188435e+01,
  2.24588415e-02,-1.59730960e-02, 3.99674665e+00,-1.38058491e+01,
  4.67673134e+00,-8.39017478e-01, 3.48199623e+00, 2.34674628e+00,
  1.50375535e+02, 1.61909815e+01]

qfrc_actuator:
[ 6.05408222e-05, 8.61006288e-04, 1.52834511e-04,-2.73892721e-05,
 -3.01562501e-05, 3.49318808e-02, 1.10030945e-02, 1.81849826e-03,
 -1.79622500e-04, 8.91711997e-04, 1.76711005e-04, 5.38554602e-06,
  0.00000000e+00,-1.60960637e-03, 0.00000000e+00,-8.33601521e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037007832722056808
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.49991923e-15,  1.49998385e-14,  1.00000000e+00, -1.12497577e-28,
        1.00000000e+00, -1.49998385e-14, -1.00000000e+00,  0.00000000e+00,
        7.49991923e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13948278, -0.03611034,  0.06181351])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.09078692e-06, 4.87053561e-05, 3.10046398e-05, 3.22209300e-05,
 -4.60263535e-05, 6.69807454e-06, 4.17190703e-06,-4.59983912e-05,
  3.41267446e-03, 1.13983718e-06,-6.24283490e-06,-6.86531573e-05,
  1.94495242e-05,-8.13400380e-05,-4.90458762e+00,-1.57696197e-04,
  3.43184325e-03,-9.48101733e-05]


--- 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 ,
  1.39623863, 0.00767305, 1.33681496, 0.04416249,-0.08556949,-0.04648051,
  0.0936    , 0.70954327,-0.08495215,-0.69654226,-0.06450081]

qacc:
[-5.55319006e+00,-2.53734978e+00, 1.18157799e+01,-2.70144570e+01,
 -2.79340532e-02, 1.11422699e+00,-2.01656023e+00,-2.50875277e+00,
 -1.55205129e+00,-2.70622283e+00, 1.04558539e+01,-1.87824773e+01,
  1.29904259e-02, 1.84373750e-01,-2.90117558e+00, 9.61669233e+00,
  4.16802505e+00,-7.32463253e-01, 2.01503836e+00, 2.12710863e+00,
  1.33702279e+02, 1.42300135e+01]

qfrc_actuator:
[ 2.79104036e-05, 8.23627092e-04, 1.46149645e-04,-7.44998025e-05,
 -4.12075222e-05, 3.49597917e-02, 1.09830391e-02, 1.79993658e-03,
 -1.87791688e-04, 8.13924232e-04, 1.75622075e-04,-2.18754755e-05,
  0.00000000e+00,-1.58498513e-03, 0.00000000e+00,-7.85618774e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037060405533074978
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.99571202e-14, -7.48928006e-15,  1.00000000e+00,  2.24357263e-28,
        1.00000000e+00,  7.48928006e-15, -1.00000000e+00,  0.00000000e+00,
        2.99571202e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13947529, -0.03610788,  0.06181328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.04132014e-06, 6.18876574e-05,-6.05435423e-06,-1.54383300e-05,
 -9.51044950e-06,-7.52033632e-05,-7.88008617e-07,-2.77222321e-05,
  3.40612569e-03, 2.79696349e-05,-1.24138892e-05, 4.28953902e-05,
 -2.02529284e-05,-1.48403895e-05,-4.90471989e+00, 4.14012483e-05,
  3.42787232e-03,-7.88276824e-05]


--- 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,
  1.39623876, 0.00767346, 1.3369157 , 0.04416663,-0.08553643,-0.04645496,
  0.09361454, 0.70987173,-0.08532171,-0.69619171,-0.06418283]

qacc:
[ 2.57632976e+00, 3.31626194e+00,-1.27899539e+01, 1.74698067e+01,
 -9.97290190e-02, 1.19347655e+00,-4.19186938e+00, 5.55594579e+00,
  5.22406903e+00,-1.28559574e+00, 1.34474346e+00, 5.53902747e+00,
  4.72158925e-03, 1.99034183e-01,-6.22480411e-01, 2.07951222e+00,
  3.74174728e+00,-6.43677845e-01, 7.72374532e-01, 1.96689739e+00,
  1.19733719e+02, 1.26020851e+01]

qfrc_actuator:
[ 4.45501093e-05, 8.19548743e-04, 8.86000599e-05,-6.65239464e-05,
 -6.52597584e-05, 3.49226666e-02, 1.09531342e-02, 1.80644981e-03,
 -1.56152489e-04, 7.67489803e-04, 1.92561296e-04,-1.80846490e-06,
  0.00000000e+00,-1.57043936e-03, 0.00000000e+00,-7.76666387e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003670725290174856
  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([-0.13952495, -0.03609521,  0.06181495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.88020787e-05,-4.54236159e-06,-1.89409240e-05, 7.84091714e-06,
  3.13363966e-05,-8.98586692e-05, 3.46809083e-07, 1.62802851e-05,
  3.40004234e-03, 2.87713589e-05,-1.95131586e-06, 9.48919571e-06,
 -2.42163772e-06, 4.09583577e-05,-4.90465344e+00, 2.45525102e-04,
  3.42985550e-03,-6.20355696e-05]


--- 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,
  1.39623917, 0.00767383, 1.33701678, 0.04416782,-0.08552246,-0.04642491,
  0.09362093, 0.70998249,-0.08570541,-0.69606204,-0.06385202]

qacc:
[ 7.62134997e+00, 4.08880531e+00,-1.63457764e+01, 2.54831371e+01,
 -1.07000210e-01, 2.62541512e-01,-2.13222285e+00, 6.91762171e+00,
  6.29056521e+00, 3.00620501e-01,-2.27261224e+00, 5.92765082e+00,
 -6.27626014e-03, 5.31957164e-02, 9.41866280e+00,-3.22084987e+01,
 -4.77053994e+00, 1.12803711e+00,-2.03729458e+00,-2.74845480e+00,
 -1.55174538e+02,-6.92836254e+00]

qfrc_actuator:
[ 9.00588852e-05, 8.35275081e-04, 3.71731412e-05,-4.39487657e-05,
 -7.91638149e-05, 3.49001006e-02, 1.09529432e-02, 1.82763981e-03,
 -1.19100388e-04, 7.93551516e-04, 2.02388328e-04, 1.04668334e-05,
  0.00000000e+00,-1.57978524e-03, 0.00000000e+00,-9.32833340e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003737687314489972
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29952704e-14, -2.97034752e-14,  1.00000000e+00,  3.86004692e-28,
        1.00000000e+00,  2.97034752e-14, -1.00000000e+00,  0.00000000e+00,
        1.29952704e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00899175, -0.06704631,  0.06181196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.09249371e-05,-2.85531703e-05,-3.00509130e-06, 2.06828064e-05,
  3.79364051e-05,-2.33975328e-05,-8.12708865e-06, 8.75468311e-06,
  3.39105048e-03, 6.50140013e-06,-1.48115168e-06,-1.56295335e-04,
  5.63873207e-05, 8.85020619e-05,-4.90444704e+00, 4.49771551e-04,
  3.43721595e-03,-4.46319008e-05]


--- Step 2458 ---
qpos:
[ 0.0186612 , 0.03003012,-0.00945995,-0.02528688,-0.00354033, 1.34078534,
 -0.02999251, 0.94382411, 0.01155874, 0.02726054,-0.00829547, 0.02642251,
  1.39623943, 0.00767388, 1.33711777, 0.04416781,-0.08552538,-0.04639087,
  0.0936156 , 0.70990087,-0.08610289,-0.69612756,-0.06350956]

qacc:
[ 1.71146573e+00,-1.30154213e+00, 4.82239235e+00,-7.54843094e+00,
 -2.85661349e-02, 9.50303723e-01,-1.62563367e+00,-4.24854295e+00,
 -2.05958462e+00, 3.26818412e+00,-1.18982062e+01, 1.60500232e+01,
 -1.40639779e-02,-2.14713801e-01, 3.51472810e+00,-1.24810885e+01,
 -4.22610798e+00, 9.93979575e-01,-2.93137160e+00,-2.85044982e+00,
 -1.37189763e+02,-5.58276203e+00]

qfrc_actuator:
[ 9.89212230e-05, 8.45023051e-04, 6.08933052e-05,-4.84461207e-05,
 -6.91147332e-05, 3.49398009e-02, 1.09348353e-02, 1.80405520e-03,
 -1.32429705e-04, 8.09548810e-04, 1.54961684e-04, 1.81073517e-05,
  0.00000000e+00,-1.62101763e-03, 0.00000000e+00,-9.89737226e-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, -6.72290829,  5.42118816, -6.72290829, 25.07628422,
       20.38742711,  5.42118816, 20.38742711, 33.91916119,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037555409055508304
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84764168e-15,  2.95622669e-14,  1.00000000e+00, -5.46204764e-29,
        1.00000000e+00, -2.95622669e-14, -1.00000000e+00,  0.00000000e+00,
        1.84764168e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00894952, -0.06704511,  0.06181118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.22722450e-06, 2.39361951e-05,-2.34278849e-05,-2.40480833e-05,
 -1.22284900e-05, 1.64199153e-06,-5.29536057e-05, 6.52831396e-06,
  3.37717642e-03,-3.24155401e-05,-2.04280099e-05,-6.63700848e-05,
 -1.22303984e-05, 2.79719678e-05,-4.90466505e+00, 2.00240867e-04,
  3.44381965e-03,-3.83030150e-05]


--- 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,
  1.39623931, 0.00767362, 1.33721841, 0.04416909,-0.08554337,-0.04635331,
  0.0935955 , 0.70964799,-0.08651367,-0.69636654,-0.06315651]

qacc:
[-2.06242374e+00,-1.82912163e+00, 6.58532865e+00,-8.73469492e+00,
  6.72858498e-02, 1.61819960e+00,-4.05679287e+00,-1.03734149e-01,
  1.63483968e+00, 3.11285887e+00,-1.23424692e+01, 2.04711499e+01,
 -1.32453524e-03,-2.90344609e-01,-4.46869305e+00, 1.48362076e+01,
 -3.76504333e+00, 8.81295383e-01,-3.69337509e+00,-2.90035447e+00,
 -1.22054853e+02,-4.51273650e+00]

qfrc_actuator:
[ 8.61330057e-05, 8.51411647e-04, 9.32512908e-05,-5.10374852e-05,
 -4.47782272e-05, 3.49631297e-02, 1.09064999e-02, 1.78983534e-03,
 -1.22050517e-04, 8.36924074e-04, 1.27349535e-04, 4.06748185e-05,
  0.00000000e+00,-1.64558721e-03, 0.00000000e+00,-9.16637126e-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, -6.76125901,  5.37328145, -6.76125901, 26.18671802,
       22.0838035 ,  5.37328145, 22.0838035 , 36.4246559 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003726515260566096
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.79304930e-14, -4.46887889e-14,  1.00000000e+00,  1.24817991e-27,
        1.00000000e+00,  4.46887889e-14, -1.00000000e+00,  0.00000000e+00,
        2.79304930e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00901556, -0.06706585,  0.06181247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.94755480e-05, 3.12602797e-05,-2.70240173e-05,-1.47427213e-05,
  1.00213576e-05, 1.76514013e-05,-3.35554092e-05, 2.09372088e-05,
  3.38412402e-03,-4.11071450e-05,-1.83659920e-05, 6.64209359e-05,
 -1.80054573e-05,-3.23667834e-05,-4.90466347e+00,-7.75813358e-06,
  3.44393286e-03,-3.12342659e-05]


--- Step 2460 ---
qpos:
[ 0.01866138, 0.03002783,-0.00946149,-0.02528717,-0.00354251, 1.34078791,
 -0.02999396, 0.94382511, 0.01155788, 0.02726047,-0.00829771, 0.02642156,
  1.39623942, 0.007673  , 1.33731957, 0.04416585,-0.08554185,-0.04632525,
  0.09356751, 0.7096098 ,-0.08674825,-0.6963978 ,-0.06291881]

qacc:
[-4.29469526e+00,-8.76357853e-02, 5.29470388e-01,-1.05531162e+00,
  3.00868413e-02, 9.73379132e-01,-2.36245963e+00,-1.98103397e-01,
  9.96674968e+00,-1.50272173e+00, 6.27475946e+00,-9.66158341e+00,
  1.10144943e-02,-1.69554468e-01, 1.44820076e+01,-4.95336122e+01,
  4.87577306e+00,-2.37257753e+00,-1.96978041e+00, 2.50827600e+01,
  1.59012431e+02,-8.65172046e+01]

qfrc_actuator:
[ 6.07158942e-05, 8.55803738e-04, 9.49153928e-05,-5.24895908e-05,
 -4.75742294e-05, 3.49764337e-02, 1.08900764e-02, 1.78124301e-03,
 -6.22778619e-05, 8.70986536e-04, 1.64995866e-04, 3.63724469e-05,
  0.00000000e+00,-1.64228718e-03, 0.00000000e+00,-1.15811259e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037189668665071757
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.47794938e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.47794938e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18147364, -0.01020963,  0.06181273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.71435566e-06, 2.48618216e-05,-1.38160040e-05,-8.78554637e-06,
  6.00708755e-05, 3.79209684e-05, 3.79009281e-05,-4.29587631e-06,
  3.40336068e-03,-2.22968126e-05,-2.47007560e-06,-2.40438139e-04,
  1.98962215e-05,-9.18553287e-05,-4.90450865e+00,-1.83969448e-04,
  3.43823408e-03,-2.36101668e-05]


--- 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,
  1.39623999, 0.00767236, 1.33742096, 0.04415774,-0.08552316,-0.04630549,
  0.09352791, 0.70976045,-0.08682766,-0.69624661,-0.06278307]

qacc:
[-2.63843214e+00, 2.72614577e+00,-8.62026566e+00, 9.04013274e+00,
 -4.81504691e-02, 5.47471016e-01,-1.26861992e+00,-2.50802873e-01,
  3.17362215e+00,-1.61511519e+00, 8.03269057e+00,-1.58975106e+01,
 -1.03948962e-02, 1.26165337e-01, 1.50807709e+01,-5.22335477e+01,
  4.29388276e+00,-2.07746625e+00,-2.90627212e+00, 2.20090053e+01,
  1.39784677e+02,-7.63493817e+01]

qfrc_actuator:
[ 4.58291579e-05, 8.94358696e-04, 6.06822364e-05,-5.32840789e-05,
 -6.66254270e-05, 3.49836776e-02, 1.08807815e-02, 1.77603110e-03,
 -4.49289952e-05, 8.91293429e-04, 1.87622868e-04, 1.63423143e-05,
  0.00000000e+00,-1.62208738e-03, 0.00000000e+00,-1.40549749e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  2.20284706, -8.35070307,  2.20284706, 88.2341205 ,
       20.99723616, -8.35070307, 20.99723616, 14.17526252,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037766886779831005
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.43053498e-15, -1.46983657e-14,  1.00000000e+00,  9.45183547e-29,
        1.00000000e+00,  1.46983657e-14, -1.00000000e+00,  0.00000000e+00,
        6.43053498e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18132438, -0.01025939,  0.06180996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.39004862e-05, 1.80228303e-05,-6.26150524e-06,-5.07226412e-06,
  1.91190848e-05, 4.91882204e-05, 3.49881739e-05,-1.71767123e-05,
  3.39171516e-03, 1.61379472e-05,-3.06862161e-05,-2.61748446e-04,
  2.68240688e-06,-9.87051149e-06,-4.90486251e+00, 7.85147253e-05,
  3.40317049e-03,-9.48762542e-06]


--- 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,
  1.39624063, 0.00767203, 1.33752175, 0.04415037,-0.08548927,-0.04629305,
  0.09347347, 0.71007796,-0.08676972,-0.6959341 ,-0.06273791]

qacc:
[ 1.44185089e+00, 2.77727543e+00,-1.23788525e+01, 2.47967030e+01,
 -4.66905211e-03,-6.71383520e-01, 2.42236657e+00,-2.98967867e+00,
 -1.17970200e+00,-1.90516164e-01,-1.52908214e+00, 9.60357614e+00,
 -3.52486050e-02, 2.47160541e-01,-3.15401879e+00, 9.74868010e+00,
  3.79905746e+00,-1.82931466e+00,-3.70737632e+00, 1.93833244e+01,
  1.23586271e+02,-6.77211853e+01]

qfrc_actuator:
[ 5.50167541e-05, 8.99665535e-04, 4.11849030e-05,-1.81711779e-05,
 -5.97679830e-05, 3.49872658e-02, 1.08934926e-02, 1.77284662e-03,
 -5.27056582e-05, 8.67646632e-04, 2.01122614e-04, 4.04508690e-05,
  0.00000000e+00,-1.60969992e-03, 0.00000000e+00,-1.35248330e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003778022254479964
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46931774e-14,  2.93863548e-14,  1.00000000e+00,  4.31778925e-28,
        1.00000000e+00, -2.93863548e-14, -1.00000000e+00,  0.00000000e+00,
       -1.46931774e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1813095 , -0.01025997,  0.06180971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.35646031e-06, 1.21712265e-05, 1.53752315e-05,-2.94281178e-06,
 -7.19981433e-06, 1.03534558e-05, 2.73783225e-05, 2.70944125e-05,
  3.36817944e-03, 2.95094187e-05,-4.42501397e-05, 3.42477687e-05,
  2.18937613e-05,-1.61316200e-06,-4.90491500e+00, 1.73145537e-04,
  3.39838418e-03,-3.06766186e-06]


--- 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 ,
  1.39624112, 0.00767202, 1.33762199, 0.04414597,-0.08547874,-0.04627692,
  0.09341687, 0.7101394 ,-0.08677418,-0.69587751,-0.06266396]

qacc:
[-1.97242324e+00,-5.61349965e-01,-6.60577909e-01, 8.17581443e+00,
  1.31776390e-02,-2.03748373e+00, 7.99604351e+00,-1.52384605e+01,
  5.09697689e+00,-2.66095912e+00, 8.67211105e+00,-9.79896635e+00,
 -3.71784256e-02, 1.89397796e-01,-9.76026053e+00, 3.29791647e+01,
 -5.83911141e+00, 9.21605437e-01,-5.39351581e-01,-1.52149728e+01,
 -1.83173935e+02, 1.28026092e+01]

qfrc_actuator:
[ 4.27915819e-05, 8.49596540e-04, 4.82084132e-05, 2.27423265e-06,
 -5.51751196e-05, 3.49709707e-02, 1.09013210e-02, 1.73538339e-03,
 -2.19374238e-05, 8.17854834e-04, 2.26733404e-04, 3.70393025e-05,
  0.00000000e+00,-1.60232742e-03, 0.00000000e+00,-1.19390989e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039007912517892915
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.6009584e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.6009584e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0085855 , -0.06691803,  0.06180386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.79166507e-06,-6.65286512e-06, 1.18721212e-05,-3.67132904e-05,
  3.05596517e-05,-3.71969461e-05, 3.20574164e-05,-1.49254085e-06,
  3.36465758e-03, 2.11059652e-05,-1.59655222e-05, 1.54947416e-04,
  6.58342468e-05,-4.38370692e-05,-4.90475943e+00, 1.50044303e-04,
  3.41590138e-03,-2.72146290e-06]


--- 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,
  1.396242  , 0.00767237, 1.3377225 , 0.04414011,-0.08548861,-0.04625746,
  0.09335357, 0.70997644,-0.08683064,-0.69604558,-0.06256557]

qacc:
[ 4.70564269e+00,-7.54097494e-01, 1.43077526e+00, 1.82756409e+00,
 -1.04022589e-01, 8.04995616e-01,-5.10957470e+00, 1.58019909e+01,
  1.21320346e-01, 2.21394968e+00,-8.87575915e+00, 1.48964813e+01,
 -4.04448998e-02, 3.64364275e-01, 4.82578744e+00,-1.62577335e+01,
 -5.09951791e+00, 8.32682589e-01,-1.67746117e+00,-1.26571733e+01,
 -1.60534364e+02, 9.99638219e+00]

qfrc_actuator:
[ 7.13104581e-05, 8.55609598e-04, 7.05782987e-05, 1.38857934e-05,
 -8.74839529e-05, 3.49428597e-02, 1.09060978e-02, 1.78454463e-03,
 -2.19776089e-05, 8.41571487e-04, 2.05887175e-04, 5.29425844e-05,
  0.00000000e+00,-1.56258228e-03, 0.00000000e+00,-1.27630720e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.60689537, -0.7128316 ,  8.60689537,  8.80164256,
        1.99561637, -0.7128316 ,  1.99561637, 32.73190231,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003973981584466622
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22225673e-14, -2.79372967e-14,  1.00000000e+00,  3.41465488e-28,
        1.00000000e+00,  2.79372967e-14, -1.00000000e+00,  0.00000000e+00,
        1.22225673e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00840611, -0.06685488,  0.06180026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.00682495e-05,-3.05828655e-05, 3.74798072e-06, 4.84589215e-05,
  8.40710559e-07, 9.48579741e-06,-2.46385239e-05, 1.53881438e-05,
  3.37188412e-03, 4.52133002e-05, 9.25524950e-06,-7.59383072e-05,
  5.89382274e-06,-4.13101781e-06,-4.90498676e+00, 1.30690487e-04,
  3.41777137e-03,-1.77410708e-06]


--- 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,
  1.39624308, 0.00767322, 1.33782284, 0.044135  ,-0.08551637,-0.04623498,
  0.09327965, 0.7096156 ,-0.08693068,-0.69641167,-0.06244629]

qacc:
[ 8.84830309e+00, 6.32673095e-01,-4.01944839e+00, 1.15798221e+01,
 -1.26188092e-01, 3.76548462e+00,-1.67984290e+01, 3.77706045e+01,
 -5.97012254e+00, 2.54466698e+00,-1.05978981e+01, 1.97867821e+01,
 -6.39657405e-02, 4.28496826e-01,-2.50825050e+00, 8.43495188e+00,
 -4.47373946e+00, 7.54341957e-01,-2.65190062e+00,-1.05987427e+01,
 -1.41434821e+02, 7.78648135e+00]

qfrc_actuator:
[ 1.23589718e-04, 8.77462085e-04, 8.42748975e-05, 3.80090117e-05,
 -1.06163967e-04, 3.49256785e-02, 1.08912881e-02, 1.88428553e-03,
 -5.79155792e-05, 8.73440149e-04, 1.93584053e-04, 8.01123526e-05,
  0.00000000e+00,-1.53909098e-03, 0.00000000e+00,-1.23376478e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.58832993, -0.90959657,  8.58832993,  8.9288144 ,
        2.76129411, -0.90959657,  2.76129411, 34.70825703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039851960646552775
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61175126e-14, -1.39293401e-14,  1.00000000e+00,  3.63799715e-28,
        1.00000000e+00,  1.39293401e-14, -1.00000000e+00,  0.00000000e+00,
        2.61175126e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00836893, -0.06682792,  0.06179944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.64502521e-05,-3.19180174e-05,-1.89447834e-05, 1.00057062e-04,
 -3.59094188e-05, 3.27435437e-05,-1.28474297e-05, 2.70232105e-05,
  3.35259140e-03, 5.07237841e-05,-6.46829975e-06, 3.89698069e-05,
  2.47585608e-05,-2.14738946e-06,-4.90491918e+00, 9.37884927e-05,
  3.41368477e-03,-7.03730217e-07]


--- Step 2466 ---
qpos:
[ 0.01866285, 0.03002363,-0.00946948,-0.02528187,-0.00355075, 1.34079597,
 -0.02999848, 0.9438303 , 0.0115606 , 0.02726181,-0.00829738, 0.02641988,
  1.39624406, 0.00767458, 1.33792274, 0.04413343,-0.08552128,-0.04622344,
  0.09320366, 0.70950742,-0.08682245,-0.6965336 ,-0.06246618]

qacc:
[ 5.31130734e+00,-1.08306949e+00, 6.04174951e+00,-1.38663272e+01,
  1.24801607e-02, 8.47175935e-02, 1.36640701e-01,-2.76211027e+00,
 -6.63498587e+00,-1.29054974e+00, 6.44073463e+00,-1.35459998e+01,
 -7.38129383e-02, 3.55894244e-01,-1.13561353e+01, 3.88197540e+01,
  5.71252177e+00,-2.73284664e+00,-5.20002373e-01, 2.87966184e+01,
  1.87162026e+02,-1.03392314e+02]

qfrc_actuator:
[ 1.53917152e-04, 8.90864482e-04, 9.28243116e-05, 1.60549746e-05,
 -8.10108356e-05, 3.49328889e-02, 1.08828433e-02, 1.87094586e-03,
 -9.69324670e-05, 8.74479257e-04, 2.04249584e-04, 6.04597907e-05,
  0.00000000e+00,-1.52563901e-03, 0.00000000e+00,-1.04687058e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004091221702188362
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.20818896e-15, -4.07050670e-14,  1.00000000e+00,  2.93409815e-28,
        1.00000000e+00,  4.07050670e-14, -1.00000000e+00,  0.00000000e+00,
        7.20818896e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18048071, -0.01055175,  0.06179427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.61120642e-06,-1.11486780e-05,-1.39069273e-05,-1.25307868e-05,
 -4.00566869e-05, 1.78308440e-05, 1.67806769e-05,-1.81676221e-05,
  3.34209553e-03, 3.90372268e-05, 2.12323674e-07, 1.87972289e-04,
  9.67894009e-05,-2.37609081e-05,-4.90465334e+00, 4.87165593e-05,
  3.40367624e-03, 5.88878632e-07]


--- Step 2467 ---
qpos:
[ 0.01866453, 0.03002348,-0.00947038,-0.02528132,-0.00355198, 1.34079667,
 -0.02999875, 0.9438306 , 0.01156034, 0.02726227,-0.00829685, 0.02641961,
  1.39624495, 0.00767643, 1.33802244, 0.04413544,-0.08550629,-0.0462214 ,
  0.09312088, 0.70961942,-0.0865325 ,-0.69644287,-0.06260786]

qacc:
[ 4.41351652e-02,-5.97491313e-01, 5.84371057e+00,-1.73636905e+01,
  1.84877199e-01,-5.30545223e+00, 2.08747149e+01,-4.03059502e+01,
  1.93389225e+00,-1.78665634e+00, 7.37667771e+00,-1.22385293e+01,
 -7.08264287e-02, 3.51636125e-01,-1.11121379e+01, 3.84430801e+01,
  4.97610037e+00,-2.37631628e+00,-1.69713224e+00, 2.49692744e+01,
  1.63085922e+02,-9.03889926e+01]

qfrc_actuator:
[ 1.53320529e-04, 9.34554680e-04, 9.82097563e-05,-1.50908767e-05,
 -2.97662660e-05, 3.49191039e-02, 1.09137565e-02, 1.77342619e-03,
 -8.41794348e-05, 8.74860843e-04, 2.28235573e-04, 4.89087495e-05,
  0.00000000e+00,-1.50065876e-03, 0.00000000e+00,-8.65224783e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0041974443285601945
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03320219e-14, -2.64499762e-14,  1.00000000e+00,  2.73281734e-28,
        1.00000000e+00,  2.64499762e-14, -1.00000000e+00,  0.00000000e+00,
        1.03320219e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18020344, -0.01065135,  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:
[ 3.45152973e-07, 6.15890844e-05, 1.23192594e-05,-2.98242387e-05,
  5.33783125e-05,-2.30516107e-05, 2.67852798e-05,-9.85499532e-05,
  1.15877607e-05, 1.30080129e-05, 2.91026417e-05,-1.05593789e-05,
  3.34694948e-03, 3.88919159e-05, 1.97664657e-05, 1.91871421e-04,
  4.60486905e-06, 1.68724320e-05,-4.90496106e+00, 1.48180023e-04,
  3.41062753e-03, 2.73267109e-07]


--- 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,
  1.3962457 , 0.00767846, 1.3381222 , 0.04413963,-0.0854739 ,-0.04622766,
  0.09302726, 0.70992389,-0.08608336,-0.69616576,-0.06285666]

qacc:
[-3.12865910e+00,-6.53102550e-01, 4.50664255e+00,-1.12476106e+01,
  2.16503780e-01,-3.34112430e+00, 1.17175205e+01,-1.90547832e+01,
  1.35046932e+00,-2.07531453e+00, 5.69273058e+00,-2.50207368e+00,
 -6.47583521e-02, 1.42831930e-01,-6.48288750e+00, 2.28245654e+01,
  4.34925727e+00,-2.07529444e+00,-2.70872191e+00, 2.16722795e+01,
  1.42763876e+02,-7.93449414e+01]

qfrc_actuator:
[ 1.34534544e-04, 9.42762880e-04, 1.01811650e-04,-3.36112563e-05,
  1.20894034e-06, 3.48751979e-02, 1.09320392e-02, 1.73370350e-03,
 -7.65612857e-05, 8.39401468e-04, 2.59889789e-04, 5.99796831e-05,
  0.00000000e+00,-1.50446000e-03, 0.00000000e+00,-7.59184723e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004231057346629492
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.19995256e-16, -1.31199241e-14,  1.00000000e+00, -1.07582755e-29,
        1.00000000e+00,  1.31199241e-14, -1.00000000e+00,  0.00000000e+00,
       -8.19995256e-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([-0.1800985 , -0.01068727,  0.06178714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.25189267e-05,-5.43823407e-05, 1.39313423e-05,-4.19140775e-05,
  7.96321818e-06,-2.26448843e-05, 3.75488091e-05, 1.24277218e-05,
  3.35110845e-03, 1.03497079e-05, 2.81998646e-05, 1.18753498e-04,
 -2.83062497e-05,-3.39596505e-05,-4.90487217e+00, 4.56185695e-05,
  3.45037882e-03,-9.20412847e-06]


--- 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,
  1.39624639, 0.00768008, 1.33822257, 0.04414106,-0.08546791,-0.04623077,
  0.09293643, 0.70994091,-0.08572597,-0.69617344,-0.06306742]

qacc:
[-1.99768002e+00,-2.88473668e+00, 1.23028413e+01,-2.24438682e+01,
  1.92057283e-01, 1.25671010e+00,-4.45338110e+00, 6.26144344e+00,
 -2.16415378e+00, 1.08641179e+00,-4.53687451e+00, 7.68945654e+00,
 -5.52520716e-02,-2.07849472e-01, 9.21464764e+00,-3.09247870e+01,
 -6.60167781e+00, 7.89170050e-01, 6.96385416e-01,-2.27491112e+01,
 -2.05658164e+02, 2.41438784e+01]

qfrc_actuator:
[ 1.22955756e-04, 9.11908179e-04, 1.21960854e-04,-6.23328996e-05,
  1.97730484e-05, 3.49023470e-02, 1.09248803e-02, 1.74604966e-03,
 -8.97965617e-05, 8.36062927e-04, 2.42421973e-04, 6.64910083e-05,
  0.00000000e+00,-1.54317315e-03, 0.00000000e+00,-9.11570706e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00430392620302119
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61222418e-15,  1.28977935e-14,  1.00000000e+00, -2.07941345e-29,
        1.00000000e+00, -1.28977935e-14, -1.00000000e+00,  0.00000000e+00,
        1.61222418e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00757609, -0.06651087,  0.06178336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.55082516e-05,-1.46923086e-06,-1.74419619e-05, 1.01480952e-05,
 -1.30104263e-05,-7.72838763e-06,-1.71068063e-05, 7.07866365e-06,
  3.35833411e-03,-3.77325005e-05, 2.30064328e-05,-1.42881452e-04,
 -2.03537360e-05,-1.44851097e-04,-4.90452099e+00,-1.89706497e-04,
  3.51246838e-03,-2.56396724e-05]


--- 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,
  1.39624693, 0.0076815 , 1.33832293, 0.04414171,-0.08548479,-0.04623098,
  0.09284298, 0.70970769,-0.08544343,-0.69642968,-0.06324645]

qacc:
[-1.26780039e+00, 1.05676485e+00,-5.30375465e+00, 1.19196372e+01,
  1.51412276e-01, 1.17904526e+00,-3.10030312e+00, 2.15015163e-01,
  4.52524836e+00, 1.72290917e+00,-4.21934789e+00,-6.66697871e-03,
 -5.33589247e-02,-1.04002618e-01, 2.37909665e+00,-8.33327855e+00,
 -5.71385994e+00, 7.23446213e-01,-6.54078577e-01,-1.84152547e+01,
 -1.79062926e+02, 1.87713032e+01]

qfrc_actuator:
[ 1.15717739e-04, 9.11207763e-04, 1.16035882e-04,-4.35963370e-05,
  3.07432871e-05, 3.49185130e-02, 1.09030564e-02, 1.73569326e-03,
 -6.19405756e-05, 8.69533674e-04, 2.13952606e-04, 5.24989560e-05,
  0.00000000e+00,-1.54904656e-03, 0.00000000e+00,-9.48669537e-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,  8.48972605, -1.58471713,  8.48972605,  9.03611634,
        2.1415752 , -1.58471713,  2.1415752 , 20.10931767,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004405852749954503
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.87463211e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.87463211e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00732573, -0.06641301,  0.06177829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.37730970e-05, 1.22463679e-05,-2.37992388e-05,-1.06771620e-05,
  2.74739896e-05, 2.58980175e-05,-3.19406871e-05,-1.47796254e-05,
  3.36107316e-03,-2.27700741e-05,-9.43115301e-06,-4.30514993e-05,
 -4.58238249e-05,-4.16166183e-06,-4.90481912e+00, 8.60708800e-05,
  3.47726373e-03,-2.83688209e-05]


--- Step 2471 ---
qpos:
[ 0.0186687 , 0.03002378,-0.00947172,-0.02528053,-0.00355264, 1.34079786,
 -0.02999931, 0.94382802, 0.01156025, 0.02726359,-0.00829396, 0.02641921,
  1.39624738, 0.00768277, 1.33842326, 0.04414155,-0.08552151,-0.04622854,
  0.09274228, 0.70925539,-0.08522217,-0.69690355,-0.06339887]

qacc:
[-7.98243835e-01, 1.11004888e+00,-7.95795808e+00, 2.33497729e+01,
  5.00748839e-02,-2.77749876e+00, 1.05766097e+01,-1.87193793e+01,
 -1.09816508e-01, 1.27686206e-01, 8.01425132e-01,-4.14564573e+00,
 -4.75460937e-02,-6.59298292e-02, 2.38537375e+00,-8.39674436e+00,
 -4.96301878e+00, 6.62772884e-01,-1.81368661e+00,-1.49544219e+01,
 -1.56588670e+02, 1.45550597e+01]

qfrc_actuator:
[ 1.11090543e-04, 9.10744521e-04, 1.30404944e-04, 2.91589441e-06,
  1.93189442e-05, 3.49101570e-02, 1.09259692e-02, 1.69429031e-03,
 -6.33724229e-05, 8.89209924e-04, 2.14880661e-04, 4.43417807e-05,
  0.00000000e+00,-1.55301452e-03, 0.00000000e+00,-9.88466363e-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,  8.46040972, -1.73442906,  8.46040972,  9.16540199,
        2.58060785, -1.73442906,  2.58060785, 21.22436754,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004433671412592773
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09553128e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.09553128e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00724393, -0.06636109,  0.06177652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.44441170e-05,-6.55940452e-06, 2.22863305e-05,-4.19813461e-05,
 -6.14579750e-07, 2.69173979e-05, 1.82223732e-06,-8.44268537e-06,
  3.36796140e-03,-1.65192849e-05,-1.11575952e-05,-4.38679206e-05,
  1.53334230e-05, 6.50329862e-05,-4.90473827e+00, 2.82045500e-04,
  3.44513938e-03,-3.20745763e-05]


--- 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,
  1.39624752, 0.00768361, 1.33852353, 0.04414091,-0.08553323,-0.04623806,
  0.09264397, 0.70908297,-0.0847674 ,-0.69710609,-0.06370982]

qacc:
[-5.05479466e-01,-2.83858394e+00, 1.05866990e+01,-1.48253632e+01,
  5.40027887e-03,-3.22028868e+00, 1.14501856e+01,-1.58237993e+01,
 -6.06005859e+00, 1.46965756e+00,-3.95019405e+00, 2.48762849e+00,
 -3.68970367e-02,-2.95255533e-01, 1.38456366e+00,-4.99758413e+00,
  6.25183986e+00,-2.98962340e+00, 5.98097637e-01, 3.08929822e+01,
  2.07908121e+02,-1.17147062e+02]

qfrc_actuator:
[ 1.08035478e-04, 9.10530297e-04, 1.74420887e-04,-5.59932457e-06,
  1.23071718e-05, 3.49228390e-02, 1.09750007e-02, 1.67047280e-03,
 -9.97975754e-05, 9.18348742e-04, 1.97621187e-04, 3.97014849e-05,
  0.00000000e+00,-1.59131568e-03, 0.00000000e+00,-1.01180202e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004651457936882222
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.23765129e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.23765129e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17898014, -0.01109262,  0.06176624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.52393847e-06, 1.21478167e-05, 4.90513121e-05,-2.43360233e-05,
 -3.64310858e-05, 4.41786711e-05,-1.17772482e-05,-3.58934198e-06,
  3.37255476e-03,-4.72435625e-05,-1.18748464e-05,-2.76359873e-05,
  1.32878578e-04, 8.85203892e-05,-4.90440846e+00, 4.25567168e-04,
  3.41315085e-03,-3.63173290e-05]


--- 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,
  1.39624716, 0.00768432, 1.33862327, 0.04414365,-0.08552332,-0.04625793,
  0.09254255, 0.70915267,-0.08411015,-0.69707361,-0.06415882]

qacc:
[-3.72996225e-01,-1.16303090e+00, 7.71318186e+00,-2.10940392e+01,
 -7.33255322e-02, 3.44736769e+00,-1.32312270e+01, 2.46546910e+01,
 -3.72068754e+00, 3.76986715e+00,-1.50686767e+01, 2.66987554e+01,
 -1.63080124e-02,-2.08051360e-01,-1.10449239e+01, 3.74867143e+01,
  5.40606152e+00,-2.58708432e+00,-7.76611130e-01, 2.64436443e+01,
  1.80016931e+02,-1.01849398e+02]

qfrc_actuator:
[ 1.05929349e-04, 9.10552120e-04, 1.64532506e-04,-4.64106432e-05,
 -9.75124800e-06, 3.49303875e-02, 1.09503713e-02, 1.72823100e-03,
 -1.21013118e-04, 9.52865849e-04, 1.69791746e-04, 7.26627756e-05,
  0.00000000e+00,-1.59663410e-03, 0.00000000e+00,-8.29970874e-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,  5.22322303, -6.87784254,  5.22322303, 62.91253421,
       41.21881862, -6.87784254, 41.21881862, 39.9390696 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004776621303565778
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.98973041e-15, -2.32428521e-14,  1.00000000e+00,  1.85704122e-28,
        1.00000000e+00,  2.32428521e-14, -1.00000000e+00,  0.00000000e+00,
        7.98973041e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17865282, -0.01121209,  0.06176011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.11574197e-05, 2.31273773e-05,-1.73883963e-05, 5.89963671e-05,
 -2.22630163e-05, 5.65824316e-05,-2.02884667e-05, 3.43773138e-05,
  3.38795813e-03,-3.17663990e-05,-1.06351048e-05, 1.78306122e-04,
 -3.80191060e-05, 7.31814678e-05,-4.90458322e+00, 2.80844197e-04,
  3.46850501e-03,-5.36247799e-05]


--- 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,
  1.3962464 , 0.00768466, 1.338723  , 0.04414785,-0.08549467,-0.04628678,
  0.09243329, 0.70943225,-0.08327687,-0.69683646,-0.06472855]

qacc:
[-3.24909658e+00, 2.11531094e+00,-6.67423022e+00, 5.85168601e+00,
 -2.75085632e-02, 5.26564479e+00,-2.01926805e+01, 3.74367204e+01,
  3.75849276e+00, 1.51316577e+00,-4.71709653e+00, 5.57480011e+00,
  1.48803677e-02,-3.38579098e-01,-4.43185168e+00, 1.54523363e+01,
  4.68574526e+00,-2.24646324e+00,-1.96152786e+00, 2.26017552e+01,
  1.56439609e+02,-8.88234735e+01]

qfrc_actuator:
[ 8.66455125e-05, 9.10472198e-04, 1.22872949e-04,-5.26724031e-05,
 -5.15181850e-06, 3.49523281e-02, 1.09179855e-02, 1.81572623e-03,
 -9.75895900e-05, 9.72568842e-04, 1.53754357e-04, 7.42273507e-05,
  0.00000000e+00,-1.61776943e-03, 0.00000000e+00,-7.59509953e-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,  6.32409779, -5.88154435,  6.32409779, 46.00869838,
       40.18439468, -5.88154435, 40.18439468, 51.8444101 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004817097235845967
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.00295028e-15, -1.15237764e-14,  1.00000000e+00,  1.03747986e-28,
        1.00000000e+00,  1.15237764e-14, -1.00000000e+00,  0.00000000e+00,
        9.00295028e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17852415, -0.01125784,  0.06175771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.90304063e-06, 3.31008188e-05,-2.81120859e-05, 8.90484594e-05,
  2.27953003e-05, 4.85627759e-05,-5.67062300e-06, 3.95458240e-06,
  3.41302987e-03,-4.54800896e-05, 1.35269992e-05, 7.87272083e-05,
 -1.27542392e-04,-4.73953661e-05,-4.90429328e+00,-8.07361573e-05,
  3.55542906e-03,-8.09491000e-05]


--- 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,
  1.39624508, 0.00768436, 1.33882271, 0.04415355,-0.0854462 ,-0.04632002,
  0.09234733, 0.7099604 ,-0.08245194,-0.69634494,-0.0652812 ]

qacc:
[-2.00584664e+00, 6.31908249e-01,-3.76086741e+00, 8.86628403e+00,
  1.16452243e-01, 2.19254836e-01,-2.12937211e+00, 9.68152511e+00,
 -5.01998081e-01,-9.92241449e-01, 4.46381082e+00,-9.34653007e+00,
  4.64197773e-02,-5.85854587e-01,-4.59174001e+00, 1.59530930e+01,
  4.95426755e+00,-1.09683951e+00, 5.82457512e+00, 5.10326260e+00,
  1.75859033e+02, 2.76088006e+01]

qfrc_actuator:
[ 7.51576325e-05, 8.92457947e-04, 1.16090647e-04,-3.85642453e-05,
  3.31557647e-05, 3.49471899e-02, 1.09346239e-02, 1.84900620e-03,
 -1.01342292e-04, 9.30009468e-04, 1.44726974e-04, 5.72978379e-05,
  0.00000000e+00,-1.66587677e-03, 0.00000000e+00,-6.84281849e-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, -7.35443999,  4.52758095, -7.35443999, 22.82062079,
       23.04039825,  4.52758095, 23.04039825, 46.06235963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004856462667391058
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14303671e-14,  1.14303671e-14,  1.00000000e+00, -1.30653293e-28,
        1.00000000e+00, -1.14303671e-14, -1.00000000e+00,  0.00000000e+00,
        1.14303671e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13764951, -0.0362739 ,  0.06175529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.36381240e-05, 1.03460564e-05, 2.25267083e-05, 3.55171435e-05,
 -3.06239494e-06,-1.64641070e-05, 4.27483709e-07,-1.49716703e-05,
  3.43239967e-03,-7.55801310e-05, 1.19602845e-05, 8.06700614e-05,
 -1.60126567e-04,-2.34770785e-04,-4.90370814e+00,-5.74425324e-04,
  3.66158818e-03,-1.15621778e-04]


--- 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,
  1.39624358, 0.00768372, 1.33892252, 0.04415944,-0.08542806,-0.04635008,
  0.09227205, 0.71015045,-0.08173253,-0.69618781,-0.0657926 ]

qacc:
[-4.13125769e+00,-1.81066198e+00, 6.43321188e+00,-9.73749712e+00,
  1.47521086e-01,-2.30649078e+00, 7.35796456e+00,-9.24497862e+00,
  2.62368965e+00,-4.07976074e-01,-2.41653078e+00, 1.24486221e+01,
  7.52048708e-02,-3.40164716e-01,-4.44441464e-01, 1.76079106e+00,
 -7.58115433e+00, 7.95097109e-01, 2.67297419e+00,-2.61153326e+01,
 -2.41565321e+02, 2.65613872e+01]

qfrc_actuator:
[ 5.06030853e-05, 8.63990173e-04, 1.29900001e-04,-4.80811330e-05,
  5.58689880e-05, 3.48905277e-02, 1.09444255e-02, 1.83237170e-03,
 -8.55707887e-05, 8.50495534e-04, 1.39638048e-04, 8.28334849e-05,
  0.00000000e+00,-1.65873619e-03, 0.00000000e+00,-6.77827682e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005063003838072254
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.85254656e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.85254656e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00571613, -0.06576695,  0.06174565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.25920731e-05,-4.54667548e-05, 1.54320822e-05,-1.48360946e-05,
  1.56820471e-05,-8.93382844e-05,-8.96790287e-06, 2.45512834e-05,
  3.46034696e-03,-3.65821437e-05, 1.12545438e-05, 1.17636873e-05,
 -2.67503023e-05,-4.44607410e-04,-4.90328178e+00,-1.00604980e-03,
  3.68078613e-03,-1.46640027e-04]


--- Step 2477 ---
qpos:
[ 0.01866968, 0.03002276,-0.00947001,-0.02527991,-0.0035507 , 1.34080086,
 -0.02999841, 0.94383   , 0.01155725, 0.02727249,-0.00829809, 0.02641973,
  1.39624227, 0.00768303, 1.3390225 , 0.04416438,-0.08543598,-0.04637725,
  0.09220075, 0.71004892,-0.08109818,-0.69632026,-0.06627   ]

qacc:
[-2.49237794e+00,-1.13394079e+00, 3.85708035e+00,-5.78523467e+00,
  7.12311901e-02,-1.01230737e+00, 5.56450948e+00,-1.89117690e+01,
  1.64644822e+00,-2.14422004e+00, 8.42489710e+00,-1.56701656e+01,
  8.12091109e-02,-6.23187802e-02, 3.12897515e+00,-1.06276852e+01,
 -6.51511165e+00, 7.22627121e-01, 9.92450160e-01,-2.07599961e+01,
 -2.08506640e+02, 2.02544891e+01]

qfrc_actuator:
[ 3.63043625e-05, 8.47304864e-04, 1.37923167e-04,-5.36756012e-05,
  5.12896034e-05, 3.48744091e-02, 1.09143625e-02, 1.76871212e-03,
 -7.61780961e-05, 8.38263284e-04, 1.54521513e-04, 6.21055660e-05,
  0.00000000e+00,-1.63623067e-03, 0.00000000e+00,-7.29688938e-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,  8.53278317, -1.33356226,  8.53278317,  8.91357659,
        1.77374397, -1.33356226,  1.77374397, 19.98564459,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00521023126263153
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46496056e-14, -2.13085172e-14,  1.00000000e+00,  3.12161372e-28,
        1.00000000e+00,  2.13085172e-14, -1.00000000e+00,  0.00000000e+00,
        1.46496056e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00537107, -0.06564111,  0.06173872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.05891130e-05,-3.86969204e-05,-3.76348675e-05,-6.49145725e-05,
  9.82336879e-06,-6.30234716e-05,-3.83339626e-06,-2.43918334e-05,
  3.46898711e-03, 3.50395909e-06, 3.58604146e-06,-5.04361414e-05,
 -1.20682390e-04,-1.43067176e-04,-4.90405427e+00,-3.41645343e-04,
  3.61030618e-03,-1.50351629e-04]


--- Step 2478 ---
qpos:
[ 0.0186692 , 0.03002175,-0.00946964,-0.02527942,-0.00354999, 1.34080137,
 -0.02999903, 0.9438284 , 0.01155658, 0.02727302,-0.00829859, 0.0264192 ,
  1.39624096, 0.00768215, 1.33912248, 0.04416866,-0.08546635,-0.0464018 ,
  0.09212763, 0.70969476,-0.08053254,-0.69670396,-0.06671923]

qacc:
[ 1.53458663e+00, 7.80290392e-01,-5.98947336e+00, 1.69727882e+01,
 -3.03509917e-02,-1.26276047e+00, 8.36612473e+00,-2.87544492e+01,
 -4.91375841e+00,-1.63473141e+00, 8.13574517e+00,-1.89192829e+01,
  7.83861878e-02,-1.99180766e-01, 1.98019012e+00,-6.93121615e+00,
 -5.61507767e+00, 6.56126069e-01,-4.54947612e-01,-1.65036299e+01,
 -1.80575582e+02, 1.53602677e+01]

qfrc_actuator:
[ 4.59134291e-05, 8.37787941e-04, 1.42507372e-04,-2.14072806e-05,
  3.03752787e-05, 3.49180068e-02, 1.08966396e-02, 1.67789740e-03,
 -1.06126028e-04, 8.48703327e-04, 1.63542654e-04, 3.21323599e-05,
  0.00000000e+00,-1.65793604e-03, 0.00000000e+00,-7.62202701e-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,  8.52398005, -1.38871918,  8.52398005,  8.9717633 ,
        2.05868837, -1.38871918,  2.05868837, 21.27262506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005264186141064844
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31813232e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.31813232e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00523605, -0.06557124,  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:
[ 9.15921806e-06,-3.22363329e-05,-3.96571371e-06, 3.04019438e-05,
 -8.74812129e-06, 1.28776411e-05,-3.14790091e-05,-9.45860542e-05,
 -2.96793349e-05,-2.66567251e-05,-5.31608421e-06,-3.32823710e-05,
  3.45986159e-03,-1.62278441e-05,-6.18622575e-06,-3.54067672e-05,
 -9.04461427e-05, 4.23729788e-05,-4.90425365e+00, 1.73393442e-04,
  3.55178362e-03,-1.56648264e-04]


--- Step 2479 ---
qpos:
[ 0.01866885, 0.03002085,-0.00946939,-0.02527859,-0.00354943, 1.34080215,
 -0.03      , 0.94382675, 0.01155625, 0.02727314,-0.00829893, 0.02641867,
  1.39623981, 0.00768119, 1.33922249, 0.04417183,-0.08551615,-0.04642396,
  0.09204772, 0.70912064,-0.08002249,-0.69730615,-0.06714497]

qacc:
[ 1.01085068e+00, 1.20611629e+00,-5.52651364e+00, 1.15560470e+01,
 -6.22269495e-02, 1.18151985e+00,-3.32605256e+00, 2.14063750e+00,
  2.87731577e+00,-9.79057965e-01, 2.66519867e+00,-2.45223685e+00,
  7.77285431e-02,-9.12763572e-02, 3.37967390e+00,-1.17704651e+01,
 -4.85353370e+00, 5.94832646e-01,-1.69694275e+00,-1.31120045e+01,
 -1.56952173e+02, 1.15683631e+01]

qfrc_actuator:
[ 5.17614006e-05, 8.68164754e-04, 1.45083513e-04,-2.61948077e-06,
  1.75852804e-05, 3.49437856e-02, 1.08865871e-02, 1.67840882e-03,
 -8.79770809e-05, 8.19361798e-04, 1.69132509e-04, 3.24904377e-05,
  0.00000000e+00,-1.65273590e-03, 0.00000000e+00,-8.18536185e-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,  8.50384855, -1.50709546,  8.50384855,  9.07281485,
        2.46269405, -1.50709546,  2.46269405, 22.53221679,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005242637682387738
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97065046e-15, -2.11768024e-14,  1.00000000e+00,  8.40856803e-29,
        1.00000000e+00,  2.11768024e-14, -1.00000000e+00,  0.00000000e+00,
        3.97065046e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00526871, -0.06554565,  0.06173636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.79589473e-05, 2.38966963e-05,-1.38916436e-05,-2.22003406e-06,
  1.72731282e-05,-4.67970224e-05,-1.72144197e-06,-1.61370119e-06,
  3.45890800e-03,-1.11272506e-06,-8.68933122e-06,-5.95574260e-05,
  2.03727892e-05, 1.51145121e-04,-4.90407713e+00, 5.83397549e-04,
  3.49977006e-03,-1.64716630e-04]


--- 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,
  1.39623898, 0.00768037, 1.33932251, 0.04417363,-0.08554051,-0.04645083,
  0.0920072 , 0.70885253,-0.07950584,-0.6975963 ,-0.06757456]

qacc:
[-5.30001370e+00, 4.42191563e-01,-1.61120281e-01,-2.78661547e+00,
 -6.38241254e-02, 2.53509842e+00,-1.01096355e+01, 2.08345330e+01,
 -1.06303884e+00,-2.63855218e-01, 5.80065444e-01,-5.27900071e-01,
  6.69301834e-02, 9.97244823e-02, 4.21186164e+00,-1.46947383e+01,
  6.35718052e+00,-1.17498707e+00, 9.84729674e+00, 2.76654350e+00,
  2.17699510e+02, 1.90889015e+01]

qfrc_actuator:
[ 1.98358382e-05, 9.04436201e-04, 1.46607463e-04,-9.63840120e-06,
  9.77386480e-06, 3.49587808e-02, 1.08811435e-02, 1.73266322e-03,
 -9.49092000e-05, 8.19702818e-04, 1.72523264e-04, 3.29092703e-05,
  0.00000000e+00,-1.63143188e-03, 0.00000000e+00,-8.88449570e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0052657033168657386
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10840406e-14,  1.05420203e-14,  1.00000000e+00, -2.22268384e-28,
        1.00000000e+00, -1.05420203e-14, -1.00000000e+00,  0.00000000e+00,
        2.10840406e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13700821, -0.03635015,  0.06173483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.84235085e-05, 2.54234203e-05,-2.41704778e-06, 5.45112933e-05,
 -6.44250296e-06,-2.62472884e-05,-6.54106360e-06,-1.67671077e-06,
  3.45132086e-03, 2.41934001e-05,-1.22953442e-05,-7.47567941e-05,
  1.80132600e-04, 2.09890435e-04,-4.90366046e+00, 9.18168880e-04,
  3.45091299e-03,-1.74034242e-04]


--- Step 2481 ---
qpos:
[ 0.01866722, 0.03002009,-0.0094688 ,-0.02527735,-0.00354873, 1.34080453,
 -0.03000176, 0.94382408, 0.01155492, 0.027273  ,-0.00829971, 0.02641794,
  1.39623834, 0.00767961, 1.33942247, 0.04417455,-0.08554281,-0.04648179,
  0.09199573, 0.70884959,-0.07898288,-0.69761647,-0.06800901]

qacc:
[ 2.70047475e+00,-6.70663375e-01, 3.40920899e+00,-5.96539260e+00,
 -5.41128752e-02,-3.32634301e+00, 1.45480312e+01,-2.99713209e+01,
 -3.62477457e+00, 9.73215022e-01,-4.81740848e+00, 1.06699564e+01,
  5.26042678e-02, 3.23006605e-02, 2.51697877e+00,-8.96961072e+00,
  5.51587046e+00,-1.02402037e+00, 7.26320678e+00, 1.96000755e+00,
  1.88588693e+02, 1.57719326e+01]

qfrc_actuator:
[ 3.69443982e-05, 9.26188025e-04, 1.65275328e-04,-1.40209507e-05,
  5.01217097e-06, 3.50027688e-02, 1.09139417e-02, 1.65830890e-03,
 -1.16563657e-04, 8.37813748e-04, 1.74698242e-04, 5.11288532e-05,
  0.00000000e+00,-1.63615824e-03, 0.00000000e+00,-9.30284632e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005346554668428288
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07652048e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.07652048e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13689173, -0.03636788,  0.06173103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.56484773e-05, 5.92107416e-05, 3.90943771e-05,-7.23982220e-05,
 -2.18526555e-05, 2.01466353e-06,-4.10453407e-06, 1.68381293e-05,
  3.43498283e-03, 1.25170838e-05,-1.52358692e-05,-4.79023470e-05,
  1.00796200e-07, 9.37125474e-05,-4.90428986e+00, 4.03143800e-04,
  3.44765854e-03,-2.02830833e-04]


--- Step 2482 ---
qpos:
[ 0.01866712, 0.03001991,-0.00946775,-0.02527649,-0.00354854, 1.34080631,
 -0.03000226, 0.94382081, 0.01155344, 0.02727264,-0.00829971, 0.02641797,
  1.39623787, 0.00767886, 1.33952241, 0.04417427,-0.08552586,-0.04651634,
  0.09200451, 0.70907738,-0.07845394,-0.6974016 ,-0.06844893]

qacc:
[ 4.77803804e+00,-1.01934623e+00, 2.45643620e+00, 1.72240153e+00,
 -4.20184214e-02,-1.90430462e+00, 9.28744843e+00,-2.21914138e+01,
 -5.08114684e+00,-1.14581117e+00, 2.58284166e+00, 7.97039769e-01,
  4.34783084e-02, 2.17787247e-03, 3.61690549e+00,-1.26845427e+01,
  4.81212786e+00,-8.97667664e-01, 5.06240544e+00, 1.33234179e+00,
  1.64201244e+02, 1.31028570e+01]

qfrc_actuator:
[ 6.50365597e-05, 9.21399756e-04, 1.93870751e-04, 9.41472227e-07,
  2.11793237e-06, 3.50105973e-02, 1.09158189e-02, 1.59765606e-03,
 -1.46702200e-04, 8.13186555e-04, 1.93985286e-04, 6.19414317e-05,
  0.00000000e+00,-1.63872856e-03, 0.00000000e+00,-9.90738798e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005352544698352814
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03709832e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.03709832e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13687978, -0.03636615,  0.0617307 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.21395796e-05, 4.60426213e-05, 1.57818306e-05,-5.94070604e-05,
 -3.07790186e-05,-2.36295640e-05, 1.97864733e-05, 1.10868793e-05,
  3.42531200e-03, 6.87859224e-06,-1.35247838e-05,-6.53729113e-05,
 -4.88867462e-05,-1.74956439e-05,-4.90446185e+00, 9.35892090e-07,
  3.45125227e-03,-2.28178329e-04]


--- 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 ,
  1.39623734, 0.0076782 , 1.33962198, 0.04417559,-0.08549202,-0.04655406,
  0.09202607, 0.70950679,-0.07791934,-0.69698079,-0.06889465]

qacc:
[-8.93778542e+00, 1.50800704e+00,-7.04213842e+00, 1.59928227e+01,
 -3.08888478e-02, 3.64291991e+00,-1.71917838e+01, 4.35063096e+01,
 -2.98211951e+00, 5.92903466e-01,-4.92520157e+00, 1.40120510e+01,
  3.82740696e-02,-2.32513955e-03,-5.39789750e+00, 1.80809949e+01,
  4.22290929e+00,-7.91882584e-01, 3.19345090e+00, 8.41298318e-01,
  1.43746141e+02, 1.09507980e+01]

qfrc_actuator:
[ 1.05894812e-05, 9.36320837e-04, 1.92491502e-04, 2.71472323e-05,
  3.66676917e-07, 3.49788437e-02, 1.09170638e-02, 1.72306421e-03,
 -1.63835754e-04, 7.80980731e-04, 1.87542213e-04, 8.60372654e-05,
  0.00000000e+00,-1.63997166e-03, 0.00000000e+00,-9.01909649e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00529839706469689
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09539416e-14, -2.09539416e-14,  1.00000000e+00,  4.39067667e-28,
        1.00000000e+00,  2.09539416e-14, -1.00000000e+00,  0.00000000e+00,
        2.09539416e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13695113, -0.03634876,  0.06173311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.92344909e-06,-4.99794946e-06, 1.02995253e-05, 1.25874743e-04,
 -1.80455647e-05,-4.08598234e-05,-8.49953394e-06, 2.39853444e-05,
  3.41649123e-03, 5.49553883e-06,-1.48851610e-05, 8.31157396e-05,
 -1.09010228e-05,-1.22850746e-04,-4.90432954e+00,-3.18055117e-04,
  3.46123596e-03,-2.50920796e-04]


--- Step 2484 ---
qpos:
[ 0.01866453, 0.03002043,-0.00946597,-0.02527338,-0.00354823, 1.34080927,
 -0.03000313, 0.94382037, 0.01155028, 0.02727159,-0.00830037, 0.02641963,
  1.39623701, 0.00767766, 1.33972164, 0.04417626,-0.085482  ,-0.04658791,
  0.09204943, 0.70965638,-0.07742733,-0.696841  ,-0.06932129]

qacc:
[-2.57963033e+00, 1.93626334e+00,-7.62166103e+00, 1.33722469e+01,
  3.95408240e-02, 2.00608982e+00,-9.45314170e+00, 2.21775480e+01,
  4.21869453e+00, 3.53687207e+00,-1.44294611e+01, 2.54148953e+01,
  3.83396746e-02, 8.64232659e-02, 2.11531403e+00,-7.20298044e+00,
 -5.95456649e+00, 9.68361084e-01, 4.52454407e-01,-9.67781330e+00,
 -1.99423144e+02, 1.01891046e+00]

qfrc_actuator:
[-3.24394276e-06, 9.45063737e-04, 1.73499577e-04, 4.19947010e-05,
  1.70672237e-05, 3.49414855e-02, 1.09001292e-02, 1.77940803e-03,
 -1.37669426e-04, 8.33156811e-04, 1.65920077e-04, 1.17726168e-04,
  0.00000000e+00,-1.62275875e-03, 0.00000000e+00,-9.38866482e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005348774084152706
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.08100745e-15,  1.03782942e-14,  1.00000000e+00,  9.42453673e-29,
        1.00000000e+00, -1.03782942e-14, -1.00000000e+00,  0.00000000e+00,
       -9.08100745e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00501958, -0.06538593,  0.06173105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.14265641e-05,-3.43369561e-05,-1.30512921e-05, 5.94147099e-05,
  2.56208273e-05, 2.86113280e-05,-3.02734580e-05, 3.01113577e-05,
  3.41978339e-03, 1.79943812e-05, 1.44845015e-06,-3.44593612e-05,
  8.46906152e-05,-2.22218104e-04,-4.90399853e+00,-5.74960297e-04,
  3.47709118e-03,-2.71670592e-04]


--- 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,
  1.39623704, 0.00767723, 1.33982153, 0.04417447,-0.08549265,-0.04661836,
  0.0920692 , 0.7095635 ,-0.07697034,-0.69694524,-0.06973189]

qacc:
[ 4.56963063e+00, 1.76193159e+00,-6.88089524e+00, 1.09049770e+01,
  1.18985021e-01,-3.68207820e-01, 2.28326845e+00,-9.94604624e+00,
  5.68924945e+00, 1.45274942e+00,-4.38927941e+00, 4.54024156e+00,
  2.35762142e-02, 1.34851955e-01, 7.78134125e+00,-2.67087354e+01,
 -5.16996829e+00, 8.49746079e-01,-9.00728685e-01,-7.76454606e+00,
 -1.72904554e+02, 4.55226138e-02]

qfrc_actuator:
[ 2.47177254e-05, 9.32195190e-04, 1.44238935e-04, 5.00268720e-05,
  4.47015519e-05, 3.49187122e-02, 1.08724957e-02, 1.74133997e-03,
 -1.03983036e-04, 8.64392873e-04, 1.53614931e-04, 1.18185448e-04,
  0.00000000e+00,-1.61228669e-03, 0.00000000e+00,-1.06743121e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.47589972,  1.657076  ,  8.47589972, 10.02454604,
       -7.1005161 ,  1.657076  , -7.1005161 , 44.95531487,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005382865268171902
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.02349491e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.02349491e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00495397, -0.06535787,  0.06172973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.43855657e-05,-4.25428731e-05,-3.40936630e-05,-3.81036547e-05,
  3.44450659e-05, 4.22954482e-05,-9.07495513e-06, 1.22236149e-06,
  3.40924776e-03, 2.25660083e-05,-5.12466927e-06,-1.30767352e-04,
 -1.59542190e-05,-8.15083811e-05,-4.90445089e+00,-2.07663044e-04,
  3.46556577e-03,-2.77646440e-04]


--- 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,
  1.3962374 , 0.00767693, 1.33992147, 0.04417049,-0.08552134,-0.04664581,
  0.09208072, 0.70925941,-0.07654224,-0.69726202,-0.07012886]

qacc:
[ 2.94418013e+00,-3.81596596e-01, 4.98604704e-01, 1.16166857e+00,
  1.26424426e-01, 7.56963383e-01,-2.97702874e+00, 5.03812105e+00,
  3.50766879e+00,-6.58670326e-01, 1.58772204e+00,-6.93933328e-01,
  1.70361890e-03, 1.67564033e-01, 6.72820778e+00,-2.34239081e+01,
 -4.50695930e+00, 7.47831906e-01,-2.05856112e+00,-6.22051641e+00,
 -1.50538537e+02,-6.41473104e-01]

qfrc_actuator:
[ 4.15374433e-05, 9.06421932e-04, 1.44565666e-04, 5.39630297e-05,
  6.09182917e-05, 3.49402442e-02, 1.08742844e-02, 1.75455283e-03,
 -8.39073413e-05, 8.11856110e-04, 1.46832728e-04, 1.18017729e-04,
  0.00000000e+00,-1.60589046e-03, 0.00000000e+00,-1.17788609e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.4472485 ,  1.79743419,  8.4472485 , 10.3831153 ,
       -8.20906015,  1.79743419, -8.20906015, 47.215785  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005346666470822735
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16801834e-14, -2.07647705e-14,  1.00000000e+00,  2.42536329e-28,
        1.00000000e+00,  2.07647705e-14, -1.00000000e+00,  0.00000000e+00,
        1.16801834e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00504524, -0.06536528,  0.06173143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.65358366e-05,-9.82252075e-06,-1.15313439e-05, 1.00506329e-05,
  2.10988648e-05,-3.06899617e-05, 8.85552377e-07, 1.35265160e-06,
  3.39084608e-03, 2.38742541e-05,-1.87499596e-05,-1.18844618e-04,
 -1.86598732e-05, 1.15890409e-05,-4.90453089e+00, 1.11231052e-04,
  3.44942222e-03,-2.84723323e-04]


--- Step 2487 ---
qpos:
[ 0.01866304, 0.03002114,-0.00946444,-0.02526742,-0.0035462 , 1.34081279,
 -0.03000665, 0.94381961, 0.01154935, 0.02727098,-0.00830314, 0.02642308,
  1.39623809, 0.00767652, 1.34002167, 0.04416217,-0.08556581,-0.04667063,
  0.09208007, 0.70877029,-0.07613805,-0.69776459,-0.07051413]

qacc:
[ 4.74962268e+00,-1.70995474e+00, 4.99330614e+00,-4.58427764e+00,
 -1.62749889e-02, 1.16336399e+00,-2.92395843e+00,-8.29157040e-03,
  2.07677393e+00,-1.74485555e-01, 1.97575090e-01,-7.17877694e-03,
 -1.76652374e-02, 4.20090024e-02, 1.34977033e+01,-4.66430740e+01,
 -3.94582283e+00, 6.60142664e-01,-3.04566178e+00,-4.97011987e+00,
 -1.31678385e+02,-1.11720123e+00]

qfrc_actuator:
[ 6.94028878e-05, 8.73222666e-04, 1.62298653e-04, 5.54668255e-05,
  3.46491108e-05, 3.49705210e-02, 1.08581438e-02, 1.74464803e-03,
 -7.20068428e-05, 7.98339779e-04, 1.43022073e-04, 1.17417994e-04,
  0.00000000e+00,-1.61976774e-03, 0.00000000e+00,-1.40101763e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.44424603,  1.81148719,  8.44424603, 10.53755842,
       -8.8624179 ,  1.81148719, -8.8624179 , 49.94851727,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005254357204159434
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.24418638e-15, -2.11295689e-14,  1.00000000e+00,  1.95325673e-28,
        1.00000000e+00,  2.11295689e-14, -1.00000000e+00,  0.00000000e+00,
        9.24418638e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00526048, -0.06540057,  0.06173554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.67843124e-06, 2.28846924e-05,-1.90797667e-05,-1.03054975e-05,
  1.25062512e-05,-3.04155430e-05,-9.98534736e-06,-1.85908905e-06,
  3.37457886e-03, 3.19071101e-06,-2.29762859e-05,-2.32432892e-04,
  4.29705286e-05, 7.16399508e-05,-4.90436434e+00, 3.91089459e-04,
  3.42895662e-03,-2.92729373e-04]


--- Step 2488 ---
qpos:
[ 0.01866405, 0.03002076,-0.00946401,-0.02526604,-0.00354575, 1.34081398,
 -0.03000796, 0.94382022, 0.01154914, 0.02727042,-0.00830386, 0.0264242 ,
  1.39623898, 0.00767624, 1.34012162, 0.04415222,-0.08558853,-0.04669961,
  0.09210685, 0.70853939,-0.07572186,-0.6980041 ,-0.07091122]

qacc:
[ 8.77457272e+00,-5.94343789e-01, 4.47861154e+00,-1.51848875e+01,
 -1.26480633e-01, 8.32668308e-01,-4.86856491e+00, 1.50669550e+01,
 -1.71565063e+00,-7.59953361e-01, 2.69785280e+00,-3.73183488e+00,
 -3.92479500e-02, 1.73694190e-01, 4.57458368e+00,-1.65032976e+01,
  5.43734627e+00,-1.04124040e+00, 6.85883808e+00, 6.87648745e-01,
  1.84184436e+02, 1.07477615e+01]

qfrc_actuator:
[ 1.21302645e-04, 8.53655368e-04, 1.36859819e-04, 2.00218179e-05,
  8.58640957e-07, 3.49524723e-02, 1.08670694e-02, 1.79221246e-03,
 -8.27611955e-05, 8.08295775e-04, 1.58879976e-04, 1.16593860e-04,
  0.00000000e+00,-1.61010864e-03, 0.00000000e+00,-1.47571087e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005245017303492701
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11671947e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.11671947e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13703149, -0.03631835,  0.06173595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.65543680e-05,-9.43914367e-06, 1.09284748e-05, 4.74531291e-05,
 -1.04003341e-05,-9.16643403e-06, 8.29359779e-06,-2.50935405e-06,
  3.35746635e-03, 1.85481950e-05,-3.78849938e-05,-9.09270702e-05,
  1.44995798e-04, 1.08858290e-04,-4.90403813e+00, 6.38911483e-04,
  3.40449623e-03,-3.01532759e-04]


--- Step 2489 ---
qpos:
[ 0.01866567, 0.03002   ,-0.0094638 ,-0.02526578,-0.00354565, 1.34081481,
 -0.03000816, 0.94382102, 0.01154846, 0.02726962,-0.00830351, 0.0264256 ,
  1.39623991, 0.00767656, 1.3402209 , 0.04414508,-0.08559224,-0.04673226,
  0.09215261, 0.70853378,-0.07529486,-0.69801439,-0.07131954]

qacc:
[ 5.27409262e+00,-2.18602633e+00, 1.17578475e+01,-3.04068786e+01,
 -1.44748920e-01,-3.11957743e+00, 9.22384268e+00,-5.57420906e+00,
 -3.99193935e+00,-2.71165935e+00, 8.01990473e+00,-4.67481224e+00,
 -5.40865502e-02, 4.34906181e-01,-9.47317596e+00, 3.17280516e+01,
  4.75289830e+00,-9.16574628e-01, 4.74372698e+00, 3.13045976e-01,
  1.60644361e+02, 8.91177101e+00]

qfrc_actuator:
[ 1.51424729e-04, 8.24445537e-04, 1.21657918e-04,-3.69020383e-05,
 -1.94159089e-05, 3.49412604e-02, 1.09260841e-02, 1.80219925e-03,
 -1.06760811e-04, 8.14560157e-04, 2.21830344e-04, 1.33432738e-04,
  0.00000000e+00,-1.56877666e-03, 0.00000000e+00,-1.32029172e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00525173110892458
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05700673e-14,  1.05700673e-14,  1.00000000e+00, -1.11726323e-28,
        1.00000000e+00, -1.05700673e-14, -1.00000000e+00,  0.00000000e+00,
        1.05700673e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13702733, -0.0363165 ,  0.06173583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16459439e-05,-6.24976401e-05,-2.98004999e-05,-6.07187241e-05,
 -4.18771098e-05,-1.28765068e-05, 5.98046379e-05, 1.11245866e-05,
 -2.43099047e-05, 2.76591703e-06, 6.20042734e-05, 1.66849389e-05,
  3.34786634e-03, 5.32346003e-05,-2.77189769e-05, 1.45464291e-04,
  2.16873527e-05, 4.46102754e-05,-4.90447217e+00, 2.75369710e-04,
  3.39984285e-03,-3.24399247e-04]


--- Step 2490 ---
qpos:
[ 0.01866765, 0.03001901,-0.00946388,-0.02526622,-0.00354584, 1.34081567,
 -0.03000769, 0.94382054, 0.01154784, 0.02726864,-0.00830237, 0.02642685,
  1.39624076, 0.00767748, 1.34031971, 0.04414214,-0.08557922,-0.04676815,
  0.09221016, 0.7087257 ,-0.07485808,-0.69782358,-0.07173848]

qacc:
[ 2.98917705e+00,-9.60273050e-01, 5.91374845e+00,-1.73582930e+01,
 -1.27078975e-01,-3.97443793e+00, 1.56395449e+01,-2.84267225e+01,
  5.56621393e-01,-2.76543705e+00, 1.01501657e+01,-1.38383368e+01,
 -5.73505525e-02, 3.97205682e-01,-1.34101542e+01, 4.59141660e+01,
  4.18116686e+00,-8.12440025e-01, 2.95001484e+00, 2.47210108e-02,
  1.40927273e+02, 7.44262403e+00]

qfrc_actuator:
[ 1.68479590e-04, 8.25200915e-04, 1.12588078e-04,-7.04911245e-05,
 -3.14177495e-05, 3.49521655e-02, 1.09609124e-02, 1.73674735e-03,
 -1.02851513e-04, 8.01035133e-04, 2.58824967e-04, 1.25053994e-04,
  0.00000000e+00,-1.54446858e-03, 0.00000000e+00,-1.10160041e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005200479986610079
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.13484722e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.13484722e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13710309, -0.03629891,  0.06173837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.67499986e-05, 1.58093638e-05, 3.94418673e-05,-6.38250312e-05,
  3.19322454e-06, 1.55592553e-06, 4.57828969e-05,-5.79131310e-06,
  3.34526414e-03, 4.74405759e-05, 3.72149548e-06, 2.23320357e-04,
 -9.14665426e-06,-2.15063181e-05,-4.90458256e+00,-1.96115504e-05,
  3.40190052e-03,-3.45202627e-04]


--- 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,
  1.3962419 , 0.00767905, 1.34041864, 0.04414049,-0.08555139,-0.04680695,
  0.09227345, 0.70909173,-0.07441243,-0.69745507,-0.0721674 ]

qacc:
[-4.30929342e+00, 1.56392733e+00,-5.18417897e+00, 4.87895640e+00,
 -3.77593010e-02, 2.56239979e+00,-1.18978679e+01, 2.97956943e+01,
  4.38669835e-01,-1.45467805e-02, 1.09102238e-01,-9.01329805e-01,
 -6.27388737e-02, 5.43145055e-01,-3.69537405e+00, 1.32352701e+01,
  3.70349101e+00,-7.25435403e-01, 1.43328667e+00,-1.99106791e-01,
  1.24410542e+02, 6.26390942e+00]

qfrc_actuator:
[ 1.42208757e-04, 8.43940673e-04, 8.95940533e-05,-7.22980183e-05,
 -2.06082197e-05, 3.49405968e-02, 1.09634638e-02, 1.82270474e-03,
 -1.00294663e-04, 7.75659407e-04, 2.44579032e-04, 1.19613036e-04,
  0.00000000e+00,-1.49510081e-03, 0.00000000e+00,-1.04274403e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005103217738310621
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.17553528e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.17553528e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13724186, -0.0362688 ,  0.06174301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.09074459e-05, 2.96577145e-06, 8.25860083e-06, 8.61107324e-05,
  2.64763135e-06,-1.52784508e-05,-8.49137288e-06,-3.90628989e-06,
  3.34920908e-03, 6.71834100e-05, 2.53717627e-05, 7.15196612e-05,
  2.25606099e-05,-8.76220220e-05,-4.90447369e+00,-2.62486830e-04,
  3.40999576e-03,-3.64410217e-04]


--- 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,
  1.39624335, 0.00768102, 1.34051788, 0.04413792,-0.08554421,-0.04684191,
  0.09233293, 0.70921404,-0.0739862 ,-0.69733256,-0.07258634]

qacc:
[-5.74531137e+00,-7.80325039e-01, 2.25258731e+00,-2.54055007e+00,
  6.08541256e-04, 5.84783569e+00,-2.45728832e+01, 5.32147762e+01,
  2.82526323e-01, 2.84078992e+00,-1.27254643e+01, 2.44785587e+01,
 -8.24079061e-02, 4.08460867e-01, 3.26835365e+00,-1.07411790e+01,
 -5.16325341e+00, 9.59043995e-01,-9.52576448e-01,-3.59578840e+00,
 -1.73279565e+02,-7.63789072e+00]

qfrc_actuator:
[ 1.08404604e-04, 8.20029755e-04, 9.41672319e-05,-7.31385563e-05,
 -1.39556676e-05, 3.49511218e-02, 1.09469695e-02, 1.96155904e-03,
 -9.85635711e-05, 7.78672516e-04, 2.17904754e-04, 1.51409695e-04,
  0.00000000e+00,-1.48425678e-03, 0.00000000e+00,-1.09630685e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0050695051147881115
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.64250208e-14,  1.64250208e-14,  1.00000000e+00, -2.69781308e-28,
        1.00000000e+00, -1.64250208e-14, -1.00000000e+00,  0.00000000e+00,
        1.64250208e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0057517 , -0.06547657,  0.06174489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.06510709e-07, 1.63646105e-05,-1.24487897e-05, 1.41185695e-04,
  1.80173288e-06,-7.42931699e-06,-3.10145451e-05, 3.07692161e-05,
  3.33435138e-03, 4.51649482e-05, 1.71359374e-05,-4.69065353e-05,
  9.66808301e-05,-1.52725283e-04,-4.90421802e+00,-4.65313875e-04,
  3.42351965e-03,-3.82368103e-04]


--- 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,
  1.39624441, 0.0076829 , 1.34061687, 0.04413743,-0.08555512,-0.04687353,
  0.09238411, 0.70912371,-0.07357639,-0.69742495,-0.07299669]

qacc:
[-5.74368513e-01,-1.66360726e-01, 4.25297669e-01,-6.66368038e-01,
  1.46562924e-02,-2.39743689e+00, 1.04182895e+01,-2.25971189e+01,
  1.79355939e-01, 2.70692892e+00,-8.82865715e+00, 9.61363821e+00,
 -8.80973402e-02,-6.37769623e-02,-6.66916725e+00, 2.28074597e+01,
 -4.52210316e+00, 8.36728663e-01,-2.07325350e+00,-2.89195985e+00,
 -1.51259379e+02,-6.89394285e+00]

qfrc_actuator:
[ 1.05956352e-04, 8.24140797e-04, 9.70620687e-05,-7.34217578e-05,
 -9.85252617e-06, 3.49570058e-02, 1.09549712e-02, 1.89961697e-03,
 -9.73320671e-05, 8.16377537e-04, 1.84258108e-04, 1.51625210e-04,
  0.00000000e+00,-1.53203185e-03, 0.00000000e+00,-9.84837584e-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,   6.12989164,   6.08368353,   6.12989164,
        44.26748626, -35.90175581,   6.08368353, -35.90175581,
        44.8108082 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005059221712384279
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.48613546e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.48613546e-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([ 0.00579523, -0.06548289,  0.06174572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.22528153e-06, 1.67442493e-05, 1.39309147e-05,-5.85348900e-05,
  1.27926450e-06, 2.84887261e-05,-3.79354514e-05,-5.80292596e-07,
  3.31890787e-03,-2.23120174e-05, 4.34364907e-09, 1.10432837e-04,
  1.15654430e-05,-6.38960871e-05,-4.90453537e+00,-1.86823912e-04,
  3.42264421e-03,-3.89325582e-04]


--- Step 2494 ---
qpos:
[ 0.01867101, 0.03001443,-0.0094668 ,-0.02526769,-0.003547  , 1.34081932,
 -0.03000531, 0.94382946, 0.01154539, 0.02726582,-0.00830126, 0.02643308,
  1.39624489, 0.00768469, 1.34071551, 0.04414095,-0.08558196,-0.04690221,
  0.09242319, 0.70884672,-0.07318051,-0.69770585,-0.07339953]

qacc:
[-3.28868013e+00, 3.52838038e+00,-1.44535115e+01, 2.63008974e+01,
 -4.38475291e-02,-5.54570003e+00, 2.15639718e+01,-3.95589869e+01,
 -2.79253610e+00,-2.89784932e-01, 3.87473255e+00,-1.17858081e+01,
 -6.33881980e-02,-1.42476858e-01,-1.26596849e+01, 4.35029611e+01,
 -3.98066459e+00, 7.33280164e-01,-3.02838846e+00,-2.30742056e+00,
 -1.32714944e+02,-6.22932179e+00]

qfrc_actuator:
[ 8.64811115e-05, 8.80509421e-04, 8.12859547e-05,-3.78551517e-05,
 -2.50652020e-05, 3.49422883e-02, 1.09949868e-02, 1.80877545e-03,
 -1.14156535e-04, 8.74511093e-04, 2.00147795e-04, 1.33280325e-04,
  0.00000000e+00,-1.54364589e-03, 0.00000000e+00,-7.76990435e-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,   5.99550512,   6.21616403,   5.99550512,
        46.64143104, -36.65597871,   6.21616403, -36.65597871,
        43.99114306,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004992600748359291
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.11186842e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.11186842e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00596455, -0.06551519,  0.06174897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.27149559e-05,-4.49239498e-06, 4.31620944e-05,-9.12810105e-05,
 -1.67774122e-05, 6.62240905e-05, 1.70875518e-05,-1.84501591e-05,
  3.33856358e-03,-2.96531162e-05, 1.01667839e-05, 2.13541835e-04,
  3.34919802e-06,-1.18665436e-06,-4.90457533e+00, 7.09894600e-05,
  3.41553833e-03,-3.97069437e-04]


--- 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,
  1.39624538, 0.0076863 , 1.34081463, 0.04414291,-0.08562288,-0.04692831,
  0.0924469 , 0.7084048 ,-0.07279648,-0.69815292,-0.07379572]

qacc:
[-7.94174730e+00, 9.75329478e-02,-3.84213943e-02, 5.32399523e-01,
 -5.68955661e-02,-1.39815202e+00, 6.78059304e+00,-1.81984595e+01,
  1.29238795e+00,-1.88422651e+00, 7.99420554e+00,-1.29412979e+01,
 -4.06554168e-02,-6.10284292e-02, 5.45041170e+00,-1.79992046e+01,
 -3.52282465e+00, 6.45722286e-01,-3.83977969e+00,-1.81897297e+00,
 -1.17109606e+02,-5.64273211e+00]

qfrc_actuator:
[ 3.93771981e-05, 8.96689409e-04, 9.03656900e-05,-3.47026606e-05,
 -3.39899847e-05, 3.49331948e-02, 1.09824937e-02, 1.75496099e-03,
 -1.05968373e-04, 8.73607101e-04, 2.27498297e-04, 1.21976527e-04,
  0.00000000e+00,-1.53351993e-03, 0.00000000e+00,-8.69125593e-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,   5.9874741 ,   6.22389996,   5.9874741 ,
        48.44277017, -38.29428969,   6.22389996, -38.29428969,
        45.47597693,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004881372396473106
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.68601888e-15,  8.52902832e-15,  1.00000000e+00, -4.84962161e-29,
        1.00000000e+00, -8.52902832e-15, -1.00000000e+00,  0.00000000e+00,
        5.68601888e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00623253, -0.06556779,  0.06175412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.64386922e-05,-5.88531231e-06,-1.11380086e-05,-5.47957290e-05,
  7.71973915e-06, 3.88624467e-05, 4.24967466e-05,-8.23551336e-06,
  3.36688337e-03,-1.47953060e-05, 2.60155103e-05,-7.94599463e-05,
  4.67114094e-05, 4.23931752e-05,-4.90442837e+00, 3.08815254e-04,
  3.40300706e-03,-4.05562466e-04]


--- 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,
  1.39624611, 0.0076878 , 1.34091417, 0.04414144,-0.08564397,-0.04695862,
  0.09249134, 0.70819615,-0.07239889,-0.69836258,-0.07420458]

qacc:
[-4.79169107e+00,-1.33508907e+00, 4.61557468e+00,-4.72402578e+00,
  1.02263220e-02,-2.21996467e+00, 1.09409086e+01,-2.91704357e+01,
  6.77223953e+00, 1.76238155e-01,-1.61645797e+00, 5.70165512e+00,
 -4.74420688e-02, 4.89085896e-02, 1.09598871e+01,-3.74433363e+01,
  4.95994384e+00,-1.05304296e+00, 5.18185508e+00, 1.12985752e-01,
  1.66486808e+02, 8.02989567e+00]

qfrc_actuator:
[ 1.18986670e-05, 8.88760448e-04, 1.13883221e-04,-3.29082408e-05,
 -2.13173297e-05, 3.49451120e-02, 1.09746444e-02, 1.67008177e-03,
 -6.53653425e-05, 8.55176663e-04, 2.25652917e-04, 1.32615976e-04,
  0.00000000e+00,-1.52798093e-03, 0.00000000e+00,-1.04852296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004887196032060635
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13584867e-14, -2.27169734e-14,  1.00000000e+00,  2.58030441e-28,
        1.00000000e+00,  2.27169734e-14, -1.00000000e+00,  0.00000000e+00,
        1.13584867e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13756895, -0.03618462,  0.06175401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.95809406e-06, 4.82781428e-06,-1.18772658e-05,-8.66504626e-05,
  4.08421342e-05, 1.17178708e-05, 1.11227323e-05, 1.36109546e-05,
  3.36613756e-03,-3.26892241e-07,-6.79443275e-07,-1.81365006e-04,
  1.23592495e-04, 7.19775254e-05,-4.90415723e+00, 5.27897171e-04,
  3.38571030e-03,-4.14754457e-04]


--- Step 2497 ---
qpos:
[ 0.0186682 , 0.03001256,-0.0094685 ,-0.0252671 ,-0.00354833, 1.34082225,
 -0.03000193, 0.94382656, 0.01154471, 0.02726579,-0.00829967, 0.02643723,
  1.39624663, 0.00768928, 1.34101333, 0.04414087,-0.08564759,-0.04699265,
  0.09254922, 0.70819233,-0.07198895,-0.69836397,-0.07462563]

qacc:
[ 2.06767975e-01,-4.55941287e-01, 1.88403442e+00,-2.12321324e+00,
  3.30123448e-02,-1.17918157e-01,-1.22157435e+00, 9.36180090e+00,
 -1.71964126e+00,-6.73068714e-01, 1.05241308e+00, 1.70816365e+00,
 -5.56458731e-02,-1.10919423e-02,-3.21955435e+00, 1.04744111e+01,
  4.36586262e+00,-9.29526716e-01, 3.35949741e+00,-1.95094211e-01,
  1.46162851e+02, 6.50535279e+00]

qfrc_actuator:
[ 1.39529525e-05, 9.02020189e-04, 1.27874880e-04,-3.19390938e-05,
 -1.35437235e-05, 3.49517557e-02, 1.10051799e-02, 1.70963723e-03,
 -7.70270002e-05, 8.08536751e-04, 2.24259621e-04, 1.38284996e-04,
  0.00000000e+00,-1.54294761e-03, 0.00000000e+00,-9.93750469e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004871464981896417
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.27903316e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.27903316e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13759716, -0.03617463,  0.06175498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.52220226e-06, 4.37618702e-06, 2.75825960e-05, 3.73435294e-05,
 -1.04613362e-05,-3.72053336e-05, 2.85605938e-06, 6.81468589e-06,
  3.35442479e-03,-9.97520462e-06,-2.30510670e-05, 4.39788513e-05,
  2.71598505e-05, 2.40496425e-05,-4.90450195e+00, 2.08802345e-04,
  3.38125054e-03,-4.36366361e-04]


--- Step 2498 ---
qpos:
[ 0.01866747, 0.0300125 ,-0.00946836,-0.02526726,-0.00354834, 1.34082289,
 -0.03000009, 0.94382635, 0.01154413, 0.02726513,-0.00829913, 0.02643821,
  1.39624653, 0.00769061, 1.34111191, 0.04414459,-0.08563573,-0.04702999,
  0.09261436, 0.70836934,-0.07156771,-0.69818134,-0.07505834]

qacc:
[ 3.24187485e+00,-1.19909834e+00, 6.70000915e+00,-1.41047576e+01,
  1.58946181e-01,-2.25525583e-01,-1.51080369e+00, 1.13282702e+01,
 -4.12295645e+00,-1.34222174e+00, 6.47686703e+00,-1.62324185e+01,
 -3.56591827e-02,-2.17126251e-01,-1.38980165e+01, 4.73319581e+01,
  3.86967588e+00,-8.26781749e-01, 1.81697205e+00,-4.30044042e-01,
  1.29146150e+02, 5.30202188e+00]

qfrc_actuator:
[ 3.33672317e-05, 9.45579139e-04, 1.53956753e-04,-4.92092121e-05,
  2.67323310e-05, 3.49199062e-02, 1.10226841e-02, 1.75111899e-03,
 -1.01616291e-04, 7.63096592e-04, 2.05268232e-04, 1.05452482e-04,
  0.00000000e+00,-1.57025569e-03, 0.00000000e+00,-7.65907737e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00480682675849399
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.30967971e-14, -1.15483986e-14,  1.00000000e+00,  2.66731019e-28,
        1.00000000e+00,  1.15483986e-14, -1.00000000e+00,  0.00000000e+00,
        2.30967971e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13769274, -0.0361513 ,  0.06175819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.59032467e-05,-2.29197256e-05, 2.25902145e-05, 4.32897150e-05,
 -2.49086935e-05,-6.53713274e-05,-2.60979923e-05,-3.41996504e-05,
  3.36452699e-03,-3.59917088e-05,-6.65024684e-06, 2.27129637e-04,
  5.48515263e-06,-2.83839129e-05,-4.90458312e+00,-5.59441797e-05,
  3.38294627e-03,-4.56367764e-04]


--- 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,
  1.396246  , 0.00769139, 1.3412107 , 0.04414865,-0.08561005,-0.04707029,
  0.09268157, 0.70870699,-0.07113613,-0.69783485,-0.07550215]

qacc:
[ 2.04685789e+00, 1.18286892e-01,-1.38191329e-01, 1.80927281e+00,
  1.76688395e-01, 1.11889802e+00,-3.69155998e+00, 1.66512097e+00,
 -2.48506051e+00,-6.97481143e-01, 4.24279723e+00,-1.17955719e+01,
  1.65407822e-03,-4.49851656e-01,-6.92881761e-01, 2.85004942e+00,
  3.45530038e+00,-7.41321956e-01, 5.14941190e-01,-6.11319808e-01,
  1.14904401e+02, 4.34925545e+00]

qfrc_actuator:
[ 4.50815397e-05, 9.71474356e-04, 1.69337088e-04,-4.15299475e-05,
  5.06757841e-05, 3.48829779e-02, 1.09789168e-02, 1.74007881e-03,
 -1.15848050e-04, 7.89618474e-04, 2.11506645e-04, 8.57190489e-05,
  0.00000000e+00,-1.60483799e-03, 0.00000000e+00,-7.57542978e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004703572294233127
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18019130e-14, -1.18019130e-14,  1.00000000e+00,  1.39285152e-28,
        1.00000000e+00,  1.18019130e-14, -1.00000000e+00,  0.00000000e+00,
        1.18019130e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13784117, -0.03611739,  0.06176316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.10693470e-05,-4.38920920e-05,-4.44135749e-05,-1.00598987e-05,
 -1.49828777e-05,-1.68858390e-05,-1.16632211e-05,-2.41044557e-05,
  3.39544164e-03,-6.32660466e-05, 2.06587300e-05, 1.98378154e-05,
  3.53105871e-05,-8.31066082e-05,-4.90448255e+00,-2.79035459e-04,
  3.39020089e-03,-4.75122265e-04]


--- 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,
  1.39624501, 0.00769129, 1.34130975, 0.04415146,-0.08560381,-0.04710681,
  0.09274231, 0.7088173 ,-0.07071571,-0.69771819,-0.07593851]

qacc:
[ 1.24050373e+00,-3.73608569e-01, 2.55035072e+00,-6.31944833e+00,
  9.12638975e-02, 2.73077563e+00,-1.23772176e+01, 2.58554569e+01,
 -4.34236179e+00,-9.63273732e-01, 4.93499406e+00,-1.04042677e+01,
  3.21915140e-02,-6.84180956e-01, 4.11728451e+00,-1.38876068e+01,
 -4.85973659e+00, 9.45492326e-01,-1.61657240e+00,-7.64745502e-01,
 -1.61453103e+02,-1.02248141e+01]

qfrc_actuator:
[ 5.21638783e-05, 9.51068135e-04, 1.60478734e-04,-5.47544437e-05,
  4.68745543e-05, 3.48430233e-02, 1.09525328e-02, 1.80469312e-03,
 -1.41617036e-04, 8.23628831e-04, 2.32902672e-04, 7.39372731e-05,
  0.00000000e+00,-1.66107066e-03, 0.00000000e+00,-8.25353737e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00464240260138211
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.70092902e-07,  5.70092926e-07,  1.00000000e+00,  3.25005931e-13,
        1.00000000e+00, -5.70092926e-07, -1.00000000e+00,  0.00000000e+00,
       -5.70092902e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00681537, -0.06586668,  0.06176627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.63771901e-05,-7.32285637e-05,-4.03215611e-05, 6.17610249e-05,
 -2.62139871e-05, 2.11382019e-05, 1.56396345e-05,-1.33780978e-05,
  3.41636728e-03,-9.17583788e-05, 7.97386880e-06,-6.48947034e-05,
  1.00897029e-04,-1.38791064e-04,-4.90425735e+00,-4.69829840e-04,
  3.40248046e-03,-4.92900039e-04]


--- 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,
  1.39624392, 0.00769071, 1.34140895, 0.04415245,-0.08561466,-0.04713932,
  0.09279285, 0.70872901,-0.07032003,-0.69780328,-0.07634701]

qacc:
[ 7.53147167e-01,-2.31503652e-01, 1.43116207e+00,-3.70304505e+00,
  4.47047119e-02, 1.88456578e+00,-8.25952531e+00, 1.60697335e+01,
  3.31545992e+00, 7.36448911e-01, 1.57236463e-01,-8.06073877e+00,
  5.38062934e-02,-3.82098973e-01, 5.72922559e+00,-1.97537273e+01,
 -4.27219927e+00, 1.00190378e+00,-2.54888617e+00, 1.58665416e+00,
 -1.42713128e+02, 3.83417328e+00]

qfrc_actuator:
[ 5.64654037e-05, 9.38473456e-04, 1.54924608e-04,-6.24800438e-05,
  4.42139965e-05, 3.48371645e-02, 1.09366776e-02, 1.84232887e-03,
 -1.20715866e-04, 8.44198304e-04, 2.09868334e-04, 4.91950708e-05,
  0.00000000e+00,-1.65874457e-03, 0.00000000e+00,-9.19680246e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004630626503851473
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.49239212e-15, -2.39756548e-14,  1.00000000e+00,  1.79635007e-28,
        1.00000000e+00,  2.39756548e-14, -1.00000000e+00,  0.00000000e+00,
        7.49239212e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00625567, -0.06800564,  0.06176714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.29245905e-05,-5.23973346e-05,-3.29567857e-05, 3.56863976e-05,
  2.01395396e-05, 3.50480926e-05,-1.72055449e-05,-2.35553018e-05,
  3.43924983e-03,-4.58411670e-05,-7.12862333e-06,-9.77177795e-05,
  2.22363596e-05,-6.46057860e-05,-4.90452582e+00,-2.10541861e-04,
  3.40524882e-03,-5.00536113e-04]


--- 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,
  1.39624306, 0.0076898 , 1.34150843, 0.04414961,-0.08564065,-0.04716831,
  0.09282977, 0.70846538,-0.0699461 ,-0.69806642,-0.07673085]

qacc:
[-5.46661729e+00, 6.27460077e-01,-1.23222504e+00,-6.02396990e-01,
 -4.18337257e-02,-7.59089829e-03, 2.02960425e+00,-1.29734020e+01,
  5.16136151e+00,-8.84802620e-01, 2.24466935e+00,-8.77263287e-01,
  5.58528759e-02,-1.96405514e-01, 1.19771141e+01,-4.13174430e+01,
 -3.78427504e+00, 8.80192519e-01,-3.40617183e+00, 1.53018520e+00,
 -1.25959626e+02, 3.37154488e+00]

qfrc_actuator:
[ 2.35921554e-05, 9.66154017e-04, 1.51395615e-04,-6.68982437e-05,
  2.45089431e-05, 3.48518036e-02, 1.09095083e-02, 1.79278352e-03,
 -9.02613956e-05, 8.03125276e-04, 2.13981582e-04, 5.24871397e-05,
  0.00000000e+00,-1.65682056e-03, 0.00000000e+00,-1.11759733e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   3.22256848,   8.0126044 ,   3.22256848,
        81.38786446, -29.25973653,   8.0126044 , -29.25973653,
        20.40426083,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004568600546281686
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21505811e-14, -2.73388074e-14,  1.00000000e+00,  3.32182395e-28,
        1.00000000e+00,  2.73388074e-14, -1.00000000e+00,  0.00000000e+00,
        1.21505811e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00641298, -0.06804214,  0.0617702 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.27424273e-05, 2.92848590e-05,-3.03442494e-06,-4.38953981e-06,
 -1.20690292e-05,-1.97153760e-05,-4.01205311e-05,-5.12571581e-05,
  3.10576382e-05,-2.60276804e-05, 8.41760166e-06, 3.73981222e-06,
  3.44434727e-03,-1.93392407e-05,-1.65033504e-05,-2.04816008e-04,
  8.00101237e-06,-7.56530968e-06,-4.90459128e+00, 3.48081582e-05,
  3.40680233e-03,-5.08353576e-04]


--- Step 2503 ---
qpos:
[ 0.01866488, 0.03001626,-0.0094667 ,-0.02526914,-0.00354547, 1.34082208,
 -0.0299985 , 0.94383073, 0.01154014, 0.02726213,-0.00829628, 0.02643917,
  1.39624185, 0.00768881, 1.34160717, 0.04414977,-0.08568012,-0.0471942 ,
  0.09285016, 0.70804587,-0.06959136,-0.69848751,-0.07709269]

qacc:
[ 2.57509165e+00, 6.89596358e-01,-1.38554066e-01,-6.29064828e+00,
 -6.63451376e-02, 2.26701830e+00,-8.57285412e+00, 1.59350621e+01,
  2.33943117e-01,-1.14824526e+00, 6.59608535e-02, 1.17751119e+01,
  5.38696789e-02,-1.92619633e-01,-1.01593755e+01, 3.39365574e+01,
 -3.37165949e+00, 7.77830500e-01,-4.13388839e+00, 1.48644587e+00,
 -1.11873133e+02, 2.98252487e+00]

qfrc_actuator:
[ 4.01132543e-05, 9.82238588e-04, 1.31500965e-04,-8.70536431e-05,
  1.24920132e-05, 3.48962660e-02, 1.09114198e-02, 1.83436535e-03,
 -8.99489313e-05, 7.78832361e-04, 2.51625308e-04, 8.99745219e-05,
  0.00000000e+00,-1.67285850e-03, 0.00000000e+00,-9.48874962e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0044664546511229974
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -6.2142298e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  6.2142298e-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([ 0.00665917, -0.06809842,  0.06177497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.91496647e-05, 2.41711670e-05,-8.01227155e-06, 3.86243441e-05,
  1.21133884e-06,-3.69267611e-05, 3.34325814e-05, 3.67350702e-05,
  3.43294496e-03,-1.90060622e-05,-3.22314378e-05, 1.54756351e-04,
  4.13132882e-05, 3.25837964e-05,-4.90448644e+00, 2.47192774e-04,
  3.40224125e-03,-5.16782033e-04]


--- 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 ,
  1.39624019, 0.00768795, 1.34170521, 0.04415591,-0.08570037,-0.04722427,
  0.0928884 , 0.70784914,-0.06921833,-0.69868179,-0.07747368]

qacc:
[ 7.63560511e+00, 1.05575111e+00,-2.62987178e+00,-2.40612751e-01,
 -6.44993067e-02, 1.35919451e+00,-4.89775238e+00, 9.46743196e+00,
  2.97327623e+00, 2.03476738e+00,-6.63008563e+00, 8.05936431e+00,
  7.88890845e-02,-1.33263663e-01,-1.91216045e+01, 6.53539750e+01,
  4.80519768e+00,-1.04749589e+00, 4.46523066e+00,-1.20289513e+00,
  1.59476438e+02, 3.31839731e+00]

qfrc_actuator:
[ 8.55872094e-05, 9.73423494e-04, 1.02053762e-04,-9.85726779e-05,
  5.18539645e-06, 3.49229001e-02, 1.09129240e-02, 1.85828862e-03,
 -7.18783472e-05, 8.35952604e-04, 2.37814915e-04, 9.40461889e-05,
  0.00000000e+00,-1.66429234e-03, 0.00000000e+00,-6.36471325e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004485695269579065
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.23751499e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.23751499e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13817031, -0.03603254,  0.06177423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.86225461e-05, 3.96022068e-05, 6.45618785e-06, 2.53113505e-05,
  1.80885318e-05, 4.49703761e-05,-1.60530923e-05, 4.35910261e-06,
  3.44979714e-03,-6.79798106e-06, 2.29133039e-06, 3.16882697e-04,
  1.06465955e-04, 6.00693878e-05,-4.90426536e+00, 4.32473748e-04,
  3.39226383e-03,-5.25703993e-04]


--- Step 2505 ---
qpos:
[ 0.01866568, 0.03001892,-0.00946796,-0.025271  ,-0.00354494, 1.34082221,
 -0.02999911, 0.94383346, 0.01154068, 0.02726178,-0.00829576, 0.02643979,
  1.39623877, 0.00768731, 1.34180357, 0.0441627 ,-0.08570363,-0.04725806,
  0.0929378 , 0.70784891,-0.06882886,-0.69867618,-0.07787234]

qacc:
[ 1.69878438e+00, 9.58156001e-01,-4.75399993e+00, 9.45558181e+00,
 -5.32962327e-02,-3.33511771e+00, 1.30980325e+01,-2.41894920e+01,
  4.75422562e+00, 1.91302367e+00,-2.80788761e+00,-7.54139902e+00,
  9.69566832e-02, 9.49224335e-02,-1.52846322e+00, 6.01462127e+00,
  4.24766616e+00,-9.30726499e-01, 2.78751447e+00,-1.29540533e+00,
  1.40642024e+02, 2.53128035e+00]

qfrc_actuator:
[ 9.44643887e-05, 9.49722885e-04, 8.48638601e-05,-8.71890076e-05,
  7.63336400e-07, 3.49031528e-02, 1.09318362e-02, 1.80058618e-03,
 -4.34894452e-05, 8.70154212e-04, 1.94030412e-04, 6.06950792e-05,
  0.00000000e+00,-1.62337586e-03, 0.00000000e+00,-6.14840950e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004473906602956185
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.24077582e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.24077582e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13819207, -0.03602548,  0.06177497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.54259305e-05, 4.18598503e-06, 2.81392608e-05,-5.57339344e-05,
  2.89339729e-05, 5.62354970e-05,-3.63258614e-05,-3.18971265e-05,
  3.47232808e-03, 2.80831161e-05, 3.50381304e-05, 3.92969543e-05,
  2.13479985e-05, 1.81284009e-05,-4.90456492e+00, 1.53165956e-04,
  3.38534207e-03,-5.45426343e-04]


--- 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,
  1.39623791, 0.00768691, 1.34190242, 0.04416706,-0.08569177,-0.04729519,
  0.09299266, 0.70802304,-0.06842454,-0.69849306,-0.07828734]

qacc:
[-2.06404115e+00, 2.29147720e-01,-3.44120859e+00, 1.17942796e+01,
  2.07975531e-02,-2.38097417e+00, 8.21864764e+00,-1.10223150e+01,
 -9.89009325e-02, 1.10817232e+00,-1.42139346e-01,-1.14089903e+01,
  7.97661639e-02, 2.10703218e-01, 8.05034662e+00,-2.71203909e+01,
  3.78179088e+00,-8.33402527e-01, 1.36772048e+00,-1.36030402e+00,
  1.24874040e+02, 1.92362821e+00]

qfrc_actuator:
[ 8.17201094e-05, 9.35101125e-04, 9.27483841e-05,-6.24280333e-05,
  1.58594209e-05, 3.48913093e-02, 1.09606450e-02, 1.78405947e-03,
 -4.47655892e-05, 8.72454378e-04, 1.50579153e-04, 2.33263383e-05,
  0.00000000e+00,-1.59870175e-03, 0.00000000e+00,-7.46995275e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0044168470985490385
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.28402455e-15,  1.25680491e-14,  1.00000000e+00, -7.89779292e-29,
        1.00000000e+00, -1.25680491e-14, -1.00000000e+00,  0.00000000e+00,
        6.28402455e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13827635, -0.03600537,  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:
[-1.24585771e-05,-3.31548124e-05, 3.21941492e-07, 2.31453599e-05,
  5.98029486e-06,-5.69819095e-06, 3.11965723e-05,-1.68667191e-05,
 -4.06073632e-07, 2.48847758e-05,-3.74135152e-05,-3.68375708e-05,
  3.45987361e-03, 4.17916117e-05, 1.72165520e-05,-1.26257710e-04,
  4.14644739e-06,-3.01600927e-05,-4.90462534e+00,-8.58228101e-05,
  3.38487558e-03,-5.64065691e-04]


--- 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,
  1.39623734, 0.00768649, 1.34200142, 0.04416918,-0.08566633,-0.04733532,
  0.09304821, 0.70835287,-0.06800671,-0.69815103,-0.07871749]

qacc:
[-1.31642332e+00,-5.48732877e-01, 5.40759972e-01, 3.65022213e+00,
  4.32059059e-02,-1.83310158e+00, 6.48226181e+00,-1.13185761e+01,
 -6.09199754e+00, 3.74828491e+00,-1.21452884e+01, 1.23853881e+01,
  5.53574292e-02, 4.54080750e-03, 7.07107150e+00,-2.43773546e+01,
  3.39254685e+00,-7.52288585e-01, 1.69295887e-01,-1.40736359e+00,
  1.11679875e+02, 1.45230157e+00]

qfrc_actuator:
[ 7.41163646e-05, 9.43895132e-04, 1.15405690e-04,-4.77299033e-05,
  2.47891109e-05, 3.48488420e-02, 1.09596105e-02, 1.75641260e-03,
 -8.12485036e-05, 8.91117205e-04, 8.98002721e-05, 1.93809950e-05,
  0.00000000e+00,-1.61938949e-03, 0.00000000e+00,-8.62084772e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004324010593749782
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28378851e-14, -1.28378851e-14,  1.00000000e+00,  1.64811294e-28,
        1.00000000e+00,  1.28378851e-14, -1.00000000e+00,  0.00000000e+00,
        1.28378851e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13840971, -0.03597492,  0.06178226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.24635999e-05,-4.00227514e-05, 9.06431820e-07,-2.72931126e-05,
 -3.64823522e-05, 2.32647542e-05,-6.15153872e-05,-4.88790911e-06,
  3.43189690e-03, 8.98324109e-06,-8.80604802e-06,-1.20584552e-04,
  3.43327298e-05,-8.22246356e-05,-4.90451893e+00,-2.93067801e-04,
  3.39017181e-03,-5.81857178e-04]


--- 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,
  1.39623665, 0.0076861 , 1.34210001, 0.0441729 ,-0.08566011,-0.04737101,
  0.09309668, 0.70846108,-0.06761298,-0.69803408,-0.07911894]

qacc:
[-3.74060685e+00,-1.55354253e+00, 7.14649662e+00,-1.55483480e+01,
  4.33107640e-02,-1.63336756e+00, 8.48064498e+00,-2.67798803e+01,
 -3.72523922e+00, 1.92658929e+00,-9.99348684e+00, 2.21026461e+01,
  4.69434758e-02,-6.53839255e-02,-5.49487307e+00, 1.83089925e+01,
 -4.80337337e+00, 1.11105657e+00,-1.76764502e+00, 2.80778236e+00,
 -1.59005970e+02, 2.20335967e+00]

qfrc_actuator:
[ 5.18542066e-05, 9.13450032e-04, 1.11178900e-04,-7.45509219e-05,
  2.99463322e-05, 3.48237530e-02, 1.09230796e-02, 1.66913879e-03,
 -1.02646592e-04, 8.66119366e-04, 7.26141923e-05, 5.28848678e-05,
  0.00000000e+00,-1.63162124e-03, 0.00000000e+00,-7.70855720e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00428828886599017
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.58896511e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.58896511e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00713229, -0.06821135,  0.06178416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.25213909e-05,-4.78695713e-05,-4.50575670e-05,-8.90826597e-05,
 -2.24546896e-05,-2.49290043e-05,-2.01112001e-05, 3.22828374e-05,
  3.41738260e-03,-2.11050008e-06,-1.91945836e-05, 8.29515344e-05,
  9.79602449e-05,-1.36464054e-04,-4.90429637e+00,-4.75073070e-04,
  3.40063789e-03,-5.98978748e-04]


--- 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,
  1.39623578, 0.00768566, 1.34219836, 0.04417865,-0.08567086,-0.04740281,
  0.09313426, 0.7083743 ,-0.06724043,-0.6981154 ,-0.07949508]

qacc:
[-5.23861699e+00, 4.28051750e-01,-2.97680597e-01,-4.37437450e+00,
  9.69050531e-02,-9.25846727e-01, 4.68542812e+00,-1.58288346e+01,
 -5.06901459e+00,-2.85745696e+00, 1.05117777e+01,-1.62890890e+01,
  5.76218147e-02,-1.36763092e-01,-6.51979434e+00, 2.22473293e+01,
 -4.24279547e+00, 9.73602590e-01,-2.72357432e+00, 2.58443329e+00,
 -1.39980899e+02, 1.93901618e+00]

qfrc_actuator:
[ 2.11407803e-05, 9.12863888e-04, 9.09266245e-05,-9.01313848e-05,
  5.05514361e-05, 3.48090818e-02, 1.09014285e-02, 1.61847868e-03,
 -1.32735757e-04, 8.33120165e-04, 9.89055579e-05, 3.71354333e-05,
  0.00000000e+00,-1.63881868e-03, 0.00000000e+00,-6.65314800e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004287511237209579
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29471734e-14, -1.29471734e-14,  1.00000000e+00,  1.67629298e-28,
        1.00000000e+00,  1.29471734e-14, -1.00000000e+00,  0.00000000e+00,
        1.29471734e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00714713, -0.06821608,  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:
[-3.13801314e-05,-1.99758811e-05,-2.80661198e-05,-1.75544542e-05,
  2.80034371e-05,-5.26411623e-05,-3.87569590e-05,-5.54887250e-05,
 -3.07556498e-05,-4.97239418e-05, 1.97996173e-05,-1.68809278e-05,
  3.42295057e-03,-1.05744545e-05,-3.95218090e-07, 1.07506007e-04,
  1.70870217e-05,-6.16452786e-05,-4.90458891e+00,-2.19747552e-04,
  3.41036147e-03,-6.05746901e-04]


--- 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,
  1.39623477, 0.00768493, 1.34229679, 0.0441846 ,-0.08569665,-0.04743054,
  0.09315779, 0.70811617,-0.06689998,-0.69837176,-0.07982965]

qacc:
[-1.48736614e-01, 1.49753315e+00,-7.03951711e+00, 1.52162752e+01,
  9.86360971e-02, 1.30102330e+00,-6.21027265e+00, 1.45001572e+01,
 -3.00390612e+00, 5.33594164e-02,-6.12171260e-01, 2.53024196e+00,
  7.20730994e-02,-2.90950324e-01,-4.93217284e-01, 1.89918331e+00,
 -3.75945064e+00, 1.01728761e+00,-3.51134469e+00, 4.33263347e+00,
 -1.24478296e+02, 1.32317416e+01]

qfrc_actuator:
[ 2.12090401e-05, 9.47847319e-04, 9.70135326e-05,-6.34470198e-05,
  6.25049913e-05, 3.48185808e-02, 1.09065709e-02, 1.66081590e-03,
 -1.49951639e-04, 8.66737631e-04, 1.15050597e-04, 4.57950813e-05,
  0.00000000e+00,-1.66068841e-03, 0.00000000e+00,-6.58766326e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004239044094529028
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.54760248e-15,  1.30952050e-14,  1.00000000e+00, -8.57421964e-29,
        1.00000000e+00, -1.30952050e-14, -1.00000000e+00,  0.00000000e+00,
        6.54760248e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00687542, -0.07049729,  0.06178683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.85008359e-05,-2.88669639e-05,-1.11953437e-05, 3.83263427e-05,
 -1.81347510e-05, 9.17211548e-06, 7.74595561e-06, 6.89050145e-06,
  3.43178808e-03,-3.01990867e-05, 1.00113680e-05, 1.20716814e-05,
  2.80528262e-06,-7.62503626e-06,-4.90464551e+00, 3.31442710e-06,
  3.41309236e-03,-6.13175117e-04]


--- 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,
  1.39623355, 0.00768397, 1.3423951 , 0.04419194,-0.08573587,-0.04745466,
  0.09316449, 0.70770521,-0.06658805,-0.69878395,-0.08012712]

qacc:
[ 5.98483280e+00,-2.17155011e-01, 1.04284504e+00,-1.76122744e+00,
  8.13591480e-02, 2.62488413e+00,-1.24980753e+01, 3.25774119e+01,
  1.26956657e+00, 3.26120867e+00,-1.60644431e+01, 3.60641314e+01,
  8.46013199e-02,-2.90167015e-01,-4.39279789e+00, 1.50579243e+01,
 -3.35864798e+00, 9.02619329e-01,-4.20722089e+00, 3.97036677e+00,
 -1.10920453e+02, 1.17850351e+01]

qfrc_actuator:
[ 5.71500601e-05, 9.50747905e-04, 1.01037778e-04,-6.53138346e-05,
  6.91719079e-05, 3.48426478e-02, 1.09276283e-02, 1.75756103e-03,
 -1.41696844e-04, 8.86720836e-04, 1.07600626e-04, 1.04302256e-04,
  0.00000000e+00,-1.67334282e-03, 0.00000000e+00,-5.86332259e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004152892390524236
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.67337297e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.67337297e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00708129, -0.07054922,  0.06179084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.35086066e-05, 7.06655361e-06, 1.52593969e-05, 9.64327844e-05,
  7.72581222e-06, 2.70021363e-05,-4.34808654e-06, 5.93063586e-05,
  3.43854540e-03,-2.81787177e-05, 3.20394354e-06, 7.37494234e-05,
  3.26373695e-05, 3.19210159e-05,-4.90456749e+00, 1.89987599e-04,
  3.41324254e-03,-6.20870446e-04]


--- Step 2512 ---
qpos:
[ 0.01866438, 0.03002379,-0.00947171,-0.02527404,-0.0035401 , 1.34081652,
 -0.0299985 , 0.94382725, 0.0115357 , 0.02726651,-0.00830869, 0.02643936,
  1.39623279, 0.00768315, 1.34249376, 0.04419708,-0.08575577,-0.04748292,
  0.09318848, 0.70751477,-0.06625144,-0.69897131,-0.08045314]

qacc:
[ 9.63087254e+00,-1.53634448e-01, 7.04667906e-01,-1.08928850e+00,
 -1.43297659e-03,-2.48289639e-01, 8.27349677e-01, 3.89482010e-01,
  6.80436274e+00, 2.15055679e+00,-8.60017140e+00, 1.50434439e+01,
  8.52932622e-02, 1.20036017e-01, 7.19477399e+00,-2.44270191e+01,
  4.83040452e+00,-1.03694473e+00, 4.32109552e+00,-2.90997955e+00,
  1.58540734e+02,-2.41136167e+00]

qfrc_actuator:
[ 1.13907366e-04, 9.52152729e-04, 1.03659781e-04,-6.62471556e-05,
  5.48617971e-05, 3.48576151e-02, 1.09402311e-02, 1.76127536e-03,
 -1.00768136e-04, 8.98344207e-04, 8.62783853e-05, 1.20637640e-04,
  0.00000000e+00,-1.62715051e-03, 0.00000000e+00,-7.06412829e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004169620443358328
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.66264769e-14, -2.66264769e-14,  1.00000000e+00,  7.08969273e-28,
        1.00000000e+00,  2.66264769e-14, -1.00000000e+00,  0.00000000e+00,
        2.66264769e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.138645  , -0.03592128,  0.06179012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.17610003e-07, 2.47689200e-05, 1.85509159e-05, 6.60778766e-06,
  4.11622131e-05, 2.83631881e-05,-1.42164577e-05, 1.84967486e-05,
  3.44910231e-03, 2.98244386e-05, 7.48217950e-06,-1.16077471e-04,
  9.48645739e-05, 5.79980428e-05,-4.90437110e+00, 3.40818468e-04,
  3.40693905e-03,-6.28848842e-04]


--- 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,
  1.39623265, 0.00768264, 1.34259264, 0.04419907,-0.08575856,-0.0475149 ,
  0.09322323, 0.7075193 ,-0.06589296,-0.69896006,-0.08080465]

qacc:
[ 2.85681529e+00,-7.63992471e-01,-1.35020872e+00, 1.33976500e+01,
 -3.21930870e-02, 3.80394774e-01, 1.59294619e+00,-1.31227042e+01,
  4.24849876e+00,-2.59816930e+00, 1.12917576e+01,-2.09995822e+01,
  5.48529315e-02, 2.99168996e-01, 9.84402467e+00,-3.39189680e+01,
  4.27646101e+00,-9.28305612e-01, 2.69053428e+00,-2.70266270e+00,
  1.40127515e+02,-2.23350911e+00]

qfrc_actuator:
[ 1.29192600e-04, 8.99386330e-04, 1.23178929e-04,-3.11185069e-05,
  4.58369275e-05, 3.48846978e-02, 1.09121395e-02, 1.71019033e-03,
 -7.64493762e-05, 8.87029483e-04, 1.10132627e-04, 9.42547675e-05,
  0.00000000e+00,-1.59919547e-03, 0.00000000e+00,-8.67950977e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004171500395065225
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.65361932e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.65361932e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13864649, -0.03592193,  0.06179016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.27086031e-06, 4.46192924e-05,-2.09403847e-05,-4.96448544e-05,
  2.55346269e-05, 2.40613681e-06, 2.86133390e-05,-2.53006786e-05,
  3.42599576e-03, 5.05180613e-05,-1.17509325e-05,-1.67620934e-04,
  1.24650387e-05, 1.92760327e-05,-4.90465122e+00, 1.03385064e-04,
  3.39738185e-03,-6.46009282e-04]


--- 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,
  1.39623276, 0.00768222, 1.34269143, 0.04419943,-0.0857461 ,-0.04755023,
  0.09326322, 0.70769729,-0.065515  ,-0.69877199,-0.08117904]

qacc:
[ 1.52081348e+00,-1.21130462e+00, 1.82739147e+00, 4.61868924e+00,
 -3.89856038e-02, 1.91512485e-01,-6.38472654e-02,-2.69188555e+00,
  2.54489268e+00,-4.39435430e+00, 1.59268596e+01,-2.25324704e+01,
  2.59865555e-02, 8.64115840e-02, 4.77564831e+00,-1.69137734e+01,
  3.81331169e+00,-8.37242536e-01, 1.30982522e+00,-2.53071052e+00,
  1.24709301e+02,-2.06785110e+00]

qfrc_actuator:
[ 1.37690748e-04, 8.85692833e-04, 1.52319800e-04,-1.05925008e-05,
  4.00570217e-05, 3.48653682e-02, 1.08957900e-02, 1.69828262e-03,
 -6.21129422e-05, 8.44450345e-04, 1.60355837e-04, 7.84731919e-05,
  0.00000000e+00,-1.61791491e-03, 0.00000000e+00,-9.46035543e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004128622202071601
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.72272111e-15,  1.34454422e-14,  1.00000000e+00, -9.03899581e-29,
        1.00000000e+00, -1.34454422e-14, -1.00000000e+00,  0.00000000e+00,
        6.72272111e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13870994, -0.03590863,  0.06179228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.12568633e-05,-2.32362334e-07,-1.14603397e-05,-1.23346104e-05,
  1.50858786e-05,-3.64093579e-05, 5.33776410e-05,-1.51812361e-05,
  3.39451264e-03, 1.61164311e-05,-2.53014249e-05,-8.92748779e-05,
 -3.16623747e-06,-2.76860591e-05,-4.90469769e+00,-1.08110902e-04,
  3.39470645e-03,-6.62659239e-04]


--- 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,
  1.39623303, 0.00768174, 1.34279019, 0.04419782,-0.08571994,-0.0475886 ,
  0.09330379, 0.70803058,-0.06511956,-0.69842523,-0.08157409]

qacc:
[-8.08667111e+00,-6.87148469e-01, 3.23298136e+00,-6.08860559e+00,
 -9.75129047e-02,-2.68460045e-01,-3.56878121e-01, 6.59659410e+00,
  4.39917002e+00, 1.09160471e+00,-6.43338978e+00, 1.58685348e+01,
  1.32831226e-02,-7.07814707e-03, 5.96469268e+00,-2.09027157e+01,
  3.42605823e+00,-7.60898128e-01, 1.43471423e-01,-2.39031064e+00,
  1.11803871e+02,-1.91879227e+00]

qfrc_actuator:
[ 8.88821835e-05, 9.13286798e-04, 1.69276971e-04,-1.65504237e-05,
  1.85180271e-05, 3.48717052e-02, 1.09218760e-02, 1.72727739e-03,
 -3.60090045e-05, 8.36853750e-04, 1.54598524e-04, 1.04550289e-04,
  0.00000000e+00,-1.62902638e-03, 0.00000000e+00,-1.04531493e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004050237608099687
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.3705653e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.3705653e-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([-0.13882221, -0.03588426,  0.06179602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.81912713e-05, 3.59810547e-06, 2.43742938e-05, 2.83623699e-05,
  2.65318315e-05,-1.75793429e-05,-7.22567363e-06, 2.60677441e-05,
  3.38220763e-03, 9.80811855e-07,-2.23326666e-05,-1.07700982e-04,
  2.80653065e-05,-7.98236534e-05,-4.90458035e+00,-2.97844761e-04,
  3.39813672e-03,-6.78890947e-04]


--- 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,
  1.39623334, 0.00768141, 1.34288863, 0.04419667,-0.08571315,-0.04762116,
  0.09333736, 0.70814528,-0.06477867,-0.69830284,-0.08189706]

qacc:
[-1.39136179e+01,-4.46913826e-01, 1.35738435e+00,-1.82936425e+00,
 -4.14666674e-02, 1.18481774e+00,-4.74200873e+00, 1.17372165e+01,
 -3.37755791e-01, 1.17984261e+00,-2.52062908e+00,-2.87738650e+00,
  3.13769282e-03, 1.05458086e-01,-1.89894180e+00, 5.93867302e+00,
 -4.84366330e+00, 1.45325607e+00,-1.74608427e+00, 7.89488186e+00,
 -1.60339936e+02, 2.83492058e+01]

qfrc_actuator:
[ 6.73730427e-06, 8.76566222e-04, 1.61310663e-04,-2.02599143e-05,
  2.32042160e-05, 3.49113051e-02, 1.09373998e-02, 1.76238292e-03,
 -3.86891642e-05, 8.32324547e-04, 1.15983204e-04, 8.40187034e-05,
  0.00000000e+00,-1.61771077e-03, 0.00000000e+00,-1.01428560e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00406352107195871
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.04912748e-14, -6.83042493e-15,  1.00000000e+00,  1.39964114e-28,
        1.00000000e+00,  6.83042493e-15, -1.00000000e+00,  0.00000000e+00,
        2.04912748e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00730969, -0.07255887,  0.06179562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.19736621e-05, 4.72132785e-05, 1.98332156e-05, 3.65839563e-05,
 -1.91021896e-06,-1.47222656e-05,-4.22298826e-05,-2.10292186e-05,
  3.37387155e-03, 1.53841752e-05,-2.33926843e-05, 2.18893450e-05,
  9.26147063e-05,-1.35186104e-04,-4.90434823e+00,-4.69304065e-04,
  3.40701792e-03,-6.94780089e-04]


--- 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 ,
  1.39623369, 0.00768124, 1.34298687, 0.0441962 ,-0.08572347,-0.04764861,
  0.09336015, 0.70806761,-0.06448565,-0.69837825,-0.08215651]

qacc:
[-2.46102726e+00, 5.09466266e-02,-2.03628062e-01,-3.75694739e-01,
  4.60441707e-02,-8.28368448e-01, 4.20263893e+00,-1.06581364e+01,
  2.63573300e+00,-1.80076004e+00, 8.07422808e+00,-1.78471963e+01,
 -4.74728182e-04, 1.01591635e-01,-2.31339445e+00, 7.69424562e+00,
 -4.27816546e+00, 1.27799803e+00,-2.69879230e+00, 7.09632865e+00,
 -1.41218161e+02, 2.49190401e+01]

qfrc_actuator:
[-5.58976796e-06, 8.72526336e-04, 1.56204566e-04,-2.26773846e-05,
  4.35851224e-05, 3.48994818e-02, 1.09289290e-02, 1.72979226e-03,
 -2.27883429e-05, 7.93979213e-04, 1.11532905e-04, 5.39638772e-05,
  0.00000000e+00,-1.61088716e-03, 0.00000000e+00,-9.77736883e-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,   4.74681989,   7.21487892,   4.74681989,
        68.05998406, -39.09604397,   7.21487892, -39.09604397,
        34.35846947,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004081256833890191
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36014844e-14,  2.04022266e-14,  1.00000000e+00, -2.77500568e-28,
        1.00000000e+00, -2.04022266e-14, -1.00000000e+00,  0.00000000e+00,
        1.36014844e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00727719, -0.07255023,  0.06179499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.33064551e-05, 1.92754871e-05, 4.09524532e-06,-2.97423799e-05,
  1.58416492e-05,-5.61933242e-05,-1.34067777e-05,-3.25544372e-05,
  3.37130623e-03, 1.42944249e-05,-8.92066343e-06, 3.46238968e-05,
  6.38715480e-06,-5.33822071e-05,-4.90470362e+00,-2.13399944e-04,
  3.42466728e-03,-6.99415935e-04]


--- 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,
  1.39623399, 0.00768102, 1.34308509, 0.04419582,-0.085749  ,-0.04767153,
  0.09336889, 0.70781947,-0.06423488,-0.69862892,-0.08235965]

qacc:
[-1.21101297e+00, 2.05496441e+00,-4.94856893e+00,-7.54009793e-01,
  6.90718411e-03,-8.61968701e-01, 3.37898976e+00,-7.04326654e+00,
  1.57321107e+00,-5.82188191e-01, 6.61602569e-01, 3.60875170e+00,
 -2.73755850e-04,-4.94888587e-02,-3.07014060e-01, 1.01219420e+00,
 -3.80010057e+00, 1.13057528e+00,-3.51069777e+00, 6.40708687e+00,
 -1.25129054e+02, 2.20320548e+01]

qfrc_actuator:
[-1.22180856e-05, 9.05842966e-04, 1.17448296e-04,-4.20412861e-05,
  3.77099621e-05, 3.48745765e-02, 1.09238868e-02, 1.71084164e-03,
 -1.38216939e-05, 8.24557200e-04, 1.44915552e-04, 7.18116314e-05,
  0.00000000e+00,-1.62456961e-03, 0.00000000e+00,-9.73775217e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00404866637373872
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05664580e-14,  3.42774300e-15,  1.00000000e+00, -7.04965323e-29,
        1.00000000e+00, -3.42774300e-15, -1.00000000e+00,  0.00000000e+00,
        2.05664580e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00735884, -0.07257202,  0.06179658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.98914224e-06,-1.43346120e-05,-1.67846776e-06,-1.89419922e-05,
  9.41080500e-06,-4.97781554e-06, 1.90165651e-05, 1.43454376e-05,
  3.36957070e-03,-7.03357681e-06,-1.56737835e-06, 4.43961813e-06,
 -9.43653092e-06, 1.42530168e-06,-4.90480560e+00,-3.08115045e-05,
  3.43205965e-03,-7.04589804e-04]


--- Step 2519 ---
qpos:
[ 0.01866134, 0.03002316,-0.00946969,-0.02527193,-0.00353482, 1.34081359,
 -0.03000073, 0.94382431, 0.01153984, 0.02726774,-0.00831653, 0.02644257,
  1.39623431, 0.00768084, 1.34318328, 0.04419547,-0.0857881 ,-0.04769043,
  0.09336083, 0.70741915,-0.06402163,-0.6990358 ,-0.08251256]

qacc:
[-5.78692340e-01,-7.88603116e-01, 5.46212197e+00,-1.55594721e+01,
 -7.06669348e-02, 4.89000607e+00,-2.18317411e+01, 4.91531855e+01,
 -5.04871779e+00, 9.33972993e-01,-4.08057478e+00, 1.11181471e+01,
 -2.65494624e-04, 3.98707871e-02,-1.79811444e-01, 5.62149688e-01,
 -3.39518130e+00, 1.00632059e+00,-4.20095554e+00, 5.81391301e+00,
 -1.11597360e+02, 1.96036346e+01]

qfrc_actuator:
[-1.54617959e-05, 9.07864929e-04, 1.12538286e-04,-7.12105928e-05,
  1.61301861e-05, 3.48420367e-02, 1.09031203e-02, 1.84209953e-03,
 -4.45188331e-05, 9.14129291e-04, 1.82912953e-04, 1.00027284e-04,
  0.00000000e+00,-1.61489982e-03, 0.00000000e+00,-9.71296687e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003975956367688591
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.98085518e-15,  1.39617104e-14,  1.00000000e+00,  9.74646782e-29,
        1.00000000e+00, -1.39617104e-14, -1.00000000e+00,  0.00000000e+00,
       -6.98085518e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00753046, -0.07261773,  0.06179991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.04047065e-05,-4.13669775e-05,-2.43180689e-05, 1.30336871e-04,
 -3.04267378e-05, 9.13622980e-05, 3.98243821e-05, 2.89419832e-05,
  3.37211102e-03, 5.59524758e-06,-2.22971806e-06, 2.06794573e-06,
  2.36509880e-05, 3.63484206e-05,-4.90473084e+00, 9.75560033e-05,
  3.43085346e-03,-7.09992179e-04]


--- 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,
  1.39623479, 0.0076807 , 1.3432816 , 0.04419382,-0.08580737,-0.04771314,
  0.09337063, 0.70724033,-0.06377416,-0.69921605,-0.08270965]

qacc:
[ 2.76686588e+00,-2.75080614e+00, 9.54399541e+00,-1.13123593e+01,
 -2.56659898e-02, 3.24761267e+00,-1.17116236e+01, 1.62447614e+01,
 -3.16485659e+00,-4.46573213e-01, 7.29036771e-01, 4.19285579e+00,
 -5.49086402e-03, 6.88546504e-02, 4.17086297e+00,-1.43083904e+01,
  4.95844525e+00,-9.52462131e-01, 4.46682810e+00,-5.59536755e+00,
  1.60404752e+02,-1.11947649e+01]

qfrc_actuator:
[ 1.06231404e-06, 9.09006161e-04, 1.63048487e-04,-7.04017141e-05,
  2.08095644e-05, 3.48407080e-02, 1.08555348e-02, 1.86540188e-03,
 -6.28080272e-05, 9.14132219e-04, 2.05832165e-04, 1.16412822e-04,
  0.00000000e+00,-1.60905823e-03, 0.00000000e+00,-1.04070993e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003971388417211209
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.79555387e-14, -2.79555387e-14,  1.00000000e+00,  7.81512142e-28,
        1.00000000e+00,  2.79555387e-14, -1.00000000e+00,  0.00000000e+00,
        2.79555387e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13895079, -0.03588449,  0.06180008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.38074909e-06,-2.50461856e-05,-5.46193525e-05, 2.43686568e-05,
 -1.91509467e-05, 6.05482370e-05, 4.77038472e-05, 2.22429410e-05,
  3.37039062e-03, 8.88231126e-06,-2.63250634e-06,-7.00093384e-05,
  9.01461232e-05, 5.66842385e-05,-4.90453319e+00, 1.85622471e-04,
  3.42235084e-03,-7.15411842e-04]


--- 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,
  1.3962355 , 0.00768079, 1.34337988, 0.04419134,-0.08580909,-0.04773931,
  0.09339175, 0.70725763,-0.06349701,-0.69919592,-0.0829448 ]

qacc:
[ 1.06756032e+01,-2.02744091e+00, 8.89520187e+00,-1.58137149e+01,
  5.54396902e-02,-1.33484605e+00, 7.82526410e+00,-2.44882557e+01,
  4.01757781e+00,-1.80445627e+00, 6.76149329e+00,-9.39819339e+00,
 -1.93205480e-02, 2.22400405e-01, 2.44858715e+00,-8.61625839e+00,
  4.38679853e+00,-8.65159113e-01, 2.82857692e+00,-4.84567732e+00,
  1.41863674e+02,-9.33604501e+00]

qfrc_actuator:
[ 6.45932739e-05, 9.27623150e-04, 1.92621352e-04,-8.74338935e-05,
  4.12046643e-05, 3.48756719e-02, 1.08457927e-02, 1.78945373e-03,
 -3.81297998e-05, 8.78198295e-04, 2.19313984e-04, 1.07873392e-04,
  0.00000000e+00,-1.58776409e-03, 0.00000000e+00,-1.08090596e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003987812918448144
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.96009973e-15,  2.78403989e-14,  1.00000000e+00, -1.93771953e-28,
        1.00000000e+00, -2.78403989e-14, -1.00000000e+00,  0.00000000e+00,
        6.96009973e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13893203, -0.035897  ,  0.06179939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.60325370e-05, 1.11646944e-05,-2.01374760e-05,-7.77373901e-05,
  2.41375652e-05, 8.70427925e-06, 3.26280712e-05,-3.86358108e-06,
  3.36233547e-03, 2.85014580e-05,-1.09754486e-05,-4.48959573e-05,
  4.46087488e-06, 2.49044349e-05,-4.90480782e+00, 3.44905267e-05,
  3.41238788e-03,-7.26871305e-04]


--- 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,
  1.39623649, 0.00768131, 1.34347804, 0.04418871,-0.08579518,-0.04776864,
  0.09341863, 0.70744962,-0.06319393,-0.69899725,-0.083213  ]

qacc:
[ 3.61249733e+00,-2.22838291e+00, 8.03244998e+00,-1.12740716e+01,
  1.26074348e-02,-1.26374012e+00, 4.31769205e+00,-6.20868880e+00,
 -4.66241377e-01,-4.86256978e-01, 3.74745550e+00,-1.11157498e+01,
 -3.76684501e-02, 3.74198380e-01, 2.76623831e-01,-1.19971893e+00,
  3.90884965e+00,-7.90791950e-01, 1.44030894e+00,-4.24671653e+00,
  1.26333075e+02,-7.83740979e+00]

qfrc_actuator:
[ 8.42665503e-05, 8.85473624e-04, 2.09632749e-04,-9.70874657e-05,
  3.53565690e-05, 3.48611605e-02, 1.08585811e-02, 1.78005120e-03,
 -4.16208920e-05, 8.74205739e-04, 2.09184425e-04, 8.46955361e-05,
  0.00000000e+00,-1.55741172e-03, 0.00000000e+00,-1.08578557e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003958492323859225
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.80466130e-14, -2.80466130e-14,  1.00000000e+00,  7.86612503e-28,
        1.00000000e+00,  2.80466130e-14, -1.00000000e+00,  0.00000000e+00,
        2.80466130e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13897649, -0.03589352,  0.06180082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.62712549e-06,-1.46050557e-05, 1.04040817e-05,-1.14619051e-05,
 -2.78007778e-06, 7.43375962e-06,-4.45931339e-06,-2.17559970e-05,
  3.35085582e-03, 4.71950141e-05,-1.13311714e-05,-9.09650444e-06,
 -1.23523116e-05,-1.74792885e-05,-4.90484494e+00,-1.14603941e-04,
  3.40917709e-03,-7.38724523e-04]


--- 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,
  1.39623773, 0.00768223, 1.34357616, 0.04418569,-0.08576724,-0.04780088,
  0.09344658, 0.70779822,-0.06286804,-0.69863821,-0.08351015]

qacc:
[-1.27800411e+01, 1.52399280e+00,-8.14538763e+00, 1.89145859e+01,
 -6.70828110e-02,-3.27841792e+00, 1.36090134e+01,-2.91435570e+01,
 -3.33476785e+00,-1.36488272e+00, 7.22438086e+00,-1.76184529e+01,
 -5.68497663e-02, 3.67923270e-01, 1.14507253e+00,-4.06494048e+00,
  3.50915879e+00,-7.27420499e-01, 2.66521845e-01,-3.76908514e+00,
  1.13326914e+02,-6.62997150e+00]

qfrc_actuator:
[ 6.94175987e-06, 8.78221164e-04, 2.01109471e-04,-6.68696793e-05,
  1.38115616e-05, 3.48527688e-02, 1.08666738e-02, 1.70337334e-03,
 -6.16783832e-05, 8.53737166e-04, 2.03057880e-04, 5.31010913e-05,
  0.00000000e+00,-1.53966784e-03, 0.00000000e+00,-1.10532729e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003892740071826606
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.85203482e-14, -1.42601741e-14,  1.00000000e+00,  4.06705132e-28,
        1.00000000e+00,  1.42601741e-14, -1.00000000e+00,  0.00000000e+00,
        2.85203482e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13907096, -0.03587735,  0.06180394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.94020139e-05,-1.47745013e-05, 6.08629250e-06,-7.70796431e-05,
 -2.01328152e-05,-1.81916573e-05,-5.90400763e-06,-3.18564556e-05,
  3.33691433e-03, 4.34082933e-05,-7.22121764e-06,-2.17459637e-05,
  1.91740651e-05,-6.67097465e-05,-4.90471560e+00,-2.58409225e-04,
  3.41208854e-03,-7.50824366e-04]


--- 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 ,
  1.39623919, 0.00768365, 1.34367413, 0.04418311,-0.08575908,-0.04782743,
  0.09346797, 0.70792518,-0.06259881,-0.69850686,-0.08373463]

qacc:
[-4.95655223e+00, 4.07634713e+00,-1.49346028e+01, 2.19407623e+01,
 -2.33140687e-02,-8.81766169e-02,-7.46006546e-01, 6.03317136e+00,
  8.81667901e-01,-7.29038467e-01, 2.60353644e+00,-3.61759690e+00,
 -7.62979661e-02, 4.45535104e-01,-1.54144737e+00, 5.12204528e+00,
 -4.94852721e+00, 1.42251765e+00,-1.63941086e+00, 7.87477055e+00,
 -1.62653288e+02, 2.90943721e+01]

qfrc_actuator:
[-2.03256722e-05, 9.27346606e-04, 1.59980074e-04,-4.89328047e-05,
  1.85302003e-05, 3.48658124e-02, 1.08896399e-02, 1.72971913e-03,
 -5.58121093e-05, 8.59058360e-04, 2.17035813e-04, 5.23090621e-05,
  0.00000000e+00,-1.51187308e-03, 0.00000000e+00,-1.08010157e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039528908868580875
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.02158911e-15, -3.51079456e-15,  1.00000000e+00,  2.46513568e-29,
        1.00000000e+00,  3.51079456e-15, -1.00000000e+00,  0.00000000e+00,
        7.02158911e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0076059 , -0.07262876,  0.06180134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.74738400e-06, 3.74791087e-06, 1.85086730e-05, 2.42890739e-05,
  5.27385222e-06,-7.46499855e-06, 8.38273087e-06,-2.39650056e-06,
  3.32393974e-03, 5.14549890e-05,-7.04971280e-06, 2.27761651e-05,
  8.50765242e-05,-1.20357999e-04,-4.90446967e+00,-3.95357688e-04,
  3.42054682e-03,-7.63076381e-04]


--- 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,
  1.39624046, 0.0076846 , 1.34377238, 0.04417817,-0.0857684 ,-0.04784896,
  0.09347894, 0.7078571 ,-0.062379  ,-0.69857626,-0.08389519]

qacc:
[ 3.20304932e+00, 2.16514888e+00,-8.03316574e+00, 1.22309629e+01,
 -6.58526527e-02,-1.38893558e+00, 3.60722381e+00, 6.17269271e-01,
  3.50748002e+00, 9.38556093e-01,-2.89377182e+00, 2.86050403e+00,
 -7.92944912e-02,-2.45574441e-01, 7.58773378e+00,-2.59421365e+01,
 -4.36795763e+00, 1.25489876e+00,-2.60407650e+00, 7.12889777e+00,
 -1.43246325e+02, 2.54413244e+01]

qfrc_actuator:
[-1.26359077e-07, 9.38698471e-04, 1.35664447e-04,-3.83401171e-05,
  3.46173074e-06, 3.48561998e-02, 1.09213574e-02, 1.74550685e-03,
 -3.47284828e-05, 8.79886716e-04, 2.07387850e-04, 5.19292049e-05,
  0.00000000e+00,-1.58483103e-03, 0.00000000e+00,-1.20622331e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.6127091 ,   5.55507473,   6.6127091 ,
        39.63419397, -36.89952782,   5.55507473, -36.89952782,
        52.56121705,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003981721165322902
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09122446e-14,  6.97074819e-15,  1.00000000e+00, -1.45773991e-28,
        1.00000000e+00, -6.97074819e-15, -1.00000000e+00,  0.00000000e+00,
        2.09122446e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00754473, -0.07260991,  0.06180015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.90558658e-05,-3.18414573e-06, 3.52700716e-05, 1.70031879e-05,
  2.12370389e-05, 1.82649452e-05,-1.02501412e-05,-4.58088286e-07,
  3.31266403e-03,-4.67283893e-05,-1.85085119e-06,-1.26029531e-04,
  1.18337715e-06,-4.27854016e-05,-4.90481705e+00,-1.92866182e-04,
  3.43350208e-03,-7.66100991e-04]


--- 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 ,
  1.39624118, 0.00768481, 1.34387054, 0.04417242,-0.08579322,-0.04786604,
  0.0934762 , 0.70761617,-0.06220259,-0.69882354,-0.08399917]

qacc:
[ 5.12113144e+00, 8.79316601e-01,-3.67959930e+00, 6.43140808e+00,
 -1.31687920e-01,-3.24913101e+00, 1.24267652e+01,-2.08341880e+01,
  2.13190991e+00,-7.83238595e-01, 5.11309562e-01, 5.59654700e+00,
 -6.21049679e-02,-5.35466732e-01, 2.27298238e+00,-8.16289869e+00,
 -3.87697346e+00, 1.11339027e+00,-3.42674501e+00, 6.47189922e+00,
 -1.26913962e+02, 2.23835969e+01]

qfrc_actuator:
[ 3.00807948e-05, 9.27398891e-04, 1.21342150e-04,-3.21605074e-05,
 -2.33562348e-05, 3.48686432e-02, 1.09578775e-02, 1.70166527e-03,
 -2.26177756e-05, 8.38746174e-04, 2.19432193e-04, 6.95389722e-05,
  0.00000000e+00,-1.64646217e-03, 0.00000000e+00,-1.24298876e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.46726103,   5.72374979,   6.46726103,
        44.29789034, -40.29393494,   5.72374979, -40.29393494,
        54.1644535 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003958987228142891
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40215535e-14, -7.01077675e-15,  1.00000000e+00,  9.83019813e-29,
        1.00000000e+00,  7.01077675e-15, -1.00000000e+00,  0.00000000e+00,
        1.40215535e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00760097, -0.07262265,  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:
[ 3.07791222e-05,-4.75510658e-07,-1.10827944e-05, 6.80130503e-06,
 -3.80793884e-05, 1.80974966e-05, 4.04104872e-05,-4.25107380e-05,
  1.27416230e-05,-3.30788968e-05, 1.45295364e-05, 1.80267497e-05,
  3.32180326e-03,-8.50883009e-05,-1.77427079e-05,-4.46546751e-05,
 -1.11072994e-05, 6.17995208e-06,-4.90490561e+00,-5.89917195e-05,
  3.43661841e-03,-7.69531713e-04]


--- 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,
  1.39624169, 0.00768496, 1.34396842, 0.04416759,-0.08583189,-0.04787915,
  0.09345696, 0.70722095,-0.06206454,-0.69922933,-0.08405275]

qacc:
[ 2.18742270e-01,-1.63027164e+00, 6.43879382e+00,-1.12827900e+01,
 -7.14634727e-02, 5.30280398e-01,-2.31444801e+00, 4.66192451e+00,
 -4.67325018e+00,-1.81854520e+00, 3.18569645e+00, 5.34276605e+00,
 -4.15542362e-02,-4.89729336e-02,-3.18532321e+00, 1.05335618e+01,
 -3.46091578e+00, 9.93659573e-01,-4.12669206e+00, 5.89585095e+00,
 -1.13172998e+02, 1.98248326e+01]

qfrc_actuator:
[ 3.04151110e-05, 9.02656233e-04, 1.30679570e-04,-4.63960997e-05,
 -2.15006312e-05, 3.48409271e-02, 1.09437276e-02, 1.71186239e-03,
 -5.13964110e-05, 8.14171540e-04, 2.61712635e-04, 9.75601725e-05,
  0.00000000e+00,-1.61206363e-03, 0.00000000e+00,-1.19126075e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003895043739545141
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.13776102e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.13776102e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00774996, -0.07266028,  0.06180411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.06469731e-05,-1.10751368e-05,-7.25879509e-06, 1.09383526e-05,
 -2.84168742e-05,-3.93082052e-05, 3.78511489e-05, 2.74545815e-05,
  3.34959480e-03,-1.31867697e-05,-1.53607408e-05, 4.65067675e-05,
  2.63023772e-05, 3.45295223e-05,-4.90481410e+00, 2.52017010e-05,
  3.43148790e-03,-7.73070246e-04]


--- 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,
  1.39624217, 0.00768503, 1.34406635, 0.04416204,-0.0858503 ,-0.04789602,
  0.09345645, 0.70704995,-0.06188717,-0.69940527,-0.08415834]

qacc:
[-8.77064139e+00,-1.62286114e+00, 6.30160117e+00,-1.00874389e+01,
  2.37027268e-02, 1.98914544e+00,-1.05128504e+01, 2.74106244e+01,
 -8.83803922e+00,-1.84538340e+00, 6.05882384e+00,-6.97448634e+00,
 -3.37736172e-02,-1.48799629e-02, 2.23897705e+00,-7.71384659e+00,
  5.06585130e+00,-9.42538304e-01, 4.68267225e+00,-6.97728254e+00,
  1.62930771e+02,-1.55827835e+01]

qfrc_actuator:
[-2.23450138e-05, 9.05633499e-04, 1.53830837e-04,-5.47762778e-05,
 -2.45890602e-06, 3.47892100e-02, 1.09351749e-02, 1.78924435e-03,
 -1.04008710e-04, 7.99842383e-04, 2.86049714e-04, 9.60001859e-05,
  0.00000000e+00,-1.60919865e-03, 0.00000000e+00,-1.22985046e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038742705523829787
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86563112e-14, -1.43281556e-14,  1.00000000e+00,  4.10592085e-28,
        1.00000000e+00,  1.43281556e-14, -1.00000000e+00,  0.00000000e+00,
        2.86563112e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13911311, -0.0359157 ,  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:
[-5.27342196e-05,-1.10793130e-05, 1.80661372e-05,-9.53931779e-06,
  6.83984599e-06,-5.89310632e-05,-1.12250767e-05, 7.70876674e-05,
 -5.34601085e-05,-2.73324607e-05, 2.18163593e-05,-1.40336658e-06,
  3.35993024e-03,-7.21560790e-06,-3.18516371e-06,-3.82388304e-05,
  9.75957872e-05, 4.81018013e-05,-4.90459774e+00, 7.32959060e-05,
  3.41935816e-03,-7.76518884e-04]


--- 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,
  1.39624253, 0.00768514, 1.34416408, 0.04415741,-0.08585079,-0.04791634,
  0.09346801, 0.70707748,-0.06167589,-0.69937802,-0.08430835]

qacc:
[ 6.15281499e-01,-9.55197725e-01, 3.72664429e+00,-5.85062004e+00,
  5.35749044e-02, 3.95468825e-01,-1.55926382e+00, 3.38325839e+00,
  5.26264045e-01, 9.18629393e-01,-3.40306804e+00, 4.04311158e+00,
 -3.26045418e-02, 2.25595245e-02,-3.06089114e+00, 1.02835049e+01,
  4.47809301e+00,-8.59754097e-01, 3.01783380e+00,-5.95257080e+00,
  1.44062695e+02,-1.29166765e+01]

qfrc_actuator:
[-1.71603388e-05, 9.07498348e-04, 1.67306879e-04,-5.96132884e-05,
  8.98451762e-06, 3.48300909e-02, 1.09476917e-02, 1.79900816e-03,
 -9.92038151e-05, 7.91674281e-04, 2.64103373e-04, 9.47908827e-05,
  0.00000000e+00,-1.60746356e-03, 0.00000000e+00,-1.17934748e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.41308241,  -1.95110769,  -8.41308241,
        12.85282005, -18.18115706,  -1.95110769, -18.18115706,
        87.03263755,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003901536712589415
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.84560445e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.84560445e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13907879, -0.03593488,  0.06180373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.54831925e-05, 8.41243011e-06, 1.97424087e-06, 9.44983294e-06,
  3.22916671e-06,-1.90292358e-05,-2.49687740e-05,-1.65540577e-06,
  3.36089319e-03,-1.72184470e-06,-7.77694385e-06, 4.75105820e-05,
  6.93112686e-06, 2.46540654e-05,-4.90488366e+00,-1.65324650e-05,
  3.41175871e-03,-7.83848673e-04]


--- 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 ,
  1.39624261, 0.00768534, 1.34426146, 0.04415575,-0.08583534,-0.0479398 ,
  0.093486  , 0.70728188,-0.06143517,-0.69916979,-0.08449659]

qacc:
[ 6.56352263e+00,-5.42896827e-01, 2.13400195e+00,-3.30243457e+00,
 -6.33209655e-03, 6.85690772e-01,-1.24376326e+00,-1.94119143e+00,
  3.42460468e+00, 3.10968200e+00,-9.63988122e+00, 9.39665384e+00,
 -2.36122210e-02, 7.97361152e-03,-9.50137187e+00, 3.24687274e+01,
  3.98657949e+00,-7.88692904e-01, 1.60619233e+00,-5.13557080e+00,
  1.28254432e+02,-1.07758856e+01]

qfrc_actuator:
[ 2.21061397e-05, 9.08656431e-04, 1.74962257e-04,-6.23347980e-05,
 -1.97673142e-06, 3.48551408e-02, 1.09373403e-02, 1.78670413e-03,
 -7.83866497e-05, 8.58078840e-04, 2.32795574e-04, 9.37793203e-05,
  0.00000000e+00,-1.60648481e-03, 0.00000000e+00,-1.02347423e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.33890503,  -2.24709583,  -8.33890503,
        14.47053431, -21.65043183,  -2.24709583, -21.65043183,
        88.98046477,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038817504001919523
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.29016388e-14, -2.86010926e-14,  1.00000000e+00,  1.22703374e-27,
        1.00000000e+00,  2.86010926e-14, -1.00000000e+00,  0.00000000e+00,
        4.29016388e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13910952, -0.03593686,  0.06180468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.81109392e-06, 3.03844392e-05,-8.20182661e-06,-1.17747536e-05,
  2.09058162e-05, 5.05381260e-05,-3.83836251e-05,-2.72695871e-06,
  3.36680932e-03,-2.39637628e-06, 1.72664936e-07, 1.57191988e-04,
 -1.20463556e-05,-1.18126130e-05,-4.90492331e+00,-1.18577065e-04,
  3.41026880e-03,-7.92074450e-04]


--- 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,
  1.39624237, 0.0076854 , 1.34435876, 0.04415629,-0.08580559,-0.04796618,
  0.09350563, 0.70764482,-0.06116867,-0.69879902,-0.08471801]

qacc:
[-1.82535233e+00, 1.82927603e+00,-7.41089733e+00, 1.32064102e+01,
  3.50955468e-02,-1.84445318e+00, 6.87341352e+00,-1.15947547e+01,
  2.10521563e+00, 2.25630537e+00,-5.17071837e+00,-6.38087055e-01,
 -4.16550770e-03,-1.68576478e-01,-6.78196844e+00, 2.35419283e+01,
  3.57542153e+00,-7.27668561e-01, 4.11843544e-01,-4.48431961e+00,
  1.15010741e+02,-9.05675072e+00]

qfrc_actuator:
[ 1.00891611e-05, 9.27115493e-04, 1.61370100e-04,-4.60406042e-05,
  9.21531449e-06, 3.48349133e-02, 1.09490284e-02, 1.76150992e-03,
 -6.60825580e-05, 8.97572240e-04, 1.96536040e-04, 7.52046603e-05,
  0.00000000e+00,-1.62378755e-03, 0.00000000e+00,-9.13311843e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003824390822168372
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90300619e-14, -2.90300619e-14,  1.00000000e+00,  8.42744496e-28,
        1.00000000e+00,  2.90300619e-14, -1.00000000e+00,  0.00000000e+00,
        2.90300619e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13919182, -0.03592519,  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:
[-1.08696841e-05, 2.19180731e-05,-1.19562661e-05, 1.66836566e-05,
  1.01228725e-05,-5.36960198e-06, 1.63549976e-05,-2.47952667e-05,
  1.29362508e-05, 5.97084976e-05,-3.06515320e-05,-1.77937219e-05,
  3.38057522e-03,-2.44336816e-05, 1.59167623e-05, 1.18587882e-04,
  1.92098582e-05,-5.68327840e-05,-4.90479062e+00,-2.25481935e-04,
  3.41450839e-03,-8.00923023e-04]


--- 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,
  1.39624194, 0.00768521, 1.34445623, 0.04415715,-0.08579599,-0.04798696,
  0.09351917, 0.70778299,-0.06096082,-0.69865927,-0.084866  ]

qacc:
[-4.10872377e+00, 3.90408515e-01,-2.52539728e+00, 6.44643418e+00,
  4.37704578e-02,-4.14727501e+00, 1.70373312e+01,-3.45024741e+01,
 -1.71333467e+00, 2.74020787e+00,-9.62633620e+00, 1.29903474e+01,
  1.46104346e-02,-2.11608414e-01,-7.35930655e-01, 2.92524797e+00,
 -5.03994388e+00, 1.40033337e+00,-1.52388465e+00, 7.82412975e+00,
 -1.65004603e+02, 2.98857895e+01]

qfrc_actuator:
[-1.42753732e-05, 9.02464170e-04, 1.53180647e-04,-3.64398781e-05,
  1.58549860e-05, 3.48410606e-02, 1.09734604e-02, 1.67566838e-03,
 -7.66463429e-05, 9.02861922e-04, 1.57549337e-04, 8.19341787e-05,
  0.00000000e+00,-1.63410913e-03, 0.00000000e+00,-9.02008520e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003913894389174728
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.54577473e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.54577473e-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([ 0.0077175 , -0.07263216,  0.0618034 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.26217210e-05, 5.63894247e-06, 2.45165917e-05,-8.60993417e-05,
 -1.01602511e-05, 3.15681161e-05,-3.10507520e-05, 7.87921366e-06,
  3.39690454e-03,-2.77107788e-05, 1.77419044e-05, 1.93393684e-05,
  8.61231589e-05,-1.07485102e-04,-4.90453742e+00,-3.32826720e-04,
  3.42406143e-03,-8.10209172e-04]


--- 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 ,
  1.39624134, 0.00768485, 1.34455369, 0.04415883,-0.08580417,-0.04800279,
  0.09352269, 0.70772344,-0.06080389,-0.69872312,-0.08494949]

qacc:
[ 6.47843852e+00, 3.87538167e-01,-2.89801393e+00, 6.44421205e+00,
 -2.23921724e-02, 2.95644773e+00,-1.06824504e+01, 1.76005870e+01,
 -6.96127816e+00, 8.28437292e-01,-3.62698116e+00, 6.08147109e+00,
  2.63466353e-02,-1.79468867e-01,-2.51235777e+00, 8.74316734e+00,
 -4.44473161e+00, 1.23801701e+00,-2.50492271e+00, 7.11834321e+00,
 -1.45247305e+02, 2.60245487e+01]

qfrc_actuator:
[ 2.53143791e-05, 8.52198456e-04, 1.30321927e-04,-3.08854155e-05,
  1.95704317e-06, 3.48629685e-02, 1.09520131e-02, 1.71461750e-03,
 -1.18335578e-04, 8.69877746e-04, 1.34896242e-04, 8.57172914e-05,
  0.00000000e+00,-1.64008101e-03, 0.00000000e+00,-8.60260989e-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,   7.43692045,   4.39078479,   7.43692045,
        25.64526732, -28.80894187,   4.39078479, -28.80894187,
        57.43169737,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003950133152820522
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.10794734e-14, -1.75662279e-14,  1.00000000e+00,  3.70286833e-28,
        1.00000000e+00,  1.75662279e-14, -1.00000000e+00,  0.00000000e+00,
        2.10794734e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00763747, -0.07260633,  0.06180183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.43861036e-06, 2.72404314e-05,-2.00811027e-05, 3.78384794e-05,
 -4.19723499e-05,-2.14398386e-05,-1.96871398e-05, 4.21392035e-06,
  3.40571898e-03,-2.13874589e-05, 7.17368939e-06, 4.43923330e-05,
  2.65698559e-06,-3.51299677e-05,-4.90488074e+00,-1.74088889e-04,
  3.43354379e-03,-8.11936000e-04]


--- 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,
  1.39624068, 0.00768433, 1.34465125, 0.04416034,-0.08582812,-0.04801421,
  0.09351284, 0.70748876,-0.06069151,-0.69896729,-0.08497599]

qacc:
[ 4.12747276e+00, 7.55881593e-01,-4.20936927e+00, 7.12318109e+00,
 -4.21655205e-02, 1.61076082e+00,-4.81862812e+00, 5.18251612e+00,
  1.69629668e+00,-3.83167097e+00, 1.72953104e+01,-3.53496357e+01,
  3.63985435e-02,-1.52314960e-01, 6.69139661e-01,-2.16053673e+00,
 -3.94125796e+00, 1.10059446e+00,-3.34199830e+00, 6.48561496e+00,
 -1.28617281e+02, 2.28041165e+01]

qfrc_actuator:
[ 4.89763610e-05, 8.04662525e-04, 9.88611170e-05,-2.77927934e-05,
 -6.39619736e-06, 3.48940371e-02, 1.09393060e-02, 1.72017071e-03,
 -1.06993324e-04, 8.49785456e-04, 1.57399956e-04, 3.44494264e-05,
  0.00000000e+00,-1.64341743e-03, 0.00000000e+00,-8.71884426e-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,   7.34650644,   4.5404427 ,   7.34650644,
        28.56611166, -32.24664023,   4.5404427 , -32.24664023,
        60.81192576,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003933558057134676
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.05841487e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.05841487e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00767789, -0.0726131 ,  0.06180259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.21573311e-05, 4.33507829e-05,-8.55467261e-06, 6.65827741e-06,
  1.01081305e-05,-3.60069851e-05, 1.57974638e-05,-5.27850687e-05,
  3.41434316e-03,-1.60454190e-05, 5.78795091e-06,-8.78623405e-06,
 -7.68068119e-06, 7.39730907e-06,-4.90495930e+00,-8.05881989e-05,
  3.43344761e-03,-8.13964213e-04]


--- 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,
  1.39624035, 0.00768397, 1.34474896, 0.04416036,-0.08586613,-0.0480217 ,
  0.09348677, 0.70709783,-0.06061833,-0.69937206,-0.0849518 ]

qacc:
[-6.42664010e+00, 7.89218506e-01,-1.43228583e+00,-3.87220555e+00,
  1.94881397e-02,-1.87699652e+00, 6.83758153e+00,-9.32042960e+00,
  4.15188585e+00,-2.18948350e+00, 1.08251678e+01,-2.29268924e+01,
  3.18620730e-02, 1.50502161e-01, 4.74341167e+00,-1.62309098e+01,
 -3.51450599e+00, 9.83969808e-01,-4.05459229e+00, 5.92213640e+00,
 -1.14622210e+02, 2.01184405e+01]

qfrc_actuator:
[ 9.79517804e-06, 8.30087313e-04, 8.03257750e-05,-4.39312651e-05,
  6.39788850e-06, 3.48948596e-02, 1.09673826e-02, 1.70601810e-03,
 -8.22701072e-05, 8.90957119e-04, 1.88627025e-04, 4.49285049e-06,
  0.00000000e+00,-1.60960573e-03, 0.00000000e+00,-9.50363798e-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,   7.3487434 ,   4.53682127,   7.3487434 ,
        31.10628228, -36.39677574,   4.53682127, -36.39677574,
        67.59186346,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038747095730779432
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.16326607e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.16326607e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00781363, -0.07264561,  0.06180521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.61112563e-06, 2.33318758e-05, 3.57778367e-05,-1.29479196e-05,
  2.50093572e-05, 2.20260001e-05, 2.39090984e-05,-3.19796831e-05,
  3.41674296e-03, 2.60728190e-05,-7.62461357e-07,-7.87907302e-05,
  3.26541688e-05, 2.88306059e-05,-4.90485421e+00,-3.33269681e-05,
  3.42533448e-03,-8.16001429e-04]


--- 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,
  1.39624035, 0.00768412, 1.34484649, 0.04416077,-0.08588357,-0.04803299,
  0.09348019, 0.70693365,-0.06050294,-0.69954411,-0.08498386]

qacc:
[-1.01641336e+00, 5.39048463e-01, 1.25295098e+00,-1.11456746e+01,
  3.78795636e-02, 2.12218989e+00,-1.05820999e+01, 2.80364231e+01,
 -4.07902025e-01, 1.87301012e+00,-7.81310026e+00, 1.45334683e+01,
  1.04932797e-02, 3.84688419e-01,-1.47239294e+00, 4.77049985e+00,
  5.14195473e+00,-9.50528506e-01, 4.87276585e+00,-7.75287103e+00,
  1.65066693e+02,-1.79587520e+01]

qfrc_actuator:
[ 4.95468796e-06, 8.81289309e-04, 6.98556807e-05,-7.11841427e-05,
  1.40221578e-05, 3.48599556e-02, 1.09659260e-02, 1.78691118e-03,
 -8.53910768e-05, 8.97551475e-04, 1.71757169e-04, 2.28817294e-05,
  0.00000000e+00,-1.57152108e-03, 0.00000000e+00,-9.25556652e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003844054317648067
  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([-0.13917855, -0.03598443,  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:
[-5.96663878e-06, 2.37801252e-05,-2.29560253e-05,-3.04840321e-05,
  1.09409899e-05,-1.53868718e-05, 6.79753467e-06, 8.23420170e-05,
 -2.37878384e-06, 2.24679753e-05,-1.04854304e-05, 1.95381952e-05,
  3.40059505e-03, 5.59935565e-05,-1.09593497e-05, 1.98710290e-05,
  1.07436944e-04, 3.54622454e-05,-4.90462229e+00,-1.88685079e-05,
  3.41042609e-03,-8.17858995e-04]


--- 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,
  1.39624065, 0.00768434, 1.34494426, 0.04415878,-0.08588284,-0.04804774,
  0.09348633, 0.7069702 ,-0.06035125,-0.69951055,-0.08506377]

qacc:
[ 5.50853492e+00,-2.82801284e+00, 1.43999910e+01,-3.25050727e+01,
 -2.35504674e-02,-2.01451513e+00, 7.09138427e+00,-1.41028847e+01,
 -6.16284136e+00,-4.90738671e-01,-9.62679207e-01, 1.00688599e+01,
 -6.34123378e-03, 1.31252606e-01, 7.65798710e+00,-2.62433201e+01,
  4.54190918e+00,-8.67149542e-01, 3.18029466e+00,-6.56921399e+00,
  1.45876826e+02,-1.48604986e+01]

qfrc_actuator:
[ 3.81390584e-05, 8.76562436e-04, 8.21040098e-05,-1.22474168e-04,
  7.29914883e-07, 3.47861224e-02, 1.09469474e-02, 1.74551865e-03,
 -1.22633632e-04, 8.83248365e-04, 1.97540170e-04, 5.17565638e-05,
  0.00000000e+00,-1.58454079e-03, 0.00000000e+00,-1.05309923e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.51070407,  -1.4678873 ,  -8.51070407,
        10.77964577, -12.42659428,  -1.4678873 , -12.42659428,
        80.68485544,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003877841992619667
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86299191e-14, -1.43149595e-14,  1.00000000e+00,  4.09836133e-28,
        1.00000000e+00,  1.43149595e-14, -1.00000000e+00,  0.00000000e+00,
        2.86299191e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13913481, -0.0360072 ,  0.06180491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.82741873e-06,-7.85361169e-05,-1.87996768e-05,-3.97457769e-05,
 -3.73025592e-05,-3.09453780e-06, 2.98059045e-05, 2.98560855e-05,
  3.38377076e-03, 1.75709126e-05,-3.59944057e-06,-1.28047989e-04,
  1.25678464e-05, 2.11440953e-05,-4.90492204e+00,-5.78380485e-05,
  3.40560908e-03,-8.21748649e-04]


--- 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,
  1.39624113, 0.00768456, 1.34504209, 0.04415461,-0.08586595,-0.04806568,
  0.09349945, 0.7071855 ,-0.06016812,-0.69929395,-0.0851847 ]

qacc:
[ 3.48351211e+00,-4.41684534e+00, 1.95244189e+01,-3.73656962e+01,
  2.00479370e-02,-7.64570074e+00, 3.02336616e+01,-6.02179140e+01,
  2.14452276e+00,-7.33169925e-01, 2.74359702e+00,-3.39025151e+00,
 -2.27712804e-02, 6.71889604e-02, 6.69286754e+00,-2.32758971e+01,
  4.04006058e+00,-7.95387339e-01, 1.74468716e+00,-5.62528828e+00,
  1.29796755e+02,-1.23757763e+01]

qfrc_actuator:
[ 5.79222509e-05, 8.73970210e-04, 1.25189744e-04,-1.69770890e-04,
  1.05025455e-05, 3.47781711e-02, 1.09885481e-02, 1.59693611e-03,
 -1.08642278e-04, 8.92222584e-04, 2.12720701e-04, 5.10729059e-05,
  0.00000000e+00,-1.59248509e-03, 0.00000000e+00,-1.16288820e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.45828184,  -1.74477654,  -8.45828184,
        11.82215969, -15.44401833,  -1.74477654, -15.44401833,
        83.50546957,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038634737800360974
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.43681967e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.43681967e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13915766, -0.03601204,  0.0618056 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.73537596e-06,-5.62619763e-05, 2.29330643e-05,-1.52416861e-04,
  1.28977082e-05, 1.46375976e-05, 1.92382556e-05, 7.96344138e-07,
  3.36851789e-03, 6.03488687e-06,-1.78750503e-05,-1.17855480e-04,
 -8.26040849e-06,-8.35540816e-06,-4.90496740e+00,-1.18951566e-04,
  3.40627800e-03,-8.26855970e-04]


--- 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,
  1.39624147, 0.00768506, 1.34513933, 0.04415315,-0.08586402,-0.04807846,
  0.09353161, 0.70723157,-0.06002769,-0.69925154,-0.08524941]

qacc:
[ 7.97500225e+00, 5.83981314e-01,-4.32958011e+00, 1.30672216e+01,
  3.16807891e-02,-1.28137578e-01, 1.99920327e+00,-6.92034209e+00,
  4.41363884e+00,-1.35152598e-01, 2.25248229e+00,-8.07826411e+00,
 -3.12051028e-02, 1.70687004e-01,-9.08024615e+00, 3.04969375e+01,
 -3.73771393e+00, 1.29014711e+00, 4.75841487e+00, 6.88569019e+00,
 -1.24274283e+02, 2.23647637e+01]

qfrc_actuator:
[ 1.05151784e-04, 8.72809718e-04, 1.32877056e-04,-1.43310170e-04,
  1.62810368e-05, 3.48631452e-02, 1.10125210e-02, 1.58184484e-03,
 -8.23480035e-05, 8.97256329e-04, 2.03819631e-04, 3.30048812e-05,
  0.00000000e+00,-1.57957808e-03, 0.00000000e+00,-1.01275092e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003810181154838429
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.89352904e-07,  4.75774237e-14,  1.00000000e+00,  3.27976352e-20,
        1.00000000e+00, -4.75774237e-14, -1.00000000e+00,  0.00000000e+00,
       -6.89352904e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0452335 , -0.05941556,  0.06180808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.16637974e-06, 5.37612737e-05, 1.11030493e-05,-1.96483931e-05,
  2.66790181e-05, 1.71981390e-05,-3.49317169e-06,-1.67620737e-05,
  3.35922538e-03, 1.94714521e-05,-2.26964838e-05, 1.40960890e-04,
  2.26966462e-05,-4.79544744e-05,-4.90483497e+00,-1.92223188e-04,
  3.41226199e-03,-8.32830751e-04]


--- 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,
  1.39624151, 0.00768563, 1.34523625, 0.04415479,-0.08587752,-0.04808712,
  0.09354972, 0.7071064 ,-0.05993394,-0.69938514,-0.08525776]

qacc:
[ 1.85591905e+00, 2.47974513e+00,-1.35004713e+01, 3.21001063e+01,
 -3.13780306e-02, 6.71939619e+00,-2.46502732e+01, 4.33123156e+01,
 -3.15278279e+00,-1.66059677e+00, 4.97847341e+00,-3.49259403e+00,
 -1.90607274e-02,-1.81059232e-02,-9.85297794e+00, 3.37802038e+01,
 -3.86076792e+00, 1.03132652e+00,-3.51069554e+00, 5.55736098e+00,
 -1.25795235e+02, 2.36679404e+01]

qfrc_actuator:
[ 1.14904123e-04, 8.54690866e-04, 1.19647530e-04,-9.14442973e-05,
  1.86363158e-06, 3.49143619e-02, 1.09730909e-02, 1.68100191e-03,
 -1.02297501e-04, 8.82022205e-04, 2.34013998e-04, 4.03463792e-05,
  0.00000000e+00,-1.58996160e-03, 0.00000000e+00,-8.52700937e-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, -8.2625483 ,  2.51337869, -8.2625483 ,  8.66716428,
        0.10125487,  2.51337869,  0.10125487,  8.96923162,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003795592664341485
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46251603e-14, -2.92503206e-14,  1.00000000e+00,  4.27790629e-28,
        1.00000000e+00,  2.92503206e-14, -1.00000000e+00,  0.00000000e+00,
        1.46251603e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00800967, -0.07267021,  0.0618089 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.99857267e-06, 8.25404825e-05,-2.82313574e-05, 1.00638140e-04,
 -1.91582400e-05,-7.08372420e-06, 3.27238547e-05, 7.62909049e-06,
  3.36606341e-03,-5.39385626e-06, 4.94084043e-06, 1.64931157e-04,
 -7.02807849e-06,-9.20334810e-06,-4.90497236e+00,-1.20874721e-04,
  3.41486920e-03,-8.34425851e-04]


--- 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,
  1.39624134, 0.00768612, 1.3453332 , 0.04415799,-0.0858744 ,-0.04809894,
  0.09357598, 0.70716456,-0.05980645,-0.6993308 ,-0.08531067]

qacc:
[-1.98818022e+00,-2.93872336e-01,-2.67225887e+00, 1.37095464e+01,
 -4.85387625e-02, 5.53800641e+00,-2.14073459e+01, 4.05589261e+01,
  3.90475129e+00,-7.00263125e-01,-7.21952771e-02, 7.61353306e+00,
 -1.34214237e-03,-1.07467115e-01,-4.69158998e+00, 1.64656224e+01,
  4.15783180e+00,-7.93587011e-01, 2.03598437e+00,-6.16702901e+00,
  1.33334488e+02,-1.41058635e+01]

qfrc_actuator:
[ 1.02510853e-04, 8.08738024e-04, 1.29627385e-04,-6.05865882e-05,
 -6.80004175e-06, 3.49093006e-02, 1.09320054e-02, 1.77551080e-03,
 -7.83001830e-05, 8.54939542e-04, 2.51490117e-04, 6.25959579e-05,
  0.00000000e+00,-1.59646292e-03, 0.00000000e+00,-7.76940249e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037719016516772133
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.47170198e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.47170198e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13929837, -0.03600926,  0.06181007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.39788740e-05, 3.81014678e-05,-2.52029832e-05, 9.84928919e-05,
  2.34352585e-05,-2.40014859e-05, 2.02912079e-05, 2.32250886e-05,
  3.38097222e-03,-1.53824595e-05, 1.87162189e-05, 8.51612760e-05,
  7.53673766e-06, 1.53404694e-05,-4.90495576e+00,-8.11091289e-05,
  3.40906207e-03,-8.35641932e-04]


--- 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,
  1.39624131, 0.00768657, 1.3454305 , 0.04415975,-0.08588486,-0.04810609,
  0.09361578, 0.70706948,-0.05971696,-0.69943428,-0.0853131 ]

qacc:
[-1.32350674e+00,-5.88763938e-01, 3.69597199e+00,-9.93803933e+00,
 -1.07979387e-01, 5.80476463e+00,-2.26464804e+01, 4.43609892e+01,
 -4.71409965e-01,-1.28387573e+00, 5.64556216e+00,-1.22840191e+01,
  4.87229052e-03, 1.34354882e-02, 4.88148168e+00,-1.63219908e+01,
 -3.39757535e+00, 1.16990920e+00, 3.38597463e+00, 6.36285869e+00,
 -1.12513801e+02, 1.98799412e+01]

qfrc_actuator:
[ 9.49468055e-05, 8.35303842e-04, 1.35345735e-04,-7.78532647e-05,
 -2.96939282e-05, 3.49415758e-02, 1.09078034e-02, 1.88422719e-03,
 -8.18709694e-05, 8.20940820e-04, 2.43502414e-04, 4.01502922e-05,
  0.00000000e+00,-1.58275489e-03, 0.00000000e+00,-8.57972207e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003735016298647723
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13552806e-06,  5.10893573e-14,  1.00000000e+00, -5.80133990e-20,
        1.00000000e+00, -5.10893573e-14, -1.00000000e+00,  1.20370622e-35,
        1.13552806e-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([-0.04519912, -0.05942465,  0.06181187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.11537603e-05, 5.13832822e-05,-1.67277810e-05, 1.11406085e-04,
 -2.89197353e-06,-4.22563186e-05,-9.66264499e-06,-2.23247961e-05,
  3.39153192e-03, 2.61430051e-06, 1.51772533e-05,-7.45472244e-05,
 -5.02017437e-06,-1.02723880e-05,-4.90497479e+00,-1.22663918e-04,
  3.41125295e-03,-8.39381826e-04]


--- 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,
  1.39624155, 0.00768705, 1.34552802, 0.04415921,-0.08587997,-0.0481162 ,
  0.09366   , 0.70714349,-0.05959643,-0.69936445,-0.08535641]

qacc:
[-9.71798458e+00, 1.91743887e+00,-4.44759944e+00, 4.46817214e-01,
 -1.10530775e-01, 5.03914327e+00,-2.01701590e+01, 4.35982613e+01,
 -6.21594074e+00,-3.81036343e+00, 1.72333368e+01,-3.50065278e+01,
 -6.80161967e-03, 9.58071192e-02, 7.29828694e+00,-2.50297284e+01,
  3.83969968e+00,-7.38967690e-01, 1.10377078e+00,-5.66429471e+00,
  1.22941179e+02,-1.29201884e+01]

qfrc_actuator:
[ 3.70360248e-05, 9.05036307e-04, 1.20998282e-04,-8.77372395e-05,
 -4.31870451e-05, 3.49960231e-02, 1.09116549e-02, 2.00046232e-03,
 -1.19406264e-04, 8.18421883e-04, 2.73737109e-04,-8.44040876e-06,
  0.00000000e+00,-1.57468931e-03, 0.00000000e+00,-9.77441051e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037106101345181774
  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([-0.13939604, -0.03600718,  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:
[-5.81364264e-05, 6.86623868e-05,-1.52306422e-05,-1.03213379e-05,
 -3.19021941e-05, 8.29487321e-05, 1.52701498e-05, 1.19874865e-04,
 -3.76318027e-05,-2.91215273e-05, 1.95287758e-05,-5.11724128e-05,
  3.38385060e-03, 1.24939026e-05,-4.25419167e-06,-1.22366459e-04,
  3.40195628e-06, 1.18794801e-05,-4.90497320e+00,-9.05678274e-05,
  3.40697979e-03,-8.40509881e-04]


--- 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,
  1.39624213, 0.00768757, 1.34562576, 0.04415524,-0.08586122,-0.04812905,
  0.09370426, 0.70736992,-0.05944876,-0.69913839,-0.08543503]

qacc:
[-1.94124222e-02, 2.98765425e+00,-1.24607390e+01, 2.33748378e+01,
  3.08145340e-02,-2.51860367e-01, 1.94940761e+00,-5.86551797e+00,
 -8.50286371e-01, 1.00268611e+00,-3.63675636e+00, 5.58313007e+00,
 -2.50050707e-02, 1.36937464e-01, 1.07287499e+01,-3.70549331e+01,
  3.46215380e+00,-6.88329142e-01, 1.17532588e-02,-4.87765992e+00,
  1.10756073e+02,-1.08160427e+01]

qfrc_actuator:
[ 3.87172977e-05, 9.11247680e-04, 9.51305369e-05,-5.76535553e-05,
 -1.54263359e-05, 3.49746757e-02, 1.08966196e-02, 1.97819779e-03,
 -1.23365476e-04, 8.52648668e-04, 2.73161528e-04,-9.52430275e-07,
  0.00000000e+00,-1.57006258e-03, 0.00000000e+00,-1.15404296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.42090498,  -1.91706447,  -8.42090498,
        11.93747975, -14.50049567,  -1.91706447, -14.50049567,
        72.33129826,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0036525942109831497
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.03954658e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.03954658e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13948343, -0.03599571,  0.06181603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.91034993e-06, 3.11287571e-05, 6.45052815e-06,-1.65375134e-05,
 -5.06911573e-06, 1.97555188e-05,-5.97048797e-06, 5.92082994e-06,
  3.37073319e-03, 1.55507020e-05,-1.75536713e-05,-1.84440427e-04,
 -3.18753000e-06,-1.24204646e-05,-4.90497318e+00,-1.25138978e-04,
  3.40992528e-03,-8.43763306e-04]


--- 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,
  1.39624292, 0.00768818, 1.3457234 , 0.04414915,-0.08585936,-0.04813751,
  0.09373664, 0.70741031,-0.05935355,-0.69910353,-0.08545211]

qacc:
[ 6.11935392e+00, 1.84990873e+00,-8.94703409e+00, 2.07071231e+01,
  1.48477690e-02,-2.10891644e+00, 1.02795959e+01,-2.79924982e+01,
  5.52140899e+00, 3.05901660e+00,-1.24808426e+01, 2.15222175e+01,
 -4.57800228e-02, 1.66656501e-01, 6.23516728e+00,-2.19908246e+01,
 -4.22021278e+00, 1.09940706e+00,-2.97146000e+00, 5.59357498e+00,
 -1.36730414e+02, 2.64762280e+01]

qfrc_actuator:
[ 7.54761712e-05, 9.32619271e-04, 9.79653395e-05,-2.21002873e-05,
 -1.64007208e-05, 3.49434594e-02, 1.08701756e-02, 1.89230151e-03,
 -8.97661070e-05, 8.55295227e-04, 2.36836466e-04, 2.17315469e-05,
  0.00000000e+00,-1.56750978e-03, 0.00000000e+00,-1.25634864e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003677270895525088
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50957470e-14, -7.54787352e-15,  1.00000000e+00,  1.13940789e-28,
        1.00000000e+00,  7.54787352e-15, -1.00000000e+00,  0.00000000e+00,
        1.50957470e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00833872, -0.07271615,  0.06181511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.29236597e-06,-1.32324747e-05,-2.01000793e-05,-8.51483764e-05,
  3.34592188e-05, 1.26931203e-05,-3.27906565e-05, 2.34386306e-05,
  3.35332089e-03, 1.66413075e-05,-3.00473087e-05,-1.15183903e-04,
  2.68199617e-05,-4.41586773e-05,-4.90484807e+00,-1.70197641e-04,
  3.41733171e-03,-8.47770120e-04]


--- 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,
  1.39624367, 0.00768918, 1.34582047, 0.0441452 ,-0.08587256,-0.04814201,
  0.09375414, 0.707285  ,-0.05930399,-0.69923909,-0.08541467]

qacc:
[ 8.25271573e-01,-6.38822744e-01, 2.44677976e+00,-2.16822215e+00,
  7.21241153e-03,-3.09431116e-01, 1.31134794e+00,-1.74952867e+00,
 -2.41139777e+00,-6.16631674e-01, 1.91480710e+00,-2.71989167e+00,
 -5.81550768e-02, 2.78332996e-01,-7.28134200e+00, 2.42518386e+01,
 -3.76555254e+00, 9.90868221e-01,-3.71822188e+00, 5.27552833e+00,
 -1.21770457e+02, 2.31036845e+01]

qfrc_actuator:
[ 7.93099177e-05, 9.45268130e-04, 1.17775024e-04,-1.90963130e-05,
 -1.68549250e-05, 3.49774786e-02, 1.08904002e-02, 1.89393102e-03,
 -1.05350738e-04, 8.21130246e-04, 2.32849028e-04, 1.76183540e-05,
  0.00000000e+00,-1.54853098e-03, 0.00000000e+00,-1.13651043e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.282921  ,   2.44540315,   8.282921  ,
        11.98812648, -11.35288751,   2.44540315, -11.35288751,
        47.09017459,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0036585508983443954
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.13797415e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.13797415e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00839228, -0.0727221 ,  0.06181611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.08226454e-06, 2.02045973e-05, 1.28551061e-05,-1.32788431e-06,
 -1.45984030e-05,-3.28434086e-05,-4.60625446e-06,-4.24986578e-06,
  3.34242619e-03, 3.06357141e-05,-2.72795113e-05, 1.09416041e-04,
 -3.46387722e-06,-5.72353854e-06,-4.90499027e+00,-1.15017308e-04,
  3.41704097e-03,-8.48222012e-04]


--- 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,
  1.3962445 , 0.0076904 , 1.34591752, 0.04414132,-0.08589929,-0.04814291,
  0.09375423, 0.70701096,-0.05929447,-0.69952748,-0.08532859]

qacc:
[ 6.31627833e+00,-1.15788404e+00, 3.62868395e+00,-2.98059618e+00,
  6.54287102e-02,-4.45376496e+00, 1.48375783e+01,-1.69789623e+01,
 -4.49730015e+00, 1.06727147e+00,-5.00980059e+00, 1.02129690e+01,
 -5.89964148e-02, 2.21145250e-01,-2.32677261e-01, 8.01146972e-01,
 -3.38120284e+00, 8.98307901e-01,-4.35292436e+00, 4.96421527e+00,
 -1.09195628e+02, 2.03161227e+01]

qfrc_actuator:
[ 1.16979503e-04, 9.17136471e-04, 1.29630724e-04,-1.75151335e-05,
  7.59660646e-07, 3.49617518e-02, 1.09560761e-02, 1.87612484e-03,
 -1.32020248e-04, 8.36291866e-04, 2.30067494e-04, 3.32670350e-05,
  0.00000000e+00,-1.53776957e-03, 0.00000000e+00,-1.13531269e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.2576725 ,   2.52935205,   8.2576725 ,
        12.59645769, -12.9286707 ,   2.52935205, -12.9286707 ,
        50.84508997,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0036020082197862624
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.70558364e-15,  1.15583755e-14,  1.00000000e+00, -8.90640289e-29,
        1.00000000e+00, -1.15583755e-14, -1.00000000e+00,  0.00000000e+00,
        7.70558364e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00853119, -0.07275183,  0.06181878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.88457956e-05,-2.07965458e-06, 7.10554400e-05,-1.68484271e-05,
 -2.71073444e-05,-4.35435971e-06,-1.02889492e-05, 1.39994499e-05,
  3.34469673e-03, 2.23888167e-05,-4.32901224e-07, 3.79087582e-06,
  1.32080227e-05, 1.18420885e-05,-4.90496014e+00,-1.00250879e-04,
  3.40974791e-03,-8.48534060e-04]


--- 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,
  1.39624536, 0.00769159, 1.3460147 , 0.04413613,-0.08590778,-0.04814724,
  0.09376657, 0.70693639,-0.05924712,-0.69961122,-0.08529286]

qacc:
[ 3.82361550e+00,-1.76619287e-02,-1.86336811e+00, 8.27685146e+00,
 -4.77372487e-02,-1.20580931e+00, 4.04942703e+00,-5.57575465e+00,
  3.25055752e+00,-1.07481346e+00, 2.35205591e+00, 7.09658915e-01,
 -6.39286360e-02, 6.28161958e-02, 4.14500351e+00,-1.41789629e+01,
  4.55691094e+00,-8.55160971e-01, 3.06119801e+00,-7.05382104e+00,
  1.45216068e+02,-1.64513480e+01]

qfrc_actuator:
[ 1.38768009e-04, 9.00268914e-04, 1.36522921e-04, 9.30448432e-07,
 -2.41863404e-05, 3.49342950e-02, 1.09590721e-02, 1.86475209e-03,
 -1.11726470e-04, 8.09886547e-04, 2.45968991e-04, 4.27036280e-05,
  0.00000000e+00,-1.54968805e-03, 0.00000000e+00,-1.20409466e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0035811790923294465
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.55008029e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.55008029e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13960406, -0.03601072,  0.06181973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.38091009e-05,-1.52179037e-05, 1.01827007e-05,-9.73703146e-06,
  1.94988609e-05,-3.03861857e-05, 1.42118462e-05, 9.16695213e-06,
  3.34032178e-03,-7.74880189e-07,-1.57189266e-06,-6.90322218e-05,
  6.31096798e-05, 1.48789254e-05,-4.90480770e+00,-1.13667327e-04,
  3.39640821e-03,-8.48550926e-04]


--- Step 2549 ---
qpos:
[ 0.01864794, 0.03001439,-0.00946656,-0.02528083,-0.00353367, 1.34080301,
 -0.03000322, 0.94383599, 0.01153215, 0.02727756,-0.00830112, 0.02643885,
  1.39624616, 0.00769294, 1.34611166, 0.04413184,-0.08590002,-0.04815471,
  0.0937856 , 0.70703998,-0.05916703,-0.69951242,-0.08530015]

qacc:
[ 2.15272215e+00,-3.98118151e-01, 2.07865945e+00,-4.66305876e+00,
 -1.80227231e-02, 2.16714432e+00,-7.38228870e+00, 8.86398519e+00,
  2.16169663e+00,-3.16690563e+00, 1.09170879e+01,-1.51183130e+01,
 -6.79501772e-02, 1.48055699e-01,-3.02271950e+00, 1.00971333e+01,
  4.06398929e+00,-7.87367495e-01, 1.67330546e+00,-5.98804312e+00,
  1.29516312e+02,-1.36575668e+01]

qfrc_actuator:
[ 1.51024002e-04, 9.08012275e-04, 1.40475303e-04,-6.35137275e-06,
 -2.12053310e-05, 3.49353037e-02, 1.09249809e-02, 1.87495733e-03,
 -9.94545118e-05, 7.58871037e-04, 2.72608579e-04, 3.06355624e-05,
  0.00000000e+00,-1.53954743e-03, 0.00000000e+00,-1.15374891e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.52519303,  -1.38125328,  -8.52519303,
        10.32126499, -10.39933045,  -1.38125328, -10.39933045,
        72.82176725,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0035823121876618763
  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([-0.13960685, -0.03602132,  0.06181974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29177183e-05, 4.55873970e-06, 3.61694334e-06,-7.02156681e-06,
 -5.18007060e-06,-5.71491580e-06,-3.61936215e-05, 9.82577096e-06,
  1.28314437e-05,-6.46748353e-05, 2.24209174e-05,-1.27019545e-05,
  3.33815420e-03, 1.07122420e-05,-1.05885419e-05, 4.58098681e-05,
  5.43483163e-06, 7.12052265e-06,-4.90498555e+00,-1.05370439e-04,
  3.39668913e-03,-8.48806236e-04]


--- 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,
  1.39624671, 0.00769449, 1.34620825, 0.04413051,-0.08587766,-0.0481651 ,
  0.09380663, 0.70730374,-0.05905837,-0.69924948,-0.08534455]

qacc:
[ 4.08411399e+00, 2.87997832e+00,-1.07235089e+01, 1.60942704e+01,
 -3.91990841e-03, 2.23794464e+00,-7.40669882e+00, 7.65859172e+00,
  1.27415864e+00, 1.20666174e+00,-3.55396744e+00, 1.73949070e+00,
 -6.27539674e-02, 1.24943122e-01,-9.48970430e+00, 3.24104765e+01,
  3.65178382e+00,-7.28792922e-01, 4.98506226e-01,-5.13710568e+00,
  1.16365907e+02,-1.14212036e+01]

qfrc_actuator:
[ 1.75329057e-04, 9.30397363e-04, 1.07236420e-04, 6.80962684e-06,
 -1.92461491e-05, 3.49354524e-02, 1.08871623e-02, 1.88002789e-03,
 -9.20179453e-05, 7.82303815e-04, 2.51985010e-04, 2.37440993e-05,
  0.00000000e+00,-1.53409824e-03, 0.00000000e+00,-9.98089652e-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,  -8.47521119,  -1.66059391,  -8.47521119,
        11.23182425, -13.24651178,  -1.66059391, -13.24651178,
        76.24288918,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003545283392315232
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.26309889e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.26309889e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13966223, -0.03601754,  0.06182152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.10218312e-06,-9.80122914e-06,-4.27650813e-05, 4.06976307e-06,
  7.78799664e-06,-8.62774907e-06,-3.16698421e-05,-9.13556997e-06,
  3.34169106e-03, 8.25603646e-06,-1.07823843e-06, 1.56570464e-04,
  3.47801319e-06,-1.33846746e-05,-4.90497136e+00,-1.19487726e-04,
  3.40153246e-03,-8.50225929e-04]


--- Step 2551 ---
qpos:
[ 0.01865174, 0.03001552,-0.00946833,-0.02527827,-0.00353441, 1.34080528,
 -0.03000493, 0.94384049, 0.01153108, 0.0272761 ,-0.0082997 , 0.02643805,
  1.39624718, 0.00769588, 1.34630512, 0.04412835,-0.08587331,-0.04817075,
  0.09381747, 0.70736932,-0.05900376,-0.69919025,-0.08532403]

qacc:
[-3.58707384e+00, 3.86146083e+00,-1.49090184e+01, 2.42484813e+01,
  2.31673285e-03, 7.65494658e-02, 5.68554175e-01,-4.39556069e+00,
 -2.19299159e+00, 4.70358861e+00,-1.86155862e+01, 3.05734955e+01,
 -4.99101466e-02,-6.86613918e-02, 2.90132222e+00,-9.53697732e+00,
 -4.50345214e+00, 1.18514514e+00,-2.54499673e+00, 6.42045808e+00,
 -1.45559375e+02, 2.73846400e+01]

qfrc_actuator:
[ 1.53277049e-04, 9.61241464e-04, 7.01420689e-05, 3.18877242e-05,
 -1.79164771e-05, 3.49528112e-02, 1.08829595e-02, 1.86428448e-03,
 -1.05236728e-04, 8.14446553e-04, 2.03918463e-04, 5.54881986e-05,
  0.00000000e+00,-1.54932727e-03, 0.00000000e+00,-1.04795550e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003553974122700289
  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([ 0.0086634 , -0.07275721,  0.06182121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.78047978e-07, 3.69048010e-06,-1.08643044e-05,-1.71939283e-05,
 -1.29938421e-05, 2.04065151e-05,-5.40684766e-05, 3.01012377e-05,
  3.35385587e-03,-1.72566370e-05, 1.54016676e-05,-4.16094666e-05,
  4.14519732e-05,-4.27517065e-05,-4.90482004e+00,-1.47516776e-04,
  3.41088064e-03,-8.52506714e-04]


--- 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,
  1.39624747, 0.00769693, 1.34640215, 0.04412497,-0.08588497,-0.04817214,
  0.0938149 , 0.70725891,-0.05899622,-0.69931207,-0.08524611]

qacc:
[-5.35595709e+00, 2.28223358e+00,-8.61820800e+00, 1.38598602e+01,
  6.63090298e-02,-3.98260503e+00, 1.19600321e+01,-8.73585611e+00,
  1.61464135e+00, 2.24422999e+00,-8.70232663e+00, 1.48278219e+01,
 -4.31045399e-02,-2.10206747e-01, 3.92746286e+00,-1.34209014e+01,
 -4.00462519e+00, 1.06304723e+00,-3.35388150e+00, 5.95196670e+00,
 -1.29260585e+02, 2.39035498e+01]

qfrc_actuator:
[ 1.21865214e-04, 9.79147127e-04, 4.88792860e-05, 4.60333088e-05,
  7.77171176e-07, 3.49271988e-02, 1.09519479e-02, 1.87195601e-03,
 -9.50002942e-05, 8.51475234e-04, 1.93389301e-04, 7.42082449e-05,
  0.00000000e+00,-1.57667321e-03, 0.00000000e+00,-1.11202607e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   8.13639235,   2.89584123,   8.13639235,
        14.28668818, -15.87561392,   2.89584123, -15.87561392,
        53.2417868 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003562413375185841
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.33736847e-14,  2.72692988e-14,  1.00000000e+00, -6.37383990e-28,
        1.00000000e+00, -2.72692988e-14, -1.00000000e+00,  0.00000000e+00,
        2.33736847e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00864761, -0.07274587,  0.06182088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.90945504e-05,-2.62168544e-05, 6.79723962e-05, 7.06839612e-06,
  9.86238536e-06, 3.85725498e-05,-1.19277342e-05, 1.83109853e-05,
  3.35770231e-03,-3.62653923e-05,-6.87033950e-07,-6.51192425e-05,
  1.51963136e-06,-7.07612659e-06,-4.90499003e+00,-1.11281521e-04,
  3.41039429e-03,-8.52023238e-04]


--- 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,
  1.39624731, 0.00769775, 1.34649879, 0.04412386,-0.08591097,-0.0481697 ,
  0.09379616, 0.70699105,-0.05902997,-0.69959573,-0.08511711]

qacc:
[ 2.62352580e+00,-2.51919986e-01,-7.40099023e-01, 4.62920576e+00,
  1.66040063e-02,-2.42831952e+00, 4.96736789e+00, 5.58079117e+00,
  4.00284128e+00, 9.94119563e-01,-1.89776108e+00,-7.88301067e-01,
 -2.86783632e-02,-2.20678056e-01,-7.45189884e+00, 2.52274474e+01,
 -3.58240470e+00, 9.58998984e-01,-4.04273078e+00, 5.51404755e+00,
 -1.15549840e+02, 2.10179000e+01]

qfrc_actuator:
[ 1.38468769e-04, 9.18208877e-04, 3.70777365e-05, 5.36331902e-05,
 -5.76896376e-06, 3.48586069e-02, 1.09924192e-02, 1.91111610e-03,
 -7.10333947e-05, 8.91288454e-04, 1.87379136e-04, 6.73930669e-05,
  0.00000000e+00,-1.59328968e-03, 0.00000000e+00,-9.88607081e-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,   8.12209763,   2.9356953 ,   8.12209763,
        15.10841262, -17.90601831,   2.9356953 , -17.90601831,
        58.17639223,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0035283394843771687
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.93323485e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.93323485e-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([ 0.00872897, -0.07276115,  0.06182243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.73685850e-06,-6.95869861e-05, 4.32872031e-05, 4.05337570e-05,
  2.42682027e-05, 5.97139451e-05, 1.12486513e-06,-5.21874607e-06,
  3.36633999e-03,-3.55220010e-05,-1.01392958e-05, 1.19133605e-04,
  1.55254093e-05, 6.50901775e-06,-4.90496452e+00,-1.16754870e-04,
  3.40233268e-03,-8.51392717e-04]


--- 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,
  1.39624712, 0.0076986 , 1.34659545, 0.04412321,-0.08591795,-0.04817082,
  0.09379179, 0.70693099,-0.05902442,-0.69966622,-0.08504046]

qacc:
[-1.32449843e+00,-6.28637925e-01,-6.83873840e-01, 8.15370842e+00,
 -3.63177476e-03,-4.25385070e+00, 1.62991632e+01,-3.24563207e+01,
 -4.85966778e-01, 6.23463782e-01,-3.19816289e+00, 8.08322169e+00,
 -1.04547646e-02, 1.60035870e-02,-1.33150622e+00, 4.71553074e+00,
  4.75336580e+00,-8.90946400e-01, 3.59313787e+00,-7.36086502e+00,
  1.51258927e+02,-1.71153681e+01]

qfrc_actuator:
[ 1.29945691e-04, 8.81563955e-04, 4.83732639e-05, 7.50108895e-05,
 -9.65140214e-06, 3.48179982e-02, 1.09977937e-02, 1.82640834e-03,
 -7.46894846e-05, 8.79212554e-04, 1.84074992e-04, 8.11168764e-05,
  0.00000000e+00,-1.56795406e-03, 0.00000000e+00,-9.68734786e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0035469329219951357
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.13009309e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.13009309e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13967182, -0.03605965,  0.06182149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.08578368e-06,-6.94137730e-05,-2.12022777e-06,-8.45841576e-05,
 -2.92366833e-06, 2.13255213e-05, 8.98819712e-06, 1.62190996e-05,
  3.38866803e-03, 6.94351174e-07, 7.00657727e-06, 2.48778917e-05,
  6.74112858e-05, 4.86917728e-06,-4.90480137e+00,-1.50807704e-04,
  3.38781162e-03,-8.50443508e-04]


--- 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,
  1.39624671, 0.0076995 , 1.34669189, 0.04412482,-0.08590802,-0.04817521,
  0.09379591, 0.7070561 ,-0.05898494,-0.699547  ,-0.08500844]

qacc:
[-9.83095050e+00,-2.17862443e+00, 1.17515129e+01,-2.74529087e+01,
  5.13280139e-02,-6.65059164e-01, 5.93710058e+00,-2.52232839e+01,
  2.56353586e+00, 1.05888720e+00,-3.73211776e+00, 6.18481344e+00,
 -4.49310518e-03,-1.95950735e-02,-7.17897231e+00, 2.46124444e+01,
  4.22784117e+00,-8.16499295e-01, 2.12268516e+00,-6.22239781e+00,
  1.34596418e+02,-1.41745423e+01]

qfrc_actuator:
[ 7.11807322e-05, 9.30855022e-04, 7.32951651e-05, 3.33404627e-05,
  5.84913211e-06, 3.48475090e-02, 1.09646834e-02, 1.74048487e-03,
 -5.90747776e-05, 9.07192373e-04, 1.82202164e-04, 8.90253088e-05,
  0.00000000e+00,-1.57085994e-03, 0.00000000e+00,-8.50305865e-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, -8.54984917, -1.21936706, -8.54984917,  9.97560952,
       -9.3904048 , -1.21936706, -9.3904048 , 74.47916649,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003563257307872339
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.11575317e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.11575317e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13965167, -0.03607593,  0.06182073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.90229337e-05, 1.53031684e-05, 1.28119782e-05,-4.39329323e-05,
  1.48567738e-05,-1.18402820e-05,-4.94096305e-05,-9.00297358e-05,
  1.55367502e-05, 4.24412018e-05, 4.19821761e-06, 9.44794807e-06,
  3.39034719e-03,-3.41885028e-06, 3.70636608e-06, 1.20194146e-04,
  8.38801443e-06, 3.29036061e-06,-4.90498624e+00,-1.14446643e-04,
  3.38998690e-03,-8.48636166e-04]


--- 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,
  1.39624586, 0.0077003 , 1.34678803, 0.04413017,-0.08588294,-0.04818261,
  0.09380354, 0.70734729,-0.05891592,-0.69925762,-0.0850148 ]

qacc:
[-1.36796873e-01,-2.69437470e+00, 1.53909017e+01,-3.72070928e+01,
  8.36203161e-04, 1.92897950e+00,-5.29784625e+00, 5.55869639e-01,
  4.51724843e+00,-3.04386419e-01, 3.45423084e+00,-9.35218423e+00,
  1.51637846e-02,-1.99365466e-01,-1.17806822e+01, 4.05486150e+01,
  3.78799656e+00,-7.52246630e-01, 8.76591546e-01,-5.31247225e+00,
  1.20632832e+02,-1.18213757e+01]

qfrc_actuator:
[ 7.20861021e-05, 9.60231206e-04, 8.86118592e-05,-2.72628183e-05,
 -2.65265993e-06, 3.48653554e-02, 1.09271816e-02, 1.72559957e-03,
 -3.22330760e-05, 9.58939211e-04, 1.99083974e-04, 7.57220109e-05,
  0.00000000e+00,-1.59074776e-03, 0.00000000e+00,-6.56978187e-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,  -8.5109673 ,  -1.46636031,  -8.5109673 ,
        10.70565601, -12.01047222,  -1.46636031, -12.01047222,
        78.34688143,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003538389053483533
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.27530217e-14, -3.13765108e-14,  1.00000000e+00,  1.96897086e-27,
        1.00000000e+00,  3.13765108e-14, -1.00000000e+00,  0.00000000e+00,
        6.27530217e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1396885 , -0.03607676,  0.06182188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.77889023e-07,-1.07181349e-06,-4.80817328e-05,-1.87775678e-05,
  2.73132323e-05, 7.67323506e-05, 2.64867662e-05,-1.11579769e-05,
  3.40056593e-03,-2.58783592e-05, 1.31704270e-05, 2.00070242e-04,
  9.39412255e-06,-1.27886243e-05,-4.90496357e+00,-1.05229827e-04,
  3.39663040e-03,-8.48126825e-04]


--- 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,
  1.39624499, 0.00770072, 1.34688468, 0.04413378,-0.0858767 ,-0.04818503,
  0.09380233, 0.70743108,-0.05890273,-0.69918142,-0.08495342]

qacc:
[ 6.00044023e+00, 1.26864775e-01,-4.52733438e-01, 7.08490804e-01,
 -7.84511155e-02,-1.61098203e-01, 7.32696290e-01,-2.71634815e+00,
 -2.02166542e-01,-4.83985742e+00, 1.97665663e+01,-3.45143237e+01,
  3.86289382e-02,-2.72813022e-01, 6.02274821e+00,-1.99788310e+01,
 -4.71007263e+00, 1.24454694e+00,-2.20931836e+00, 6.88665423e+00,
 -1.52275329e+02, 2.83793743e+01]

qfrc_actuator:
[ 1.08121944e-04, 9.41909138e-04, 8.03206773e-05,-2.75157926e-05,
 -2.54851938e-05, 3.48583456e-02, 1.09229212e-02, 1.71713626e-03,
 -3.45093751e-05, 8.82557958e-04, 2.26998396e-04, 3.23295400e-05,
  0.00000000e+00,-1.60293637e-03, 0.00000000e+00,-7.58401223e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0035568089558983065
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.80350476e-15,  3.90175238e-15,  1.00000000e+00, -3.04473433e-29,
        1.00000000e+00, -3.90175238e-15, -1.00000000e+00,  0.00000000e+00,
        7.80350476e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00866522, -0.07271727,  0.06182107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.60264932e-05, 4.53887988e-06,-1.04063893e-07, 8.69225715e-07,
 -2.26682067e-05,-1.75710280e-05,-1.04929546e-05,-1.03423125e-05,
 -1.44604432e-06,-2.85151411e-05, 4.66272030e-05,-3.94088018e-05,
  3.42285777e-03,-3.28164966e-05, 2.59136329e-05,-8.91240744e-05,
  5.31039464e-05,-3.89390568e-05,-4.90479387e+00,-1.13369781e-04,
  3.40774275e-03,-8.48576907e-04]


--- 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 ,
  1.39624431, 0.00770081, 1.34698175, 0.04413384,-0.08588717,-0.048183  ,
  0.09378884, 0.7073312 ,-0.05893814,-0.69929419,-0.08483229]

qacc:
[-2.22966708e+00,-1.61913265e+00, 3.58873029e+00, 1.63271102e+00,
  2.98019794e-02, 2.40425452e-01,-4.86334952e-01,-8.62716440e-01,
 -3.20158433e+00,-9.40939473e-01, 1.08321649e+00, 3.42443541e+00,
  3.79985293e-02,-1.89713224e-01, 1.13253682e+01,-3.87430378e+01,
 -4.17632914e+00, 1.11269840e+00,-3.07109070e+00, 6.31934118e+00,
 -1.34877941e+02, 2.47577091e+01]

qfrc_actuator:
[ 9.35164427e-05, 9.12870944e-04, 1.11268139e-04,-1.00622552e-05,
 -3.47147979e-06, 3.48721511e-02, 1.09204619e-02, 1.71250866e-03,
 -5.39107579e-05, 8.18819086e-04, 2.25157499e-04, 4.24930243e-05,
  0.00000000e+00,-1.61019088e-03, 0.00000000e+00,-9.43922747e-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,   8.0027242 ,   3.24702669,   8.0027242 ,
        16.65677297, -19.76735335,   3.24702669, -19.76735335,
        57.355605  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0035806903676627935
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.75145929e-15, -2.71301075e-14,  1.00000000e+00,  2.10297924e-28,
        1.00000000e+00,  2.71301075e-14, -1.00000000e+00,  0.00000000e+00,
        7.75145929e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00861014, -0.07269604,  0.06181997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.61724715e-06, 1.72326773e-06,-7.39433636e-06,-5.70506435e-06,
 -1.94501587e-05,-7.17830144e-05,-3.36891404e-06, 9.78563984e-06,
  3.42346977e-03,-2.11749580e-05,-1.84997278e-06,-1.88055796e-04,
  6.33268977e-06,-7.33949162e-06,-4.90498219e+00,-1.00489387e-04,
  3.40631298e-03,-8.47216573e-04]


--- 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 ,
  1.39624341, 0.00770089, 1.34707828, 0.04413605,-0.08591253,-0.04817697,
  0.09376012, 0.70706745,-0.05901616,-0.69957539,-0.0846581 ]

qacc:
[-4.47295231e+00,-1.80141548e+00, 6.46972299e+00,-9.30234476e+00,
  6.34926390e-02,-1.76008573e+00, 6.34832054e+00,-1.00764516e+01,
  9.48957448e-01, 2.15446835e-01,-5.28085158e+00, 1.92900989e+01,
  3.42414392e-02,-9.90968285e-02,-7.27102954e+00, 2.42596896e+01,
 -3.72429901e+00, 1.00036941e+00,-3.80584480e+00, 5.79724659e+00,
 -1.20236336e+02, 2.17497877e+01]

qfrc_actuator:
[ 6.69614521e-05, 8.95559705e-04, 1.29584177e-04,-1.78290245e-05,
  9.76296360e-06, 3.48628268e-02, 1.09369037e-02, 1.69242683e-03,
 -4.77215445e-05, 7.98551932e-04, 2.41315640e-04, 8.40659398e-05,
  0.00000000e+00,-1.61438141e-03, 0.00000000e+00,-8.22351592e-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,   7.99335728,   3.27001777,   7.99335728,
        17.76419577, -22.31242418,   3.27001777, -22.31242418,
        63.17771204,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0035585000259577143
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.79979638e-15,  3.89989819e-15,  1.00000000e+00, -3.04184118e-29,
        1.00000000e+00, -3.89989819e-15, -1.00000000e+00,  0.00000000e+00,
        7.79979638e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00866079, -0.07270356,  0.06182093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69619209e-05,-2.47918428e-05, 1.73849115e-05,-7.45409570e-06,
  1.83269483e-05,-9.98680666e-06, 1.57695221e-05,-2.03814066e-05,
  5.59635029e-06,-6.07142670e-05, 1.24106136e-06, 3.85693558e-05,
  3.41401353e-03,-8.83372428e-06,-2.43400274e-05, 1.10250653e-04,
  1.89706320e-05, 1.27525092e-06,-4.90495680e+00,-1.29718806e-04,
  3.39697730e-03,-8.45678811e-04]


--- 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,
  1.39624218, 0.00770078, 1.34717453, 0.04414065,-0.08591836,-0.04817456,
  0.0937473 , 0.70701733,-0.05905407,-0.69963742,-0.08453754]

qacc:
[ 2.02743954e-01, 9.26741081e-01,-9.11611663e-01,-6.16051445e+00,
  3.38996488e-03,-1.52255443e+00, 2.62990705e+00, 7.31579793e+00,
  3.55183641e+00,-6.42315615e-01, 9.92495333e-01, 1.33993127e+00,
  5.35387677e-02,-2.60188688e-01,-7.67139961e+00, 2.62049145e+01,
  4.88340471e+00,-9.05391885e-01, 3.97397553e+00,-7.55307968e+00,
  1.55491876e+02,-1.74798515e+01]

qfrc_actuator:
[ 6.91075874e-05, 9.20845517e-04, 1.04797673e-04,-4.03828319e-05,
 -1.30426972e-07, 3.48397920e-02, 1.09820277e-02, 1.73441951e-03,
 -2.65133420e-05, 7.86812350e-04, 2.50413080e-04, 9.05725068e-05,
  0.00000000e+00,-1.63467675e-03, 0.00000000e+00,-6.98315075e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0035800060215647536
  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([-0.13963746, -0.03613432,  0.06181982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.36725425e-07,-2.60847165e-05, 4.43657787e-05, 4.16798565e-05,
  2.13499218e-05,-4.37860576e-05,-1.96834456e-06, 4.69494529e-06,
  3.42472032e-03,-2.87274980e-05, 5.62652542e-07, 1.26940431e-04,
  7.30198809e-05,-5.74640094e-06,-4.90478211e+00,-1.87169681e-04,
  3.38096403e-03,-8.43779976e-04]


--- 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,
  1.39624095, 0.00770031, 1.34727112, 0.04414367,-0.08590685,-0.04817546,
  0.09374424, 0.70715725,-0.05905742,-0.69950477,-0.08446257]

qacc:
[ 1.94053165e-01, 2.36339841e+00,-8.23152354e+00, 1.04650882e+01,
 -1.86952754e-02, 3.14120379e+00,-1.29383621e+01, 2.56157591e+01,
 -8.43028456e-01, 5.14909558e-02, 1.64639110e+00,-7.28641673e+00,
  7.20956532e-02,-2.96995170e-01, 5.25240006e+00,-1.76714561e+01,
  4.33466529e+00,-8.27166104e-01, 2.44020630e+00,-6.35329246e+00,
  1.38107572e+02,-1.44229333e+01]

qfrc_actuator:
[ 7.03816652e-05, 9.35748984e-04, 7.26858093e-05,-3.59384556e-05,
 -6.06560969e-06, 3.48266320e-02, 1.09549320e-02, 1.79485947e-03,
 -3.21483471e-05, 8.33485177e-04, 2.55278499e-04, 7.63928196e-05,
  0.00000000e+00,-1.64669653e-03, 0.00000000e+00,-7.86943457e-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, -8.56626614, -1.09811717, -8.56626614,  9.72206934,
       -8.46944597, -1.09811717, -8.46944597, 74.70538628,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003604101006902727
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08044370e-14, -1.54022185e-14,  1.00000000e+00,  4.74456670e-28,
        1.00000000e+00,  1.54022185e-14, -1.00000000e+00,  0.00000000e+00,
        3.08044370e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13960564, -0.03615365,  0.06181865])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.38273731e-06,-1.76534739e-05,-2.59278816e-05, 6.19226087e-05,
 -5.02551990e-06, 2.19967871e-05,-4.26869114e-06,-1.60365021e-05,
  3.44110592e-03,-3.12000156e-05, 1.24584190e-05,-8.19197869e-05,
  1.21777045e-05,-5.63395218e-07,-4.90497567e+00,-1.20095378e-04,
  3.38499100e-03,-8.39788015e-04]


--- 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,
  1.39623975, 0.00769959, 1.34736776, 0.04414563,-0.08587984,-0.04817939,
  0.09374574, 0.70746725,-0.05903078,-0.69919782,-0.08442667]

qacc:
[ 3.08523174e+00, 1.35130122e+00,-6.91360949e+00, 1.47710081e+01,
  3.80525592e-02, 3.70672006e+00,-1.07562781e+01, 5.40742943e+00,
  2.31206319e+00,-9.49657321e-01, 5.94897212e+00,-1.52396450e+01,
  7.42674631e-02,-2.17639458e-01, 3.28771410e+00,-1.14031772e+01,
  3.87525893e+00,-7.59670939e-01, 1.13968492e+00,-5.39384669e+00,
  1.23535630e+02,-1.19797716e+01]

qfrc_actuator:
[ 8.88752984e-05, 9.08798287e-04, 5.42641962e-05,-1.56442854e-05,
  8.17539547e-06, 3.48547368e-02, 1.08854499e-02, 1.77685146e-03,
 -1.80373957e-05, 8.43740355e-04, 2.57845232e-04, 5.02103590e-05,
  0.00000000e+00,-1.65349862e-03, 0.00000000e+00,-8.40385858e-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,  -8.53305056,  -1.33185021,  -8.53305056,
        10.34486619, -10.94622995,  -1.33185021, -10.94622995,
        78.76792428,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0035848793527311906
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09696064e-14, -3.09696064e-14,  1.00000000e+00,  9.59116519e-28,
        1.00000000e+00,  3.09696064e-14, -1.00000000e+00,  0.00000000e+00,
        3.09696064e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13963382, -0.03615682,  0.06181952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.85383619e-05,-2.45532182e-05,-1.90212078e-05, 1.99121258e-05,
  1.10592658e-05, 1.51357077e-05,-7.40685669e-05,-1.78630442e-05,
  1.39723763e-05, 2.09866376e-05, 6.02124178e-06,-2.57016197e-05,
  3.44080474e-03,-1.96323510e-05,-6.45891137e-06,-5.71248885e-05,
  1.46417293e-05,-1.12754352e-05,-4.90495001e+00,-8.46455785e-05,
  3.39332023e-03,-8.37208935e-04]


--- 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,
  1.39623848, 0.00769898, 1.34746403, 0.04414961,-0.08587219,-0.0481782 ,
  0.09373933, 0.70756374,-0.05906156,-0.69911034,-0.08432093]

qacc:
[-1.08088337e+00, 1.40639234e+00,-7.96961045e+00, 1.86557600e+01,
 -9.53608810e-03,-4.65305056e-01, 3.99505564e+00,-1.47573821e+01,
  4.31481899e+00,-2.89572593e-01, 1.96177520e+00,-6.23925322e+00,
  7.54625493e-02,-3.43315065e-02,-6.65763457e+00, 2.24593912e+01,
 -4.84055658e+00, 1.28208845e+00,-1.97628052e+00, 7.06789320e+00,
 -1.56766003e+02, 2.92936158e+01]

qfrc_actuator:
[ 8.18505642e-05, 8.92562537e-04, 4.39099560e-05, 1.37834979e-05,
 -1.10002272e-06, 3.48893558e-02, 1.08804044e-02, 1.73058326e-03,
  7.59138675e-06, 8.14345442e-04, 2.41150650e-04, 3.49068021e-05,
  0.00000000e+00,-1.63939691e-03, 0.00000000e+00,-7.30577548e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00362418312202617
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53168726e-14, -2.68045271e-14,  1.00000000e+00,  4.10561527e-28,
        1.00000000e+00,  2.68045271e-14, -1.00000000e+00,  0.00000000e+00,
        1.53168726e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00850171, -0.0726356 ,  0.06181773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.73917194e-06, 2.79722640e-05,-1.10353965e-05,-4.84011418e-05,
  2.60467315e-05,-1.75153533e-05,-1.25176153e-05,-1.46981157e-05,
  3.43943623e-03, 6.54163501e-06,-1.12403214e-05, 1.05345171e-04,
  6.18788440e-05,-3.30315576e-05,-4.90477000e+00,-6.98974219e-05,
  3.40601452e-03,-8.35673714e-04]


--- 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,
  1.39623718, 0.0076985 , 1.34756009, 0.04415585,-0.08588167,-0.04817244,
  0.09372141, 0.7074715 ,-0.0591423 ,-0.69921701,-0.08415366]

qacc:
[-3.70156323e+00, 3.87029759e-01,-1.35838028e+00, 1.21113385e+00,
 -8.63538334e-02, 6.87888353e-01,-5.22012534e-01,-6.13827723e+00,
 -6.30694493e+00,-1.69396793e-01, 9.50156262e-01,-3.44659034e+00,
  8.19887148e-02,-1.62596064e-02,-7.16402459e+00, 2.45814579e+01,
 -4.28285606e+00, 1.14390556e+00,-2.87750460e+00, 6.44050390e+00,
 -1.38579319e+02, 2.55408412e+01]

qfrc_actuator:
[ 5.98567300e-05, 9.00660103e-04, 3.84309391e-05, 1.28497269e-05,
 -2.44085868e-05, 3.49100699e-02, 1.08602227e-02, 1.70363134e-03,
 -3.12227773e-05, 7.96865263e-04, 2.30810886e-04, 2.60794303e-05,
  0.00000000e+00,-1.63075275e-03, 0.00000000e+00,-6.14233067e-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,   7.86237435,   3.57349218,   7.86237435,
        19.20780972, -23.25922721,   3.57349218, -23.25922721,
        59.8111647 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0036548307924182816
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51884326e-14, -7.59421631e-15,  1.00000000e+00,  1.15344243e-28,
        1.00000000e+00,  7.59421631e-15, -1.00000000e+00,  0.00000000e+00,
        1.51884326e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00842955, -0.07261007,  0.0618163 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.49261433e-05, 3.25772808e-05,-1.73843212e-05,-2.75597934e-05,
 -3.80562101e-05,-3.04778479e-05,-1.60153680e-05,-1.02985169e-05,
  3.44224636e-03, 1.00853113e-05, 5.59181628e-06, 1.20537264e-04,
  1.10257230e-05,-7.15377307e-06,-4.90496624e+00,-8.46269200e-05,
  3.40316548e-03,-8.33453871e-04]


--- 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,
  1.39623605, 0.00769785, 1.34765651, 0.04416041,-0.08590639,-0.04816256,
  0.09368891, 0.70721125,-0.05926683,-0.69949634,-0.08393187]

qacc:
[-5.20122991e+00,-1.52692093e+00, 6.97161603e+00,-1.40717844e+01,
 -3.72709981e-02,-7.53507048e-01, 4.45226328e+00,-1.20195684e+01,
 -4.02762010e+00, 1.12985156e+00,-6.34274530e+00, 1.58889481e+01,
  8.62124115e-02,-1.55698667e-01, 5.59006468e+00,-1.87869625e+01,
 -3.81044031e+00, 1.02618983e+00,-3.64638501e+00, 5.86684118e+00,
 -1.23269169e+02, 2.24196456e+01]

qfrc_actuator:
[ 2.92368057e-05, 9.05512429e-04, 5.37015334e-05,-5.91946239e-06,
 -2.04412909e-05, 3.49400115e-02, 1.08667180e-02, 1.67049082e-03,
 -5.44027041e-05, 8.22178452e-04, 2.42102314e-04, 5.66490945e-05,
  0.00000000e+00,-1.64320901e-03, 0.00000000e+00,-7.08051094e-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,   7.84784618,   3.605286  ,   7.84784618,
        20.75546965, -26.38039806,   3.605286  , -26.38039806,
        66.06018691,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003637029255494917
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -3.8156932e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  3.8156932e-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([ 0.00846862, -0.07261465,  0.06181703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.07616980e-05, 4.37329330e-05, 1.00814953e-05,-3.33137142e-05,
 -2.43046658e-05, 4.51724071e-06, 2.66582418e-06, 2.85112743e-05,
  3.44398935e-03,-9.07818733e-06, 1.42498738e-05,-8.68032305e-05,
  2.32976779e-05,-4.58240384e-06,-4.90493667e+00,-1.40693479e-04,
  3.39229078e-03,-8.31002149e-04]


--- 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,
  1.39623522, 0.00769697, 1.34775328, 0.0441615 ,-0.08591128,-0.0481563 ,
  0.09367327, 0.70716826,-0.05935112,-0.69955275,-0.08376423]

qacc:
[-8.99890708e+00,-1.93605367e+00, 7.80277967e+00,-1.27943353e+01,
 -7.45373847e-02,-1.29146294e+00, 3.17354806e+00, 1.23841258e+00,
  5.40907024e-01, 7.13815608e-01,-3.78210197e+00, 9.61911153e+00,
  7.68035801e-02,-1.31523551e-01, 1.10386047e+01,-3.78718961e+01,
  4.95875601e+00,-9.01653457e-01, 4.21580254e+00,-7.62127569e+00,
  1.58109838e+02,-1.75015719e+01]

qfrc_actuator:
[-2.39627955e-05, 9.08458079e-04, 8.10866309e-05,-1.72614003e-05,
 -3.56480360e-05, 3.49043329e-02, 1.08889408e-02, 1.68724938e-03,
 -5.04207792e-05, 8.37541795e-04, 2.48522778e-04, 7.46994523e-05,
  0.00000000e+00,-1.65031124e-03, 0.00000000e+00,-8.89433399e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036428542283980306
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04767349e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.04767349e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13955803, -0.03622144,  0.06181661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.15648174e-05,-1.05191264e-05, 3.09465785e-05, 1.75922614e-05,
  3.26987701e-06, 1.96607211e-05, 8.66500352e-06, 1.88914114e-05,
  3.43539067e-03,-7.09905424e-06,-6.02322683e-06,-1.85088673e-04,
  7.92921879e-05,-1.76355923e-05,-4.90475037e+00,-2.23746502e-04,
  3.37468628e-03,-8.28129395e-04]


--- 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,
  1.39623461, 0.00769641, 1.34784968, 0.04416308,-0.08589859,-0.04815332,
  0.09366819, 0.70731829,-0.05940081,-0.6994114 ,-0.08364248]

qacc:
[ 5.70622136e-01,-1.42487381e+00, 6.29014551e+00,-1.03858355e+01,
 -1.36073373e-01, 1.75882424e+00,-9.98219637e+00, 2.80949986e+01,
 -2.56616037e+00,-2.55577564e-01, 1.82664297e+00,-4.46553547e+00,
  5.82605367e-02, 1.89109960e-01,-2.03906526e+00, 6.35284187e+00,
  4.39538867e+00,-8.22203583e-01, 2.63866003e+00,-6.37479336e+00,
  1.40243533e+02,-1.43699857e+01]

qfrc_actuator:
[-1.90132748e-05, 9.45809197e-04, 1.15400957e-04,-2.41353136e-05,
 -6.22356394e-05, 3.48474834e-02, 1.08845317e-02, 1.76871097e-03,
 -6.59934928e-05, 8.46816642e-04, 2.51968008e-04, 6.74699986e-05,
  0.00000000e+00,-1.61858649e-03, 0.00000000e+00,-8.54588724e-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, -8.57709491, -1.0100593 , -8.57709491,  9.54134008,
       -7.68476546, -1.0100593 , -7.68476546, 73.89289106,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003669604827347711
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.51272831e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.51272831e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13952228, -0.036242  ,  0.06181532])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.93319291e-05,-5.60892455e-05,-2.43048960e-06, 8.24578755e-05,
 -1.54712578e-05, 2.28715028e-05, 9.22002583e-06,-5.72139271e-06,
  3.41996754e-03, 3.55642706e-05,-2.54937705e-05, 2.32408698e-05,
  1.66157198e-05,-5.05714984e-06,-4.90495295e+00,-1.23654783e-04,
  3.38049071e-03,-8.21808070e-04]


--- 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,
  1.39623421, 0.00769622, 1.34794585, 0.04416569,-0.0858702 ,-0.04815336,
  0.09366831, 0.70764083,-0.05942054,-0.69909327,-0.08355991]

qacc:
[ 3.59029159e+00,-6.72478114e-01, 2.19451131e+00, 5.27366138e-01,
 -1.33826580e-01, 3.61879480e-01,-4.42388177e+00, 1.89957692e+01,
 -1.04353677e+01, 1.02550485e+00,-4.11878058e+00, 8.25000510e+00,
  4.60575624e-02, 2.25116040e-01,-3.46649166e+00, 1.16117438e+01,
  3.92374247e+00,-7.53623857e-01, 1.30104003e+00,-5.37780390e+00,
  1.25266161e+02,-1.18718940e+01]

qfrc_actuator:
[ 2.37744370e-06, 9.85766608e-04, 1.53673782e-04,-1.05412732e-05,
 -7.76832461e-05, 3.48493477e-02, 1.09176209e-02, 1.83428954e-03,
 -1.28465712e-04, 8.70095258e-04, 2.53591547e-04, 8.09246969e-05,
  0.00000000e+00,-1.59951837e-03, 0.00000000e+00,-7.99107371e-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,  -8.54642783,  -1.24312033,  -8.54642783,
        10.10395812, -10.08968322,  -1.24312033, -10.08968322,
        78.0027376 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003651724963106985
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04027011e-14, -1.52013505e-14,  1.00000000e+00,  4.62162116e-28,
        1.00000000e+00,  1.52013505e-14, -1.00000000e+00,  0.00000000e+00,
        3.04027011e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13954838, -0.03624599,  0.06181611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.86932670e-05,-2.71586886e-05, 2.42603612e-05, 6.57321064e-05,
 -6.29169208e-05, 3.77165425e-05, 7.27625953e-06, 1.46410463e-05,
  3.40851780e-03, 3.88314684e-05,-9.29289585e-06, 5.34410217e-05,
  1.94702954e-05,-9.40265652e-06,-4.90492844e+00,-5.92607443e-05,
  3.39038711e-03,-8.16990632e-04]


--- 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,
  1.39623408, 0.00769628, 1.34804206, 0.04416792,-0.08586145,-0.04814818,
  0.09366108, 0.70774635,-0.05949902,-0.69899814,-0.08340598]

qacc:
[ 2.29664224e+00,-3.41720479e-01, 1.43301329e+00, 2.55340929e-01,
  1.38350854e-02, 1.23930908e-01,-4.87561752e-01, 4.37003316e+00,
 -6.32673659e+00, 1.65923196e-01, 1.59646157e-01,-2.57804058e+00,
  3.40405978e-02, 1.89315456e-01, 1.22959967e+00,-4.19147615e+00,
 -4.90826026e+00, 1.30405281e+00,-1.83613705e+00, 7.02877211e+00,
 -1.59334871e+02, 3.00917565e+01]

qfrc_actuator:
[ 1.55023090e-05, 1.00926997e-03, 1.76261672e-04,-2.75766912e-06,
 -5.08181053e-05, 3.49219980e-02, 1.09550357e-02, 1.85453442e-03,
 -1.64778321e-04, 8.48329040e-04, 2.36450528e-04, 7.09519963e-05,
  0.00000000e+00,-1.58821883e-03, 0.00000000e+00,-8.20737730e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037132402510094142
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49495178e-14, -2.61616562e-14,  1.00000000e+00,  3.91104144e-28,
        1.00000000e+00,  2.61616562e-14, -1.00000000e+00,  0.00000000e+00,
        1.49495178e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00828246, -0.07254   ,  0.0618133 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.99790931e-06, 6.43535581e-05, 3.67936944e-05, 2.16648172e-05,
 -3.81414818e-05, 1.41322921e-06,-7.95953644e-06,-7.82053372e-06,
  3.39815134e-03, 3.19316719e-05, 7.89733739e-07,-2.00756145e-05,
  6.84807459e-05,-2.55352472e-05,-4.90474468e+00,-1.87138418e-05,
  3.40449794e-03,-8.13284156e-04]


--- 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,
  1.39623416, 0.00769655, 1.34813826, 0.04416987,-0.08587004,-0.04813836,
  0.0936428 , 0.70766033,-0.05962862,-0.69910001,-0.08318928]

qacc:
[ 7.34337761e+00, 6.58104070e-02,-5.19804577e-01, 2.65499651e+00,
  1.26747157e-01,-1.28172878e+00, 8.27258759e+00,-2.48728226e+01,
  5.24046618e+00,-2.04118471e+00, 8.60362758e+00,-1.65626840e+01,
  1.93424113e-02, 1.61903808e-01, 8.22173105e-01,-2.89717490e+00,
 -4.33653039e+00, 1.16215928e+00,-2.76324301e+00, 6.36970354e+00,
 -1.40653554e+02, 2.62322874e+01]

qfrc_actuator:
[ 5.91562430e-05, 9.87171672e-04, 1.71586121e-04, 1.51778061e-06,
 -1.65405253e-05, 3.49477122e-02, 1.09416988e-02, 1.77697731e-03,
 -1.32129794e-04, 8.17410441e-04, 2.43673036e-04, 4.72217829e-05,
  0.00000000e+00,-1.58161618e-03, 0.00000000e+00,-8.34378008e-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,   7.6908727 ,   3.9290271 ,   7.6908727 ,
        22.29502432, -26.73614052,   3.9290271 , -26.73614052,
        60.97101241,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037450052513709337
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48227165e-14,  7.41135826e-15,  1.00000000e+00, -1.09856463e-28,
        1.00000000e+00, -7.41135826e-15, -1.00000000e+00,  0.00000000e+00,
        1.48227165e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00820762, -0.07251386,  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:
[ 4.40750824e-05, 2.94776274e-05, 1.66890844e-05, 9.26403232e-06,
  3.66422686e-05, 6.91672018e-05, 4.07685023e-06,-7.40394077e-05,
  3.15341157e-05,-3.21435867e-05, 6.25083249e-06,-2.40987497e-05,
  3.38445607e-03, 2.58381125e-05,-3.55174836e-06,-1.50729747e-05,
  1.57270083e-05,-7.01549079e-06,-4.90493985e+00,-6.48505861e-05,
  3.39997099e-03,-8.10180737e-04]


--- 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,
  1.39623413, 0.00769668, 1.34823438, 0.04417197,-0.08589404,-0.04812436,
  0.09361031, 0.70740405,-0.05980301,-0.69937678,-0.08291701]

qacc:
[ 7.47963322e+00,-5.31002710e-01, 2.57043527e-01, 2.58861318e+00,
  1.46494026e-01, 1.22635979e-01, 1.59670981e+00,-1.15083661e+01,
  4.63274869e-01, 5.07340250e-01,-4.08751510e-01,-4.10521622e+00,
  1.51555408e-02,-1.32703427e-01,-5.61357284e-01, 1.80002913e+00,
 -3.85221726e+00, 1.04128785e+00,-3.55441863e+00, 5.76884953e+00,
 -1.24924412e+02, 2.30184443e+01]

qfrc_actuator:
[ 1.02679514e-04, 9.02304268e-04, 1.50663145e-04, 3.63899890e-06,
  4.15177159e-06, 3.49093639e-02, 1.08982984e-02, 1.73121040e-03,
 -1.30171841e-04, 8.34578458e-04, 2.29665260e-04, 3.33495774e-05,
  0.00000000e+00,-1.61339609e-03, 0.00000000e+00,-8.25423607e-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,   7.66021869,   3.98846168,   7.66021869,
        24.5104976 , -30.48777887,   3.98846168, -30.48777887,
        67.19103266,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003726959454477499
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48944876e-14,  7.44724378e-15,  1.00000000e+00, -1.10922880e-28,
        1.00000000e+00, -7.44724378e-15, -1.00000000e+00,  0.00000000e+00,
        1.48944876e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00824695, -0.07251857,  0.06181256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.23489108e-05,-1.51403959e-06,-3.15774050e-05,-4.52844168e-05,
  2.87175095e-06,-5.49751320e-07,-2.07248855e-05,-1.55056101e-05,
  3.37401036e-03,-1.65083879e-05,-4.84612685e-06, 7.28172441e-06,
  2.82201145e-05,-1.15004467e-05,-4.90490273e+00,-1.50429960e-04,
  3.38746670e-03,-8.06769000e-04]


--- 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,
  1.39623408, 0.00769627, 1.34833088, 0.0441708 ,-0.08589806,-0.0481139 ,
  0.0935952 , 0.70736695,-0.05993763,-0.69942863,-0.08269868]

qacc:
[ 1.50038199e+00,-1.46515224e+00, 3.63177370e+00,-2.74963483e+00,
  6.79072179e-02, 1.97018869e+00,-6.49361043e+00, 7.25299873e+00,
  3.18663943e+00, 3.48078165e+00,-1.24596980e+01, 1.68734884e+01,
  2.27674809e-02,-3.48620890e-01, 1.04252925e+01,-3.56978865e+01,
  4.99456527e+00,-8.83356146e-01, 4.34598202e+00,-7.56763893e+00,
  1.59465848e+02,-1.71686833e+01]

qfrc_actuator:
[ 1.10261932e-04, 8.51417171e-04, 1.55550710e-04, 4.40960405e-06,
 -1.22635370e-06, 3.49215919e-02, 1.08727995e-02, 1.73999386e-03,
 -1.10811244e-04, 8.62578513e-04, 1.85672589e-04, 4.31644630e-05,
  0.00000000e+00,-1.65018034e-03, 0.00000000e+00,-9.98507054e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037110728963666434
  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([-0.13947059, -0.0363123 ,  0.06181313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.96483524e-05, 3.85058531e-06,-3.07172894e-05, 6.76096010e-06,
  1.94466072e-05, 2.27373226e-05,-4.72040261e-05, 8.77168018e-06,
  3.37926753e-03,-4.59909322e-05,-3.29648012e-06,-1.73733342e-04,
  8.56815909e-05,-3.11615891e-05,-4.90470524e+00,-2.60967191e-04,
  3.36830968e-03,-8.02860991e-04]


--- 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,
  1.39623398, 0.00769542, 1.3484274 , 0.04416724,-0.08588439,-0.04810667,
  0.09359106, 0.70752441,-0.06003818,-0.69928113,-0.0825259 ]

qacc:
[-2.23439622e+00, 1.78955520e-01,-7.82458118e-01, 4.04054611e-01,
 -3.25008386e-02, 1.29949853e+00,-3.02007161e+00,-7.55549479e-01,
  2.03110728e+00, 9.86796485e-01,-4.53856994e+00, 7.87299579e+00,
  2.41865259e-02,-3.14155990e-01, 7.27565480e+00,-2.54133571e+01,
  4.42329941e+00,-8.04744594e-01, 2.74278613e+00,-6.28950509e+00,
  1.41319689e+02,-1.40070426e+01]

qfrc_actuator:
[ 9.66294762e-05, 8.74608846e-04, 1.58000967e-04, 4.41959852e-06,
 -2.21996009e-05, 3.49640975e-02, 1.08582886e-02, 1.72758272e-03,
 -9.91056077e-05, 8.25735880e-04, 1.59911769e-04, 4.90802008e-05,
  0.00000000e+00,-1.67176876e-03, 0.00000000e+00,-1.11768078e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.58492891, -0.9411549 , -8.58492891,  9.40288647,
       -6.99198829, -0.9411549 , -6.99198829, 72.41515558,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037373686272516235
  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([-0.13943561, -0.03633296,  0.06181186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.36178487e-06, 3.88273910e-05,-1.70550376e-05,-1.30407980e-05,
  1.22855537e-05,-3.35089804e-05,-2.65776943e-05, 5.42692926e-06,
  3.37971472e-03,-4.08844999e-05,-2.35781510e-05,-1.29901452e-04,
  2.15042703e-05,-1.05551879e-05,-4.90491600e+00,-1.25639932e-04,
  3.37579484e-03,-7.94036489e-04]


--- 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,
  1.39623392, 0.00769501, 1.34852328, 0.04416626,-0.08585494,-0.04810237,
  0.09359245, 0.7078556 ,-0.06010929,-0.69895558,-0.08239188]

qacc:
[-7.37458325e+00, 1.55779909e+00,-4.96555311e+00, 4.89009071e+00,
 -6.60504874e-04, 1.27392375e+00,-5.22139692e+00, 1.10003563e+01,
  1.23838184e+00,-1.11067489e+00, 5.44188693e+00,-1.15474659e+01,
  1.97991754e-02, 2.63596408e-01,-8.75381440e+00, 2.92712358e+01,
  3.94511451e+00,-7.36816453e-01, 1.38303554e+00,-5.26719850e+00,
  1.26107513e+02,-1.14914953e+01]

qfrc_actuator:
[ 5.28792068e-05, 9.06475176e-04, 1.41536359e-04, 4.04137467e-06,
 -1.68515988e-05, 3.49534280e-02, 1.08504789e-02, 1.75606948e-03,
 -9.20052688e-05, 8.56926457e-04, 1.80370042e-04, 3.48613978e-05,
  0.00000000e+00,-1.61309863e-03, 0.00000000e+00,-9.73291107e-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, -8.55541326, -1.17969525, -8.55541326,  9.92705591,
       -9.36038843, -1.17969525, -9.36038843, 76.51998953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037183555685563058
  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([-0.13946342, -0.03633691,  0.06181271])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.82976775e-07, 7.07469737e-06,-2.53799983e-06, 2.88495892e-05,
  7.44932493e-06, 7.19693279e-06, 1.04540110e-05,-1.64682329e-05,
  3.38275792e-03, 4.03551282e-05,-2.68143227e-05, 1.33789384e-04,
  2.41856342e-05,-7.57307939e-06,-4.90489504e+00,-2.96378500e-05,
  3.38714140e-03,-7.86781751e-04]


--- Step 2575 ---
qpos:
[ 0.0186507 , 0.03002446,-0.00948213,-0.02525652,-0.00354184, 1.34080315,
 -0.03001223, 0.943841  , 0.01153259, 0.02727914,-0.00828813, 0.02643724,
  1.39623408, 0.00769534, 1.34861882, 0.0441683 ,-0.08584521,-0.04809281,
  0.09358676, 0.70796826,-0.06024024,-0.6988545 ,-0.08218541]

qacc:
[-7.44585323e+00,-1.20877095e-01, 2.14289655e+00,-8.21447701e+00,
  1.12604011e-02,-7.17960361e-02,-1.61207997e+00, 9.61270993e+00,
  6.63962120e+00,-1.29428993e-01, 6.56706206e-01, 7.04441654e-01,
  1.13154990e-02, 4.86807718e-01,-9.64439443e+00, 3.30084071e+01,
 -4.93083466e+00, 1.31689322e+00,-1.76878752e+00, 6.82277785e+00,
 -1.60458531e+02, 3.08050937e+01]

qfrc_actuator:
[ 9.51219136e-06, 9.07723614e-04, 1.31848019e-04,-1.43116166e-05,
 -1.35079487e-05, 3.49288031e-02, 1.08642643e-02, 1.79062064e-03,
 -5.21641732e-05, 9.11035800e-04, 2.10443308e-04, 4.44956143e-05,
  0.00000000e+00,-1.56025233e-03, 0.00000000e+00,-8.16807010e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037980516080485596
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.30784583e-15, -1.46156917e-14,  1.00000000e+00,  1.06809221e-28,
        1.00000000e+00,  1.46156917e-14, -1.00000000e+00,  0.00000000e+00,
        7.30784583e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00807358, -0.07244764,  0.06180908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.23566870e-06,-2.03463077e-05, 1.57270016e-05, 3.53573122e-05,
  4.00622687e-05, 5.95862159e-05, 3.22797727e-05, 9.98494681e-06,
  3.38013579e-03, 7.06997684e-05, 2.76950430e-06, 1.60540687e-04,
  7.38363883e-05,-1.69216159e-05,-4.90471192e+00, 3.95990866e-05,
  3.40252432e-03,-7.80686826e-04]


--- 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,
  1.39623447, 0.00769591, 1.34871458, 0.04417018,-0.0858529 ,-0.04807856,
  0.09357024, 0.7078882 ,-0.06042328,-0.69895151,-0.08191524]

qacc:
[ 7.43375207e+00,-1.69737485e+00, 1.12382746e+01,-3.21361708e+01,
 -4.73262557e-02,-3.66822490e+00, 1.17473417e+01,-1.32253171e+01,
  1.11384583e+00, 9.84264512e-01,-5.16065029e+00, 1.33788913e+01,
  3.85035432e-04, 2.10792009e-01, 8.21893286e-01,-2.38118198e+00,
 -4.35274185e+00, 1.17299054e+00,-2.71029475e+00, 6.15166491e+00,
 -1.41520667e+02, 2.68641309e+01]

qfrc_actuator:
[ 5.54908535e-05, 8.90644184e-04, 1.08363774e-04,-7.86149365e-05,
 -2.91469293e-05, 3.48961031e-02, 1.09083680e-02, 1.77519530e-03,
 -4.66271771e-05, 9.07523358e-04, 2.10566271e-04, 6.81173943e-05,
  0.00000000e+00,-1.56461672e-03, 0.00000000e+00,-8.32061406e-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,   7.45882656,   4.35346794,   7.45882656,
        26.47011651, -30.55469144,   4.35346794, -30.55469144,
        60.98592658,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038278094666412826
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.25103375e-15,  7.25103375e-15,  1.00000000e+00, -5.25774904e-29,
        1.00000000e+00, -7.25103375e-15, -1.00000000e+00,  0.00000000e+00,
        7.25103375e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00800395, -0.07242298,  0.0618077 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.37276975e-05,-3.98194353e-05, 4.29515740e-05,-1.47557709e-05,
  6.73112580e-06, 3.68989582e-05, 1.67458943e-05, 2.74845854e-05,
  3.36876303e-03, 2.99132327e-05, 1.82271107e-05,-6.18764383e-06,
  2.05901027e-05,-7.24586140e-06,-4.90489926e+00,-4.14341814e-05,
  3.39621972e-03,-7.76636339e-04]


--- 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,
  1.39623492, 0.00769642, 1.34881055, 0.04417089,-0.08587603,-0.04806011,
  0.09353966, 0.70763699,-0.06065199,-0.69922422,-0.08158875]

qacc:
[ 4.75220698e+00,-5.37514677e-01, 1.76233345e+00,-2.83947616e+00,
 -5.96878551e-02,-2.14192575e+00, 8.57119569e+00,-1.74702052e+01,
 -2.42169910e+00, 9.89582208e-01,-1.91168723e+00,-2.29886947e-02,
 -8.96181053e-03,-1.48137322e-02, 3.85792552e+00,-1.30574458e+01,
 -3.86306205e+00, 1.05041751e+00,-3.51379363e+00, 5.54079332e+00,
 -1.25574122e+02, 2.35783815e+01]

qfrc_actuator:
[ 8.26785924e-05, 8.80375837e-04, 1.12313726e-04,-8.07031086e-05,
 -3.82946870e-05, 3.48944195e-02, 1.09166817e-02, 1.73048984e-03,
 -6.13366604e-05, 9.58198358e-04, 2.10537293e-04, 6.42041258e-05,
  0.00000000e+00,-1.58537043e-03, 0.00000000e+00,-8.95128319e-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,   7.40004049,   4.45265961,   7.40004049,
        29.67955312, -34.97245864,   4.45265961, -34.97245864,
        66.75839234,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003807156019017849
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.29036989e-15,  3.64518495e-15,  1.00000000e+00, -2.65747466e-29,
        1.00000000e+00, -3.64518495e-15, -1.00000000e+00,  0.00000000e+00,
        7.29036989e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0080496 , -0.07242946,  0.06180856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.72616203e-05,-1.57544920e-05, 4.97995751e-06,-4.49844388e-05,
 -1.44985552e-05, 7.59185553e-05, 1.05959839e-05,-1.22010175e-06,
  3.35755788e-03,-3.46468105e-06, 5.09773830e-06,-6.16903681e-05,
  3.34947205e-05,-1.97107512e-05,-4.90485222e+00,-1.59095117e-04,
  3.38210968e-03,-7.72182260e-04]


--- Step 2578 ---
qpos:
[ 0.01865157, 0.03002422,-0.00948264,-0.02525821,-0.00354336, 1.34080421,
 -0.03001376, 0.94383927, 0.01153267, 0.02728342,-0.00828839, 0.02643695,
  1.39623528, 0.00769661, 1.34890661, 0.04417017,-0.08587914,-0.04804507,
  0.09352666, 0.70760571,-0.06084201,-0.69927121,-0.08131533]

qacc:
[ 5.74438986e+00, 1.29547412e-01,-1.58712395e+00, 6.14855270e+00,
  8.09170521e-03, 8.48699431e-01,-3.47107640e-01,-1.01287138e+01,
 -7.41823592e+00, 5.84368306e-01, 4.88792423e-01,-6.92769183e+00,
 -9.54553162e-03,-2.03308117e-01, 4.44392356e+00,-1.53416177e+01,
  5.00533199e+00,-8.53523893e-01, 4.39617335e+00,-7.40043826e+00,
  1.59945134e+02,-1.64885989e+01]

qfrc_actuator:
[ 1.16311642e-04, 9.09922119e-04, 1.32505166e-04,-6.38885995e-05,
 -2.57212380e-05, 3.49289226e-02, 1.08861478e-02, 1.68666751e-03,
 -1.05586387e-04, 9.69888145e-04, 1.92864836e-04, 4.41636396e-05,
  0.00000000e+00,-1.61573501e-03, 0.00000000e+00,-9.68050546e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037709623931415845
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.47206854e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.47206854e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13939596, -0.03640201,  0.06181007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.37219685e-06, 2.54076581e-05,-3.43689341e-05,-4.51935733e-05,
 -4.46436604e-05, 5.62236187e-05,-7.43179866e-07,-1.64466774e-05,
  3.35393958e-03,-3.02575725e-05,-6.97033134e-06,-7.62766300e-05,
  9.18258417e-05,-4.65194111e-05,-4.90464401e+00,-2.99051052e-04,
  3.36151738e-03,-7.67143568e-04]


--- 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,
  1.39623576, 0.00769637, 1.34900303, 0.04416523,-0.08586454,-0.04803314,
  0.09352479, 0.70776957,-0.06099896,-0.69911825,-0.08108655]

qacc:
[ 6.36003660e+00,-6.10419671e-01, 3.18367953e+00,-6.36423425e+00,
  9.30269045e-02, 2.02996871e+00,-6.96014500e+00, 8.35852605e+00,
 -4.46565707e+00,-1.54081560e+00, 5.24163406e+00,-7.78061881e+00,
 -8.02283243e-03,-2.21841496e-01, 1.33177514e+01,-4.58175412e+01,
  4.43079185e+00,-7.77347261e-01, 2.78018113e+00,-6.10411521e+00,
  1.41669386e+02,-1.33393557e+01]

qfrc_actuator:
[ 1.53474928e-04, 9.27676710e-04, 1.44532002e-04,-7.15603408e-05,
 -2.19174221e-07, 3.49136585e-02, 1.08508458e-02, 1.69698760e-03,
 -1.31357067e-04, 8.87039133e-04, 1.82516693e-04, 3.25118935e-05,
  0.00000000e+00,-1.63384322e-03, 0.00000000e+00,-1.18819067e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.59167166, -0.87747073, -8.59167166,  9.28207255,
       -6.32239774, -0.87747073, -6.32239774, 70.54152318,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037952318355815445
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.38796524e-14, -1.46265508e-14,  1.00000000e+00,  6.41807965e-28,
        1.00000000e+00,  1.46265508e-14, -1.00000000e+00,  0.00000000e+00,
        4.38796524e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1393641 , -0.03642221,  0.0618089 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.69050242e-05,-9.29494148e-06,-3.55699370e-05, 9.02553198e-06,
 -2.70519207e-05,-5.23517803e-05, 5.87247629e-07,-9.58933631e-06,
  3.35846601e-03,-3.26940362e-05,-1.38556850e-05,-2.25774959e-04,
  2.66820872e-05,-1.72250317e-05,-4.90486136e+00,-1.25964773e-04,
  3.37057025e-03,-7.55598979e-04]


--- Step 2580 ---
qpos:
[ 0.01865464, 0.03002444,-0.00948247,-0.02525905,-0.0035439 , 1.34080524,
 -0.03001687, 0.94383828, 0.01153106, 0.02728592,-0.00828825, 0.02643613,
  1.39623616, 0.00769591, 1.34909922, 0.04415902,-0.08586757,-0.04801645,
  0.09351246, 0.70773751,-0.06120993,-0.69916632,-0.08079241]

qacc:
[-2.20383651e+00, 1.04900814e+00,-4.75167762e+00, 9.83860715e+00,
  4.65146979e-02, 2.59817142e+00,-1.19096971e+01, 2.79925017e+01,
  6.28117528e+00,-1.00276539e+00, 1.55083297e+00, 2.32116929e+00,
 -1.42280674e-02,-1.36360748e-01, 3.49415528e+00,-1.27216089e+01,
 -4.41030405e+00, 1.18950388e+00,-2.61387316e+00, 5.90946331e+00,
 -1.43810000e+02, 2.79421328e+01]

qfrc_actuator:
[ 1.39158845e-04, 9.20443682e-04, 1.33830159e-04,-5.80895227e-05,
 -2.67368696e-06, 3.49042221e-02, 1.08483784e-02, 1.77456883e-03,
 -9.27778645e-05, 8.54746062e-04, 1.93942198e-04, 4.35674909e-05,
  0.00000000e+00,-1.64435158e-03, 0.00000000e+00,-1.24475086e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003776843082102667
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.20466472e-14,  1.10233236e-14,  1.00000000e+00, -2.43027326e-28,
        1.00000000e+00, -1.10233236e-14, -1.00000000e+00,  0.00000000e+00,
        2.20466472e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00811363, -0.07242882,  0.06180973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.34448715e-05,-2.12684246e-05,-8.06958060e-06, 7.64649544e-05,
  3.77737345e-05,-6.19247024e-05, 3.35875434e-07, 8.64458343e-06,
  3.35251385e-03,-2.14762537e-05,-3.37089897e-05,-7.14214600e-05,
  2.90621316e-05,-5.98637637e-06,-4.90484471e+00, 4.55003844e-06,
  3.38324876e-03,-7.45666667e-04]


--- 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,
  1.39623654, 0.00769568, 1.34919496, 0.04415413,-0.08585288,-0.04800282,
  0.09351124, 0.70790061,-0.0613882 ,-0.69901437,-0.08054264]

qacc:
[-1.58844009e+00, 1.64117867e+00,-4.20439495e+00, 1.35937790e+00,
 -1.00338592e-01,-7.18591454e-01, 1.02112270e+00, 5.47344931e+00,
 -1.89715845e+00, 8.21848806e-02,-3.20708340e+00, 1.16746974e+01,
 -1.52412155e-02, 1.50360683e-01,-4.66674161e+00, 1.53817677e+01,
  4.43046496e+00,-7.64573721e-01, 2.77771178e+00,-6.04753220e+00,
  1.41683592e+02,-1.31349852e+01]

qfrc_actuator:
[ 1.30161270e-04, 9.51483491e-04, 1.09712856e-04,-6.78236630e-05,
 -3.96327204e-05, 3.49162696e-02, 1.08831094e-02, 1.80235387e-03,
 -1.05400582e-04, 8.35315575e-04, 2.00563410e-04, 6.79389260e-05,
  0.00000000e+00,-1.61483607e-03, 0.00000000e+00,-1.16892585e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037980876518455067
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.92311059e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.92311059e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13936377, -0.03644607,  0.0618087 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.90146943e-05, 1.00152294e-06, 3.18962905e-05, 2.86806812e-05,
 -1.15351935e-05,-5.36443659e-05,-5.84475721e-06, 2.18939644e-05,
  3.35603250e-03, 1.90285700e-05,-2.41292570e-05, 6.73840439e-05,
  2.88642438e-05,-2.01197805e-05,-4.90483639e+00,-1.28030228e-04,
  3.37002646e-03,-7.40536313e-04]


--- 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,
  1.39623703, 0.00769591, 1.34929042, 0.04415116,-0.08585581,-0.04798442,
  0.09349956, 0.70786799,-0.06162062,-0.69906322,-0.08022734]

qacc:
[-3.97586876e+00,-2.88131783e-01, 3.96909487e+00,-1.27655668e+01,
 -1.20181566e-02,-1.44638603e+00, 4.55055983e+00,-4.04417941e+00,
 -1.22273467e+00,-2.32237798e+00, 8.11843592e+00,-1.07105279e+01,
 -1.93905512e-02, 3.23641718e-01,-6.17399385e+00, 2.10039824e+01,
 -4.40468923e+00, 1.19306586e+00,-2.61610366e+00, 5.81325112e+00,
 -1.43671231e+02, 2.80819613e+01]

qfrc_actuator:
[ 1.06630803e-04, 9.87367892e-04, 1.13511197e-04,-9.11128694e-05,
 -2.59805691e-05, 3.49057127e-02, 1.09040469e-02, 1.80062703e-03,
 -1.12575356e-04, 8.41489742e-04, 2.39856805e-04, 6.44486702e-05,
  0.00000000e+00,-1.57942061e-03, 0.00000000e+00,-1.06901579e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038036589609848556
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45941452e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.45941452e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00805008, -0.07239989,  0.06180844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.49437341e-06,-2.90206931e-06, 2.56061891e-05,-9.62693138e-08,
 -7.53004461e-06,-2.41214576e-05, 2.82399622e-05,-5.56713012e-06,
  3.35672799e-03, 4.29629092e-05,-3.96142659e-06, 1.00498210e-04,
  3.03165326e-05,-5.57655114e-06,-4.90482422e+00, 1.53499654e-05,
  3.38308810e-03,-7.29609387e-04]


--- 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,
  1.39623769, 0.00769634, 1.34938604, 0.0441477 ,-0.08584101,-0.04796902,
  0.09349897, 0.70803053,-0.06182076,-0.698912  ,-0.07995607]

qacc:
[-2.44396170e+00,-1.41003011e+00, 3.05375197e+00, 3.18389744e+00,
  1.44876772e-01,-2.07490828e+00, 7.59360288e+00,-1.11002108e+01,
  2.25049381e+00, 3.87594915e-01,-5.73931689e-01,-7.65016658e-01,
 -2.66245642e-02, 1.92157031e-01, 1.65407991e+00,-5.44866130e+00,
  4.43040750e+00,-7.51665613e-01, 2.77428855e+00,-5.97472590e+00,
  1.41681680e+02,-1.28757583e+01]

qfrc_actuator:
[ 9.24861157e-05, 9.72715250e-04, 1.51544007e-04,-6.89002525e-05,
  1.79244590e-05, 3.49171446e-02, 1.09343223e-02, 1.78153281e-03,
 -9.87168630e-05, 8.80823353e-04, 2.44959262e-04, 6.23897043e-05,
  0.00000000e+00,-1.57629040e-03, 0.00000000e+00,-1.09778355e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038006400379225896
  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([-0.13936409, -0.03647017,  0.06180852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.18398641e-05, 1.48331488e-05, 3.26204081e-05,-1.84322721e-05,
  1.36301450e-05, 3.14171961e-05, 3.39217475e-06,-2.22630910e-06,
  3.35147975e-03, 2.32121042e-05, 8.31007991e-06,-2.39165336e-05,
  3.10417907e-05,-2.31926897e-05,-4.90480876e+00,-1.30048701e-04,
  3.36923704e-03,-7.24074321e-04]


--- 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 ,
  1.39623847, 0.00769646, 1.34948208, 0.0441406 ,-0.08584381,-0.04794884,
  0.0934879 , 0.70799761,-0.06207524,-0.69896126,-0.07961908]

qacc:
[ 1.49133924e+00,-1.29850254e+00, 2.95693332e+00, 1.45170971e+00,
  1.14804591e-01,-1.94181207e-01, 2.60785482e-01, 4.58014954e+00,
 -4.42796883e+00, 1.18329205e+00,-6.56384755e+00, 1.43350049e+01,
 -3.46808850e-02,-1.07613903e-01, 1.17071257e+01,-4.00086032e+01,
 -4.39731396e+00, 1.19630714e+00,-2.62148974e+00, 5.69824294e+00,
 -1.43485589e+02, 2.82426518e+01]

qfrc_actuator:
[ 1.01735977e-04, 9.45847902e-04, 1.73802468e-04,-5.56175983e-05,
  2.63638908e-05, 3.49594307e-02, 1.09699486e-02, 1.80565510e-03,
 -1.25848309e-04, 8.15324742e-04, 2.12222518e-04, 7.89502365e-05,
  0.00000000e+00,-1.61020589e-03, 0.00000000e+00,-1.29090714e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003826773867326605
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.25299602e-15, -1.08794940e-14,  1.00000000e+00,  7.89089268e-29,
        1.00000000e+00,  1.08794940e-14, -1.00000000e+00,  0.00000000e+00,
        7.25299602e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00799552, -0.07237368,  0.06180733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.31654718e-05, 5.63197156e-05, 4.16999748e-05, 2.50979286e-05,
 -2.67190992e-05,-4.73473446e-05,-2.59223264e-05, 1.79774047e-05,
  3.34280887e-03,-2.05190085e-05,-1.06576347e-06,-1.93901075e-04,
  3.16477934e-05,-5.28710343e-06,-4.90480077e+00, 2.64953465e-05,
  3.38265993e-03,-7.12126603e-04]


--- 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,
  1.39623892, 0.00769623, 1.34957784, 0.04413359,-0.08586221,-0.04792438,
  0.09346308, 0.70779123,-0.06237743,-0.69918823,-0.07922402]

qacc:
[ 9.03225707e-01,-1.45887745e-01, 1.36190667e+00,-4.33444634e+00,
  2.31290540e-02, 3.10164164e-01,-9.25913887e-02,-9.08879273e-01,
 -2.68651508e+00,-5.63163664e-01,-9.43636121e-01, 6.30661937e+00,
 -3.53003118e-02,-2.69734966e-01,-7.17572940e-01, 1.88210014e+00,
 -3.90098179e+00, 1.07153340e+00,-3.43775473e+00, 5.10216642e+00,
 -1.27232590e+02, 2.48084891e+01]

qfrc_actuator:
[ 1.06925936e-04, 9.47314373e-04, 1.68727379e-04,-6.54874922e-05,
  1.34580438e-05, 3.49844088e-02, 1.09730949e-02, 1.80178452e-03,
 -1.41391407e-04, 7.22916460e-04, 1.92517709e-04, 8.84750346e-05,
  0.00000000e+00,-1.64817948e-03, 0.00000000e+00,-1.27747673e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.96947884,   5.10030798,   6.96947884,
        37.37058593, -39.26479634,   5.10030798, -39.26479634,
        62.29099942,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038116205360938654
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.28183075e-15, -1.09227461e-14,  1.00000000e+00,  7.95375885e-29,
        1.00000000e+00,  1.09227461e-14, -1.00000000e+00,  0.00000000e+00,
        7.28183075e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00802964, -0.07237725,  0.06180797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.69527777e-06, 6.50435329e-05, 1.96447880e-05,-3.70756333e-07,
 -1.63408071e-05,-1.23493874e-04,-3.20648010e-05, 6.94717587e-06,
  3.33601290e-03,-4.35308671e-05,-2.47391034e-05, 1.89000295e-06,
  3.32116639e-05,-2.64341786e-05,-4.90477819e+00,-1.31968633e-04,
  3.36820946e-03,-7.06172861e-04]


--- 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,
  1.39623917, 0.00769615, 1.34967315, 0.04412909,-0.0858609 ,-0.0479031 ,
  0.09345509, 0.70780188,-0.06264407,-0.69919268,-0.07887844]

qacc:
[-2.49264389e+00, 6.25141440e-01, 2.71475743e-01,-7.80308492e+00,
 -1.35519811e-02,-1.24380575e+00, 8.36655593e+00,-2.77991261e+01,
  4.36438465e+00, 1.60390926e+00,-6.92917838e+00, 9.91801502e+00,
 -2.20814580e-02, 6.03179358e-02,-8.27201086e+00, 2.79750027e+01,
  4.92825439e+00,-7.97138538e-01, 4.20936908e+00,-6.76421067e+00,
  1.57576138e+02,-1.43958848e+01]

qfrc_actuator:
[ 9.19245231e-05, 9.65596835e-04, 1.47652526e-04,-8.88948326e-05,
  5.60570461e-06, 3.49809397e-02, 1.09392089e-02, 1.71042474e-03,
 -1.14470872e-04, 7.21644919e-04, 1.62773502e-04, 9.37607612e-05,
  0.00000000e+00,-1.61739710e-03, 0.00000000e+00,-1.14240274e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038712635883918975
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.86785697e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.86785697e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13927201, -0.03653096,  0.06180514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.89350949e-06, 3.63380504e-05,-1.89383516e-05,-8.88341880e-05,
  2.63978773e-05,-7.66427760e-05,-5.89610179e-05,-9.81094225e-07,
  3.35288746e-03, 5.26059891e-06,-1.23717256e-05, 1.31772240e-04,
  8.26446478e-05,-6.13281497e-05,-4.90458680e+00,-3.10450564e-04,
  3.34742842e-03,-6.99523218e-04]


--- 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,
  1.39623985, 0.00769669, 1.34976855, 0.04412454,-0.08584213,-0.04788472,
  0.09345756, 0.7080051 ,-0.06288045,-0.69899994,-0.07857426]

qacc:
[-1.60218927e+00, 1.81604435e+00,-4.46551206e+00, 3.68316681e-01,
 -8.58670916e-02, 3.77122043e-01,-1.45504334e+00, 1.27809393e+00,
  2.79337421e+00, 1.12103382e+00,-3.71577116e+00, 3.72778914e+00,
 -2.63457499e-02, 5.18094051e-01, 3.13237442e-01,-8.74825073e-01,
  4.36416167e+00,-7.25691328e-01, 2.61348748e+00,-5.51214837e+00,
  1.39597503e+02,-1.14643888e+01]

qfrc_actuator:
[ 8.29126704e-05, 9.93720796e-04, 1.17377353e-04,-1.02313816e-04,
 -1.69024403e-05, 3.49425003e-02, 1.09190909e-02, 1.71030402e-03,
 -9.82802461e-05, 7.74909609e-04, 1.63193397e-04, 9.65743276e-05,
  0.00000000e+00,-1.54572701e-03, 0.00000000e+00,-1.14983246e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.59082902, -0.88568257, -8.59082902,  9.28524714,
       -6.2939561 , -0.88568257, -6.2939561 , 69.68566328,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038845491628139092
  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([-0.13925579, -0.03654738,  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:
[-9.43914610e-06, 3.40417601e-05,-2.94958241e-05,-1.37309640e-05,
 -2.48074502e-05,-2.47235390e-05,-1.77729954e-05,-1.64275939e-06,
  1.69353267e-05,-1.76233542e-06,-2.26942385e-05,-2.52973738e-06,
  3.36278109e-03, 6.94539072e-05, 8.02718966e-06,-1.86503963e-06,
  2.96735288e-05,-2.26371220e-05,-4.90476684e+00,-9.09074506e-05,
  3.35871767e-03,-6.84294195e-04]


--- 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,
  1.39624082, 0.00769784, 1.34986384, 0.04412094,-0.08580779,-0.047869  ,
  0.09346507, 0.70838018,-0.06309083,-0.69863109,-0.07830498]

qacc:
[-6.87265021e+00, 1.49674962e+00,-5.90562036e+00, 9.84399606e+00,
 -9.69591833e-02,-2.61640580e-01, 8.70337087e-02, 5.20858784e-01,
  4.63106686e+00, 1.11135472e-01, 3.80147119e-01,-1.40729514e+00,
 -5.20395193e-02, 5.00244801e-01,-3.04473547e+00, 1.04588999e+01,
  3.89216097e+00,-6.63719679e-01, 1.26069430e+00,-4.51036461e+00,
  1.24526386e+02,-9.15302650e+00]

qfrc_actuator:
[ 4.19998007e-05, 9.91980261e-04, 9.97254302e-05,-9.19867914e-05,
 -3.02676370e-05, 3.49012531e-02, 1.09071957e-02, 1.71062791e-03,
 -7.07959228e-05, 8.25051644e-04, 1.81670704e-04, 9.79893424e-05,
  0.00000000e+00,-1.52106597e-03, 0.00000000e+00,-1.09917743e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.56020488, -1.14440783, -8.56020488,  9.79969231,
       -8.70173337, -1.14440783, -8.70173337, 73.72559033,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003853473786200115
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.4405483e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.4405483e-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([-0.1393009 , -0.0365479 ,  0.06180592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.80261242e-05,-5.84609252e-05,-1.88049301e-05,-9.78106055e-07,
  2.79764523e-05, 4.44131884e-05, 1.52486187e-05, 5.06582524e-07,
  3.34084193e-03, 6.30762273e-05, 1.84238053e-06, 5.11889714e-05,
  4.12112584e-05,-1.41947102e-06,-4.90472290e+00, 8.46691101e-05,
  3.37345942e-03,-6.70620164e-04]


--- 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,
  1.39624164, 0.00769918, 1.34995895, 0.04411932,-0.08579346,-0.04784845,
  0.09346618, 0.70853073,-0.06335095,-0.69849133,-0.07797895]

qacc:
[-7.10973030e+00,-1.28917016e+00, 2.96065647e+00,-2.85040299e-01,
  3.85722036e-02, 6.31974089e-01,-4.54643426e-01,-7.80493080e+00,
  5.76455728e+00,-6.46178385e-01, 2.38344765e+00,-2.48639276e+00,
 -6.09219806e-02, 1.41054021e-01,-6.21801851e+00, 2.13813293e+01,
 -5.00209965e+00, 1.20732691e+00,-1.59929309e+00, 4.09394487e+00,
 -1.63310023e+02, 2.14633759e+01]

qfrc_actuator:
[ 3.88469081e-07, 9.36930720e-04, 1.07320486e-04,-8.55385754e-05,
 -2.53432082e-06, 3.49296897e-02, 1.08824550e-02, 1.67568215e-03,
 -3.68809594e-05, 8.19782438e-04, 1.92912868e-04, 9.85844581e-05,
  0.00000000e+00,-1.54260415e-03, 0.00000000e+00,-9.96912330e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038864522726618144
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32498811e-07,  1.32498782e-07,  1.00000000e+00,  1.75559311e-14,
        1.00000000e+00, -1.32498782e-07, -1.00000000e+00,  0.00000000e+00,
       -1.32498811e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00785618, -0.07047773,  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:
[-4.28117985e-05,-5.18008521e-05, 8.31665315e-06, 6.59650752e-06,
  1.11691192e-05,-7.61910742e-06,-3.83472016e-05,-3.72773157e-05,
  3.47460117e-05, 2.27841913e-05, 2.23255736e-05, 3.03625361e-06,
  3.32654766e-03, 1.08520182e-05, 5.24167699e-06, 1.05046162e-04,
  9.79988083e-05, 7.34548373e-06,-4.90452273e+00, 2.29008367e-04,
  3.39185495e-03,-6.58097337e-04]


--- Step 2590 ---
qpos:
[ 0.0186555 , 0.03003433,-0.00948227,-0.0252664 ,-0.00354497, 1.34081302,
 -0.03001938, 0.94383554, 0.01152663, 0.0272816 ,-0.008287  , 0.02644078,
  1.3962424 , 0.0077002 , 1.35005447, 0.04411558,-0.08579679,-0.04782363,
  0.09345705, 0.70848327,-0.06365363,-0.69855368,-0.07760424]

qacc:
[-4.16377547e+00,-3.01309345e+00, 1.03967956e+01,-1.50085536e+01,
  8.05042157e-02,-4.69559497e-01, 1.97064709e+00,-3.03139847e+00,
  4.80262545e-01,-1.45055516e-01, 2.17479250e+00,-7.67847711e+00,
 -5.24751135e-02,-1.55670077e-01, 6.99570828e+00,-2.35987431e+01,
 -4.41523070e+00, 1.06708674e+00,-2.56234053e+00, 3.53567100e+00,
 -1.43959529e+02, 1.79815120e+01]

qfrc_actuator:
[-2.35381848e-05, 8.85984618e-04, 1.29522853e-04,-9.92140219e-05,
  1.41239217e-05, 3.49640580e-02, 1.09038306e-02, 1.67354993e-03,
 -3.49615982e-05, 8.16862717e-04, 1.81816159e-04, 8.08872117e-05,
  0.00000000e+00,-1.57393123e-03, 0.00000000e+00,-1.11361241e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.33614399,   5.86856509,   6.33614399,
        47.47894867, -41.93737441,   5.86856509, -41.93737441,
        53.91510527,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00391669946372869
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83458824e-14,  2.83458824e-14,  1.00000000e+00, -8.03489050e-28,
        1.00000000e+00, -2.83458824e-14, -1.00000000e+00,  0.00000000e+00,
        2.83458824e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00778704, -0.07032887,  0.06180309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.32586307e-05, 2.15243861e-05, 1.44256684e-05,-4.35222980e-06,
  2.94137868e-06, 1.46060073e-05,-3.52621366e-06,-1.58899978e-05,
  3.33356885e-03,-2.99873649e-05, 1.21782021e-05,-1.10599921e-04,
  3.22083633e-05,-4.83290991e-06,-4.90473565e+00, 4.85136425e-05,
  3.38718741e-03,-6.52165673e-04]


--- 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,
  1.39624294, 0.00770072, 1.35015013, 0.04410983,-0.08581579,-0.04779499,
  0.09343435, 0.70826018,-0.06399363,-0.69879508,-0.07718656]

qacc:
[ 6.32078744e-01,-2.09877939e+00, 7.56816610e+00,-1.12987008e+01,
  2.03911815e-02,-7.81452673e-01, 1.42114545e+00, 3.05329397e+00,
  1.51554343e-01,-6.81942566e-01, 3.71216331e+00,-8.08578084e+00,
 -4.65868088e-02,-3.06919475e-01, 6.29938820e+00,-2.17400783e+01,
 -3.91528977e+00, 9.56333904e-01,-3.38958921e+00, 3.14012708e+00,
 -1.27583373e+02, 1.57463919e+01]

qfrc_actuator:
[-1.91112515e-05, 8.91187195e-04, 1.60146417e-04,-1.06864711e-04,
  6.24905196e-06, 3.49308989e-02, 1.09168198e-02, 1.69079154e-03,
 -3.41392954e-05, 8.33011857e-04, 1.93109759e-04, 7.03036276e-05,
  0.00000000e+00,-1.61069341e-03, 0.00000000e+00,-1.21637443e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038954899645827143
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.85002152e-14,  1.42501076e-14,  1.00000000e+00, -4.06131134e-28,
        1.00000000e+00, -1.42501076e-14, -1.00000000e+00,  0.00000000e+00,
        2.85002152e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00783537, -0.07033585,  0.061804  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.87069874e-06,-1.85691790e-05, 1.87107973e-05, 1.82087461e-05,
  9.12161754e-07, 2.29358714e-05, 1.33372626e-05,-1.03876846e-05,
  3.33646575e-03,-5.05361987e-05,-9.97084646e-06,-1.08093168e-04,
  3.47388511e-05,-3.45035689e-05,-4.90470953e+00,-1.42193005e-04,
  3.37614861e-03,-6.45627436e-04]


--- 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,
  1.39624286, 0.00770097, 1.35024515, 0.04410757,-0.08581511,-0.04776955,
  0.09342847, 0.70825497,-0.06430218,-0.69881325,-0.07681255]

qacc:
[ 6.50224649e+00,-1.14124118e-01,-2.88374148e+00, 1.32598270e+01,
 -1.27456631e-01,-6.59446511e-02, 1.96340918e+00,-1.10410251e+01,
 -5.84310957e+00, 7.05354468e-01,-4.98453495e+00, 1.47797452e+01,
 -2.83883821e-02,-3.06056750e-01,-1.15064019e+01, 3.88718536e+01,
  4.91621662e+00,-8.01204388e-01, 4.20171052e+00,-5.76040342e+00,
  1.57792589e+02,-1.09012750e+01]

qfrc_actuator:
[ 1.97158412e-05, 8.76761405e-04, 1.77973063e-04,-7.53503583e-05,
 -3.40322025e-05, 3.49285672e-02, 1.08889828e-02, 1.64822715e-03,
 -6.94638504e-05, 8.25035213e-04, 1.99871880e-04, 9.95330871e-05,
  0.00000000e+00,-1.63266080e-03, 0.00000000e+00,-1.02598569e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038608016134793685
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15672120e-14, -2.87562827e-14,  1.00000000e+00,  6.20192844e-28,
        1.00000000e+00,  2.87562827e-14, -1.00000000e+00,  0.00000000e+00,
        2.15672120e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13929749, -0.03659286,  0.06180547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.68126627e-05,-8.40375781e-06,-2.88087785e-05,-4.21527997e-05,
 -3.52915317e-05, 7.17990638e-06, 1.27909819e-05, 3.04728349e-05,
  3.34696189e-03,-4.76000735e-05,-1.89530518e-05, 1.82581932e-04,
  8.44164279e-05,-7.49424214e-05,-4.90451789e+00,-3.34615944e-04,
  3.35940356e-03,-6.38386402e-04]


--- 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,
  1.39624238, 0.00770104, 1.35034   , 0.0441079 ,-0.08579702,-0.04774701,
  0.09343301, 0.70844305,-0.06458393,-0.69863361,-0.07647508]

qacc:
[ 4.04452711e+00, 2.53154981e+00,-1.11772086e+01, 1.97972704e+01,
 -1.58051794e-01, 9.79018011e-01,-2.12026936e+00,-3.77767510e+00,
 -3.62166740e+00, 2.59867606e-01,-1.20128692e+00, 1.92116124e+00,
  5.03778800e-03,-2.10390639e-01,-8.11016918e+00, 2.79506480e+01,
  4.35580443e+00,-7.24836867e-01, 2.60828135e+00,-4.66092009e+00,
  1.39784074e+02,-8.52497532e+00]

qfrc_actuator:
[ 4.29646276e-05, 8.50690545e-04, 1.34803084e-04,-5.65707442e-05,
 -5.79220414e-05, 3.49267661e-02, 1.08550918e-02, 1.62405216e-03,
 -9.02755521e-05, 8.02692114e-04, 1.86076744e-04, 9.86703582e-05,
  0.00000000e+00,-1.62801915e-03, 0.00000000e+00,-8.95191200e-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,  -8.5176562 ,  -1.42699327,  -8.5176562 ,
        10.56626314, -11.51947998,  -1.42699327, -11.51947998,
        77.39560166,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038749432481882465
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.16283410e-15, -1.43256682e-14,  1.00000000e+00,  1.02612385e-28,
        1.00000000e+00,  1.43256682e-14, -1.00000000e+00,  0.00000000e+00,
        7.16283410e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1392798 , -0.03660749,  0.0618048 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.56446193e-05,-1.33619492e-05,-4.00526377e-05,-2.62524049e-05,
 -2.18458936e-05,-1.43767573e-05,-9.67676755e-06, 4.81473245e-07,
  3.37848774e-03,-2.90281721e-05, 1.05319766e-05, 1.38339673e-04,
  2.80843815e-05,-2.76506036e-05,-4.90471246e+00,-9.51363338e-05,
  3.36841126e-03,-6.21563819e-04]


--- 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,
  1.39624211, 0.00770103, 1.3504353 , 0.04410611,-0.08579681,-0.04772047,
  0.09342761, 0.70842931,-0.06490165,-0.6986592 ,-0.07609868]

qacc:
[ 2.40387140e+00, 2.88583423e+00,-1.12868302e+01, 1.65718228e+01,
 -1.85132606e-02, 2.39977322e+00,-9.52334790e+00, 1.72109622e+01,
  3.79578360e+00,-3.10484525e+00, 1.29751819e+01,-2.50202155e+01,
  1.80451285e-02,-1.83104400e-02, 7.08635315e+00,-2.37963964e+01,
 -4.47174129e+00, 1.00067785e+00,-2.48665480e+00, 2.18949162e+00,
 -1.45821356e+02, 1.20096243e+01]

qfrc_actuator:
[ 5.68465642e-05, 8.53098609e-04, 9.14077000e-05,-4.54922133e-05,
 -3.62790556e-05, 3.49252681e-02, 1.08356915e-02, 1.66416914e-03,
 -6.68613531e-05, 7.54054286e-04, 1.95667290e-04, 6.23207784e-05,
  0.00000000e+00,-1.60740940e-03, 0.00000000e+00,-1.01367690e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003859070252948996
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.31011649e-08,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.31011649e-08, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00810723, -0.06920469,  0.06180554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.33130687e-06,-1.75238659e-05,-2.73451202e-05, 3.79279926e-05,
  2.27680398e-05,-5.86446862e-05, 5.45226325e-06,-3.72905188e-05,
  3.39765516e-03, 8.78530540e-08, 1.78015273e-05,-1.09958287e-04,
  3.66829941e-05, 2.28357713e-06,-4.90468166e+00, 1.03431099e-04,
  3.38144209e-03,-6.06087930e-04]


--- 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,
  1.39624219, 0.00770085, 1.35053105, 0.04409993,-0.0857792 ,-0.04769685,
  0.09343262, 0.70860916,-0.06519404,-0.69848674,-0.07575663]

qacc:
[-7.41230908e+00,-1.13991901e+00, 3.77256936e+00,-6.76553665e+00,
  9.64923326e-02, 8.10682612e-01,-4.14228027e+00, 1.27131082e+01,
  2.36774926e+00, 1.54903170e+00,-5.28595176e+00, 4.96492717e+00,
  4.08011647e-03,-9.36925424e-03, 1.39446420e+01,-4.78057732e+01,
  4.35135721e+00,-7.30955084e-01, 2.60249980e+00,-4.28252842e+00,
  1.39850456e+02,-7.21956160e+00]

qfrc_actuator:
[ 1.18512954e-05, 8.01506418e-04, 8.38601115e-05,-5.67527492e-05,
 -5.24944955e-06, 3.49595616e-02, 1.08605439e-02, 1.70629966e-03,
 -5.31137019e-05, 7.61105659e-04, 1.65601242e-04, 5.86388356e-05,
  0.00000000e+00,-1.61273719e-03, 0.00000000e+00,-1.24255638e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038597425147401596
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87641733e-14, -2.87641733e-14,  1.00000000e+00,  8.27377664e-28,
        1.00000000e+00,  2.87641733e-14, -1.00000000e+00,  0.00000000e+00,
        2.87641733e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13930454, -0.03662066,  0.06180549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.78783388e-05, 2.03833890e-05, 1.94232083e-05, 4.16773605e-05,
  1.43922459e-05,-2.61713652e-05,-4.27901511e-05,-6.73149274e-06,
  3.38730505e-03,-7.75500946e-07,-7.16318834e-06,-2.33444099e-04,
  2.61688155e-05,-2.90554720e-05,-4.90470298e+00,-9.84212081e-05,
  3.37464522e-03,-5.99439236e-04]


--- 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,
  1.39624232, 0.0077007 , 1.35062652, 0.04409307,-0.08577952,-0.04766956,
  0.09342771, 0.70858602,-0.06551466,-0.69852026,-0.07538653]

qacc:
[-1.59290192e+00,-4.43871893e-01, 1.36818127e+00,-3.32817990e+00,
  1.83150040e-01,-2.41864664e+00, 7.49146014e+00,-4.79751188e+00,
 -1.58198164e+00, 2.47320585e+00,-9.41782519e+00, 1.46042237e+01,
 -1.31619046e-02, 4.53469202e-02, 1.65729141e+00,-6.39419898e+00,
 -4.48463925e+00, 9.19380681e-01,-2.48019674e+00, 9.82273765e-01,
 -1.45847350e+02, 5.39513365e+00]

qfrc_actuator:
[ 3.57522107e-06, 7.89109798e-04, 7.95568784e-05,-6.33316094e-05,
  3.11579099e-05, 3.49619475e-02, 1.09114448e-02, 1.71380301e-03,
 -6.29327244e-05, 8.01314191e-04, 1.48102333e-04, 7.42265584e-05,
  0.00000000e+00,-1.61576393e-03, 0.00000000e+00,-1.26826400e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038836073947614846
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42937083e-14,  1.42937083e-14,  1.00000000e+00, -2.04310097e-28,
        1.00000000e+00, -1.42937083e-14, -1.00000000e+00,  0.00000000e+00,
        1.42937083e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00824137, -0.06804138,  0.06180443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.28827847e-05, 1.87084686e-05, 5.83198519e-05, 9.64939271e-06,
 -9.40855513e-06, 1.64968469e-05,-2.83910046e-05, 1.28573993e-05,
  3.36952598e-03, 4.44134038e-06,-3.14579834e-05,-4.01426970e-05,
  3.34398198e-05, 3.47975052e-06,-4.90467747e+00, 1.04230725e-04,
  3.38665347e-03,-5.83635951e-04]


--- 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,
  1.39624252, 0.00770095, 1.35072156, 0.04408791,-0.08579575,-0.04763896,
  0.09340953, 0.70838295,-0.06586002,-0.69873622,-0.07499172]

qacc:
[ 1.10621683e+01,-3.32087738e-02,-3.70615670e-01, 2.93573921e+00,
  1.21569633e-01,-2.18667673e+00, 5.89462014e+00, 2.52439736e-01,
 -1.00929744e+00,-1.20944085e+00, 5.49851054e+00,-9.84550649e+00,
 -1.96072942e-02, 2.79415639e-01,-5.78931008e+00, 1.93298208e+01,
 -3.97736015e+00, 8.24755345e-01,-3.31647371e+00, 8.44755870e-01,
 -1.29229138e+02, 4.63978128e+00]

qfrc_actuator:
[ 7.02554918e-05, 8.53561908e-04, 1.12847554e-04,-4.93225143e-05,
  3.49908766e-05, 3.49453042e-02, 1.09594115e-02, 1.73636658e-03,
 -6.87885974e-05, 8.25631018e-04, 1.73841349e-04, 6.55652000e-05,
  0.00000000e+00,-1.58203364e-03, 0.00000000e+00,-1.17401754e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038682184677341636
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43505729e-14, -1.43505729e-14,  1.00000000e+00, -2.05938943e-28,
        1.00000000e+00,  1.43505729e-14, -1.00000000e+00,  0.00000000e+00,
       -1.43505729e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00827708, -0.06804531,  0.0618051 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.50849342e-05, 5.39951509e-06, 5.85442783e-05, 2.50587333e-05,
 -6.12871140e-06, 2.82674719e-05, 2.61159755e-05,-8.68261917e-06,
  3.36690638e-03, 3.66880531e-05,-1.93450055e-05, 8.78928268e-05,
  2.27538000e-05,-2.95585160e-05,-4.90470588e+00,-1.00342465e-04,
  3.38251027e-03,-5.77156599e-04]


--- 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,
  1.39624311, 0.00770146, 1.35081686, 0.04408053,-0.08579268,-0.0476117 ,
  0.09340743, 0.70839593,-0.06618029,-0.69873145,-0.07463072]

qacc:
[ 6.85915861e+00,-1.47783050e-01, 1.31391171e+00,-8.44108816e-01,
  7.86966623e-02, 2.42110982e+00,-1.06730909e+01, 2.48998740e+01,
  2.32578654e+00, 8.78319931e-01,-2.45090464e+00, 1.54007553e+00,
 -2.96661340e-02, 2.89720430e-01, 7.12995324e+00,-2.43362676e+01,
  4.82760186e+00,-8.33069065e-01, 4.01905283e+00,-4.08703138e+00,
  1.55719010e+02,-5.37913554e+00]

qfrc_actuator:
[ 1.09498587e-04, 9.28219417e-04, 1.50655657e-04,-4.09705264e-05,
  3.70043844e-05, 3.49351520e-02, 1.09519307e-02, 1.80310543e-03,
 -5.45044536e-05, 8.22662461e-04, 1.53820422e-04, 6.04741892e-05,
  0.00000000e+00,-1.56213675e-03, 0.00000000e+00,-1.29395370e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003906802092131852
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42088465e-14, -2.84176930e-14,  1.00000000e+00,  4.03782638e-28,
        1.00000000e+00,  2.84176930e-14, -1.00000000e+00,  0.00000000e+00,
        1.42088465e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13924296, -0.03665788,  0.06180326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.27472025e-05, 5.03540274e-06, 9.70641444e-07, 6.91996366e-05,
  1.41109499e-05, 1.78922301e-05,-1.12498275e-05,-3.14186181e-06,
  3.36346834e-03, 3.65822445e-05, 5.31473461e-07,-1.17592996e-04,
  6.12644403e-05,-7.11254287e-05,-4.90456044e+00,-2.87190629e-04,
  3.37253345e-03,-5.70029762e-04]


--- 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 ,
  1.3962437 , 0.00770197, 1.35091208, 0.04407245,-0.08577247,-0.04758742,
  0.09341513, 0.70860055,-0.06647901,-0.69853101,-0.07429823]

qacc:
[ 1.01642270e+00, 9.33622508e-01,-9.80742447e-01,-3.16336438e+00,
 -1.18213635e-02, 5.79584783e-01,-1.29868426e+00,-1.62483151e+00,
  1.41544496e+00, 1.90385616e+00,-5.94589274e+00, 5.68497738e+00,
 -4.59364001e-02, 4.78890469e-02, 2.00836499e+00,-7.19333335e+00,
  4.28215210e+00,-7.45522777e-01, 2.45027693e+00,-3.28883856e+00,
  1.38002047e+02,-3.99539056e+00]

qfrc_actuator:
[ 1.14500881e-04, 9.55204995e-04, 1.37625729e-04,-5.37531535e-05,
  2.01597070e-05, 3.49287772e-02, 1.09295784e-02, 1.78875653e-03,
 -4.62342496e-05, 8.38710405e-04, 1.24573501e-04, 5.74669925e-05,
  0.00000000e+00,-1.58606098e-03, 0.00000000e+00,-1.32612470e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039134010775929845
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83697736e-14, -5.67395471e-14,  1.00000000e+00,  1.60968810e-27,
        1.00000000e+00,  5.67395471e-14, -1.00000000e+00,  0.00000000e+00,
        2.83697736e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13923513, -0.03666624,  0.06180295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.40211294e-06,-1.32269375e-06,-1.92276318e-05,-1.25621920e-05,
  8.68778029e-06, 2.36295539e-05,-2.70292659e-05,-2.68822087e-06,
  3.34375851e-03,-1.26031922e-07,-1.47503749e-05,-3.90966310e-05,
  1.66692146e-05,-2.13360048e-05,-4.90471621e+00,-5.62012802e-05,
  3.37831242e-03,-5.53335304e-04]


--- 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,
  1.3962439 , 0.00770247, 1.35100679, 0.04406737,-0.08573697,-0.04756582,
  0.09342731, 0.70897617,-0.06675908,-0.69815578,-0.07398993]

qacc:
[-5.46013735e+00,-2.26784126e-01, 2.92802711e+00,-1.01355829e+01,
 -1.03927516e-01, 1.20813379e+00,-5.88583734e+00, 1.51243533e+01,
  8.06063108e-01, 2.82238105e-02, 1.60191724e+00,-7.67038648e+00,
 -4.03055459e-02,-5.99962027e-02,-9.83024384e+00, 3.33006207e+01,
  3.82549971e+00,-6.71034687e-01, 1.12091724e+00,-2.64317984e+00,
  1.23154598e+02,-2.92467146e+00]

qfrc_actuator:
[ 8.15651245e-05, 9.17716375e-04, 1.12239790e-04,-7.89403596e-05,
 -7.86039292e-06, 3.49245977e-02, 1.09341107e-02, 1.83331309e-03,
 -4.15765973e-05, 8.30464847e-04, 1.07951961e-04, 3.79702195e-05,
  0.00000000e+00,-1.60061620e-03, 0.00000000e+00,-1.16424546e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038767040585886287
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.14787421e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.14787421e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13928751, -0.03666074,  0.06180466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.00305754e-05,-9.05457941e-06, 1.71702235e-06, 4.36636060e-05,
  4.91944751e-06,-7.01870084e-07,-1.51432092e-05,-1.94681513e-05,
  3.34345217e-03,-1.45233398e-05,-1.24822213e-05, 1.57523382e-04,
  3.35736126e-05, 1.24099618e-05,-4.90465772e+00, 1.43531471e-04,
  3.38910969e-03,-5.37551994e-04]


--- 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,
  1.39624373, 0.00770287, 1.35110132, 0.0440649 ,-0.08572154,-0.04753999,
  0.09343317, 0.70912437,-0.06707091,-0.69801139,-0.07364927]

qacc:
[-4.60837648e-01, 2.01809822e+00,-8.50328056e+00, 1.58498789e+01,
 -5.79324640e-02, 2.87400578e+00,-1.36774815e+01, 3.10718218e+01,
 -8.39294043e+00, 2.16709026e+00,-1.12937129e+01, 2.58318083e+01,
 -1.67969222e-02,-1.47751761e-01,-8.19382976e+00, 2.82460960e+01,
 -5.02028955e+00, 1.05845574e+00,-1.58134346e+00, 9.80647938e-01,
 -1.63474754e+02, 6.43992587e+00]

qfrc_actuator:
[ 7.98322164e-05, 9.30580765e-04, 9.72496660e-05,-5.80236512e-05,
 -6.85151611e-06, 3.48508813e-02, 1.09012787e-02, 1.91221547e-03,
 -9.23387685e-05, 8.25516129e-04, 9.88129807e-05, 7.99283733e-05,
  0.00000000e+00,-1.60955163e-03, 0.00000000e+00,-1.03138164e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003936180322715442
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41027968e-14, -3.52569920e-15,  1.00000000e+00,  4.97222193e-29,
        1.00000000e+00,  3.52569920e-15, -1.00000000e+00,  0.00000000e+00,
        1.41027968e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00811977, -0.06799753,  0.06180202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.67383745e-05,-7.70806578e-05,-3.31260777e-05, 7.96960256e-05,
 -5.06190943e-05,-9.27509149e-06,-1.18001172e-05, 4.10301728e-05,
  3.36260383e-03,-2.34385593e-05, 1.06850590e-05, 1.39828739e-04,
  9.37472370e-05, 3.44842943e-05,-4.90444965e+00, 3.19480741e-04,
  3.40458357e-03,-5.22455853e-04]


--- 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,
  1.39624327, 0.00770312, 1.35119583, 0.04406438,-0.08572383,-0.04751039,
  0.09342882, 0.7090723 ,-0.06741061,-0.69807041,-0.07328021]

qacc:
[ 2.75478363e+00, 1.19245331e+00,-5.01223981e+00, 9.47601503e+00,
 -3.17907598e-02,-2.00197838e+00, 4.52675875e+00,-6.97774218e-01,
 -5.17382924e+00, 2.36075012e-01,-9.02248159e-01, 2.38511694e+00,
  5.23154470e-03,-1.70489724e-01,-5.94066244e+00, 2.07158756e+01,
 -4.42823731e+00, 9.42165888e-01,-2.55366278e+00, 8.00779690e-01,
 -1.43993042e+02, 5.60245720e+00]

qfrc_actuator:
[ 9.64918768e-05, 9.38049732e-04, 8.87373421e-05,-4.56066989e-05,
 -6.18840838e-06, 3.47892394e-02, 1.09173951e-02, 1.92185393e-03,
 -1.22055004e-04, 8.58162425e-04, 1.11963708e-04, 8.67058292e-05,
  0.00000000e+00,-1.61500504e-03, 0.00000000e+00,-9.34492990e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039628414955249075
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40079161e-14,  2.10118742e-14,  1.00000000e+00, -2.94332571e-28,
        1.00000000e+00, -2.10118742e-14, -1.00000000e+00,  0.00000000e+00,
        1.40079161e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00805935, -0.0679815 ,  0.06180084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.23143895e-06,-1.08363200e-04,-3.89865913e-07, 8.20202563e-06,
 -3.12055680e-05, 2.67893369e-05, 1.12262267e-05, 6.77603118e-06,
  3.38109461e-03,-2.33616200e-05, 1.80790536e-05, 1.05537490e-04,
  2.10917083e-05, 5.68422702e-06,-4.90468914e+00, 9.43444515e-05,
  3.40638039e-03,-5.16515651e-04]


--- 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,
  1.39624292, 0.00770351, 1.35129051, 0.04406404,-0.08574182,-0.04747742,
  0.09341093, 0.70884267,-0.06777495,-0.69830956,-0.07288608]

qacc:
[-1.27226934e+00,-1.53214973e+00, 7.31618952e+00,-1.62760497e+01,
 -7.86677729e-02,-3.18925778e+00, 1.17715827e+01,-1.83018809e+01,
  8.80301601e+00,-1.98119643e+00, 8.29822112e+00,-1.39724315e+01,
  1.45692430e-02, 9.82771335e-02,-2.73545715e-01, 1.33361070e+00,
 -3.92718111e+00, 8.43114462e-01,-3.38312160e+00, 6.35287353e-01,
 -1.27591440e+02, 4.90609269e+00]

qfrc_actuator:
[ 8.83285370e-05, 9.06744804e-04, 8.40878802e-05,-7.38009839e-05,
 -2.34920743e-05, 3.48597181e-02, 1.09800216e-02, 1.89068206e-03,
 -6.81167316e-05, 8.59882933e-04, 1.38288549e-04, 7.27651624e-05,
  0.00000000e+00,-1.58278520e-03, 0.00000000e+00,-9.30581378e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003938303206582776
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.04759744e-15,  3.52379872e-15,  1.00000000e+00, -2.48343149e-29,
        1.00000000e+00, -3.52379872e-15, -1.00000000e+00,  0.00000000e+00,
        7.04759744e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00811628, -0.06799154,  0.06180193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.27628301e-05, 1.07137806e-05, 4.16304556e-05,-3.42465906e-05,
  5.30312450e-05, 1.93165227e-05, 3.34961726e-05,-1.22682439e-05,
  3.39553908e-03, 1.61269066e-05, 1.72257949e-05, 1.14862707e-05,
  1.72049991e-05,-3.47216275e-05,-4.90468739e+00,-1.11735409e-04,
  3.40167823e-03,-5.09849405e-04]


--- 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,
  1.39624274, 0.00770436, 1.35138505, 0.04406545,-0.08577383,-0.04744142,
  0.09337668, 0.70845445,-0.0681612 ,-0.69870916,-0.07246968]

qacc:
[ 2.11996880e+00,-2.96979750e+00, 1.12771828e+01,-1.78993302e+01,
 -1.43433241e-01, 1.04104475e+00, 5.60133396e-01,-1.40876903e+01,
  2.60432905e+00,-3.19391889e+00, 1.20077715e+01,-1.66816499e+01,
  5.17518629e-03, 3.19576018e-01,-5.48755694e+00, 1.88994924e+01,
 -3.50227567e+00, 7.58544070e-01,-4.08905229e+00, 4.82746137e-01,
 -1.13787728e+02, 4.32872642e+00]

qfrc_actuator:
[ 1.01118745e-04, 8.87944756e-04, 1.17071236e-04,-9.01903289e-05,
 -5.14348439e-05, 3.49556748e-02, 1.09635697e-02, 1.83585928e-03,
 -5.41419624e-05, 8.60869066e-04, 1.89803238e-04, 6.44878117e-05,
  0.00000000e+00,-1.54593856e-03, 0.00000000e+00,-8.39440530e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038728603618635032
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.37501479e-15, -4.30001183e-14,  1.00000000e+00,  2.31126272e-28,
        1.00000000e+00,  4.30001183e-14, -1.00000000e+00,  0.00000000e+00,
        5.37501479e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.008266  , -0.06802224,  0.06180481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.13942184e-05, 1.09006017e-04,-1.06192181e-05,-5.40704309e-05,
  1.55326027e-05, 1.82130470e-05, 5.92182028e-05,-6.52916777e-06,
  3.38955824e-03, 4.61188143e-05, 6.60574898e-06, 9.33896831e-05,
  6.06974559e-05,-8.18525784e-05,-4.90451933e+00,-3.00254588e-04,
  3.39123753e-03,-5.02528404e-04]


--- 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,
  1.39624268, 0.00770548, 1.35147963, 0.0440676 ,-0.08578447,-0.04740914,
  0.09336463, 0.70830669,-0.06852539,-0.69886334,-0.07208277]

qacc:
[ 7.20894381e+00,-2.43090549e+00, 9.18346937e+00,-1.37167754e+01,
 -7.98556484e-02,-4.92704569e-01, 4.77441495e+00,-1.62528476e+01,
  1.41339333e+00,-1.26981506e+00, 6.91866363e+00,-1.51735852e+01,
 -2.11553981e-03, 1.89130326e-01,-2.18797429e+00, 7.75342832e+00,
  5.34151338e+00,-9.32038078e-01, 5.54751696e+00,-3.18832255e+00,
  1.72746227e+02,-1.07385784e+00]

qfrc_actuator:
[ 1.43900263e-04, 8.94685725e-04, 1.54308669e-04,-9.94646681e-05,
 -5.00288292e-05, 3.49770790e-02, 1.09539412e-02, 1.78529427e-03,
 -4.60764656e-05, 8.79271036e-04, 2.02515852e-04, 4.18722693e-05,
  0.00000000e+00,-1.54220565e-03, 0.00000000e+00,-8.04117524e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003973002160488917
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39720919e-14, -1.39720919e-14,  1.00000000e+00,  1.95219352e-28,
        1.00000000e+00,  1.39720919e-14, -1.00000000e+00,  0.00000000e+00,
        1.39720919e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13915591, -0.03671319,  0.0618001 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.30522173e-05, 7.80024768e-05, 8.90243226e-06,-4.88511236e-05,
  8.52418986e-06, 4.05508412e-05, 2.35467837e-05,-1.99129037e-05,
  3.38113496e-03, 2.65121445e-05, 1.18938069e-05, 4.10040204e-05,
  1.36146893e-04,-1.32400196e-04,-4.90423730e+00,-4.72940027e-04,
  3.37569124e-03,-4.94622347e-04]


--- 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,
  1.3962429 , 0.00770665, 1.35157456, 0.04406749,-0.08577627,-0.04738015,
  0.09336753, 0.70837103,-0.06887074,-0.69880144,-0.07172067]

qacc:
[ 4.31655744e+00,-6.56790502e-01, 1.21561570e+00, 2.38069978e+00,
  8.01387497e-02,-4.42267449e+00, 1.86953973e+01,-3.91639296e+01,
  6.65695709e+00, 2.04217544e+00,-7.02136094e+00, 9.45218587e+00,
 -1.08550243e-02, 1.19098371e-01, 7.38295438e+00,-2.50342038e+01,
  4.71030421e+00,-8.22842953e-01, 3.73878114e+00,-2.51611953e+00,
  1.52164501e+02,-3.23818837e-01]

qfrc_actuator:
[ 1.68480117e-04, 8.98955076e-04, 1.76104270e-04,-8.67078448e-05,
 -1.32754998e-05, 3.49536890e-02, 1.09659283e-02, 1.68436312e-03,
 -6.03559753e-06, 8.90045498e-04, 1.74516063e-04, 4.64898544e-05,
  0.00000000e+00,-1.54056679e-03, 0.00000000e+00,-9.26251570e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004017130355332882
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38186084e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.38186084e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13909519, -0.03673018,  0.06179805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.31333238e-05, 2.00278249e-05, 2.68258163e-05,-9.94562700e-05,
  4.03051504e-05, 3.74587790e-05,-1.74129985e-05, 6.78286892e-06,
  3.37510351e-03, 1.52266325e-05, 7.86249030e-06,-1.18837353e-04,
  3.15062794e-05,-6.01577282e-05,-4.90460353e+00,-2.09855445e-04,
  3.37425243e-03,-4.76539173e-04]


--- 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,
  1.39624298, 0.00770782, 1.35166926, 0.04406827,-0.08575133,-0.04735409,
  0.09337924, 0.70862347,-0.06919982,-0.69854786,-0.07137957]

qacc:
[-3.49578627e+00, 1.47604542e-01,-4.21179584e+00, 1.79709503e+01,
  1.23963484e-01,-1.30942291e+00, 7.01829613e+00,-1.98169196e+01,
  6.94975545e+00,-6.01708668e-01, 4.95766069e+00,-1.53918722e+01,
 -2.01544642e-02,-1.26294486e-02,-3.08863788e+00, 1.02731223e+01,
  4.18205212e+00,-7.30633773e-01, 2.20363153e+00,-1.96989666e+00,
  1.34921470e+02, 2.24878100e-01]

qfrc_actuator:
[ 1.46634692e-04, 9.01678767e-04, 2.06372255e-04,-4.33491925e-05,
  8.87853759e-06, 3.49569616e-02, 1.09548528e-02, 1.62558971e-03,
  3.47547619e-05, 8.78261080e-04, 1.58214389e-04, 1.38114945e-05,
  0.00000000e+00,-1.55783722e-03, 0.00000000e+00,-8.73861847e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004009401222298779
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.76904945e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.76904945e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.139107  , -0.0367315 ,  0.06179841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.58258340e-05, 1.66020101e-05,-7.02534873e-06,-5.96907493e-05,
  4.19856396e-05, 5.85838032e-06,-1.04748448e-05,-3.15445505e-05,
  3.36098020e-03,-4.80654419e-06,-1.21220595e-05, 4.61794242e-05,
  7.77250350e-06,-7.60933790e-06,-4.90468733e+00, 2.35263592e-05,
  3.37892408e-03,-4.59156736e-04]


--- 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,
  1.39624262, 0.00770858, 1.35176379, 0.04407033,-0.08571145,-0.04733064,
  0.09339457, 0.70904378,-0.0695147 ,-0.69812293,-0.07105635]

qacc:
[-2.34976249e+00, 3.70787108e-01,-1.86240935e+00, 4.83270588e+00,
  5.75093477e-02, 1.49901852e+00,-5.24150680e+00, 8.49592796e+00,
  1.12129822e+00,-2.74943514e+00, 1.08065841e+01,-1.80334404e+01,
 -3.48904921e-03,-3.57696966e-01,-4.08335647e+00, 1.39096455e+01,
  3.73975817e+00,-6.52735232e-01, 9.03561162e-01,-1.52276344e+00,
  1.20472009e+02, 6.24511008e-01]

qfrc_actuator:
[ 1.33149885e-04, 9.03520966e-04, 2.05914824e-04,-3.55858567e-05,
  4.34083625e-06, 3.49761003e-02, 1.09481202e-02, 1.64535836e-03,
  4.01438426e-05, 8.53057315e-04, 1.84344012e-04,-5.05502099e-06,
  0.00000000e+00,-1.60417462e-03, 0.00000000e+00,-8.07778039e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00396012972291214
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.40175083e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.40175083e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13917648, -0.03672046,  0.0618007 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.66346167e-05, 2.51439181e-05,-6.04045037e-06, 1.86760267e-05,
  6.62395400e-06,-2.54391177e-05, 2.49602354e-05,-1.95911537e-05,
  3.36743837e-03,-5.12371334e-05,-1.73706383e-06, 6.68055573e-05,
  4.03419596e-05, 3.06291008e-05,-4.90457444e+00, 2.33220198e-04,
  3.38911223e-03,-4.42310511e-04]


--- 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,
  1.39624196, 0.0077088 , 1.35185845, 0.04407181,-0.08569213,-0.04730352,
  0.0934041 , 0.70922943,-0.06984293,-0.69793513,-0.07072573]

qacc:
[-1.49201745e+00,-2.99503054e-01, 5.14123060e+00,-2.01190098e+01,
  8.57819728e-02, 4.29423406e+00,-1.64897482e+01, 2.95508911e+01,
  4.21665618e-01,-9.68527373e-01, 2.31977547e+00,-1.69750590e-01,
  2.29631084e-02,-4.38598905e-01, 1.91568348e+00,-6.44816005e+00,
 -5.14357368e+00, 9.15989623e-01,-1.45052142e+00,-1.88236467e+00,
 -1.66715842e+02,-9.29866428e+00]

qfrc_actuator:
[ 1.24709579e-04, 8.86920580e-04, 1.69532280e-04,-8.43618789e-05,
  1.93331284e-05, 3.49691433e-02, 1.09086117e-02, 1.71119577e-03,
  4.24050348e-05, 8.37938213e-04, 1.99759154e-04, 2.12805333e-06,
  0.00000000e+00,-1.63203926e-03, 0.00000000e+00,-8.40720385e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038957992057854288
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84979529e-14,  1.42489765e-14,  1.00000000e+00, -4.06066661e-28,
        1.00000000e+00, -1.42489765e-14, -1.00000000e+00,  0.00000000e+00,
        2.84979529e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00885517, -0.06565183,  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:
[-8.84624965e-06,-4.61254649e-06,-3.13985329e-05,-4.75433028e-05,
  2.48234520e-05, 6.32005225e-06,-3.47346432e-05, 6.68479245e-05,
  2.44714357e-06,-2.50306803e-05, 1.25584663e-05, 6.57772442e-06,
  3.38923441e-03,-5.87649130e-05, 4.37963309e-06,-2.99384428e-05,
  1.12522793e-04, 5.83123781e-05,-4.90432501e+00, 4.23765194e-04,
  3.40429385e-03,-4.25876633e-04]


--- 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 ,
  1.39624111, 0.00770874, 1.35195303, 0.04407356,-0.08569096,-0.04727315,
  0.09340386, 0.70920865,-0.07018312,-0.6979562 ,-0.07038865]

qacc:
[-9.54067385e-01,-1.26185035e-01, 2.74404550e+00,-1.18288457e+01,
  1.98033156e-02, 2.26263443e+00,-7.44754730e+00, 7.70150224e+00,
 -2.86368250e+00, 1.15718535e+00,-6.32001332e+00, 1.45369962e+01,
  3.93862442e-02,-2.52185181e-01,-9.38793080e-01, 3.09836493e+00,
 -4.53522429e+00, 8.13556773e-01,-2.44058330e+00,-1.80440371e+00,
 -1.46747782e+02,-8.12836597e+00]

qfrc_actuator:
[ 1.19303457e-04, 8.76946546e-04, 1.47633415e-04,-1.12787388e-04,
  1.04167185e-05, 3.49642717e-02, 1.08677400e-02, 1.71480070e-03,
  2.50664306e-05, 8.28961728e-04, 1.91007710e-04, 2.45713257e-05,
  0.00000000e+00,-1.63075929e-03, 0.00000000e+00,-8.25229550e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003933278287252144
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41132021e-14,  1.41132021e-14,  1.00000000e+00,  1.99182472e-28,
        1.00000000e+00, -1.41132021e-14, -1.00000000e+00,  0.00000000e+00,
       -1.41132021e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00876899, -0.06563471,  0.06180204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.75323698e-06,-6.17115897e-06,-4.16303410e-05, 4.32615778e-06,
 -1.72759485e-05,-2.00952670e-05,-1.21463903e-05, 2.19353803e-05,
  3.40447085e-03,-2.98476034e-05,-4.17472949e-06, 1.37443833e-05,
  1.96224171e-05, 2.17196193e-05,-4.90465490e+00, 1.64117077e-04,
  3.41293665e-03,-4.20552644e-04]


--- 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,
  1.39624026, 0.00770872, 1.35204749, 0.04407614,-0.08570586,-0.04723988,
  0.09339048, 0.70900505,-0.07053405,-0.69816214,-0.07004586]

qacc:
[-6.19969175e-01,-1.29297233e+00, 6.33586581e+00,-1.33539130e+01,
 -6.97832725e-03,-3.03641961e+00, 1.25182528e+01,-2.65556761e+01,
 -4.84736065e+00, 7.02765874e-01,-3.87650905e+00, 8.80286276e+00,
  4.74597278e-02,-3.36355090e-02,-2.70836403e+00, 9.18373475e+00,
 -4.02061098e+00, 7.26364620e-01,-3.28544486e+00,-1.73260908e+00,
 -1.29938966e+02,-7.14679682e+00]

qfrc_actuator:
[ 1.15724617e-04, 9.06573882e-04, 1.70020072e-04,-1.28983510e-04,
  4.98249523e-06, 3.49606374e-02, 1.08796169e-02, 1.64624177e-03,
 -3.66818011e-06, 8.23649549e-04, 1.85845581e-04, 3.80473565e-05,
  0.00000000e+00,-1.61205426e-03, 0.00000000e+00,-7.81292687e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003917817137770931
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.83377959e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.83377959e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00880557, -0.06564138,  0.06180274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.03446408e-06,-1.50722798e-05, 6.05732483e-06,-6.98655674e-05,
 -2.92480108e-05,-1.81180429e-05,-1.00462700e-05, 1.26241049e-05,
  3.41336273e-03, 2.37072621e-06,-2.35931474e-06, 4.37191328e-05,
  9.79297062e-08,-2.24708800e-05,-4.90472342e+00,-4.66260358e-05,
  3.41422182e-03,-4.14426920e-04]


--- 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,
  1.39623946, 0.00770881, 1.35214187, 0.04407956,-0.08570182,-0.04721015,
  0.09339235, 0.70901635,-0.07087229,-0.6981492 ,-0.06971816]

qacc:
[-3.39235831e+00,-1.03928780e+00, 6.71806602e+00,-1.68270718e+01,
  4.59926511e-02,-2.93868455e+00, 9.72174349e+00,-1.32749585e+01,
 -6.01200831e+00, 2.92853349e+00,-9.74934454e+00, 1.22964265e+01,
  4.85913043e-02, 3.31318553e-02,-2.63473492e+00, 9.03762774e+00,
  4.73794898e+00,-8.86559673e-01, 3.80947830e+00,-8.48681108e-01,
  1.53587754e+02, 5.46391921e+00]

qfrc_actuator:
[ 9.54964655e-05, 9.42129582e-04, 1.83034026e-04,-1.55547801e-04,
  1.94350952e-05, 3.49224197e-02, 1.09047532e-02, 1.62457467e-03,
 -3.88738453e-05, 8.91587923e-04, 1.65107388e-04, 4.61464878e-05,
  0.00000000e+00,-1.60084072e-03, 0.00000000e+00,-7.38708954e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00390533507763835
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42141840e-14,  1.42141840e-14,  1.00000000e+00, -2.02043026e-28,
        1.00000000e+00, -1.42141840e-14, -1.00000000e+00,  0.00000000e+00,
        1.42141840e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13925361, -0.03670763,  0.06180324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.32500233e-05,-4.74826737e-05, 2.08246564e-05,-2.35646661e-05,
 -3.60691571e-05, 5.62723500e-05,-2.52753238e-05, 7.22370823e-06,
  3.41369349e-03, 1.20105849e-05, 2.15799568e-06, 4.43337457e-05,
  3.14881907e-05,-7.07716460e-05,-4.90461067e+00,-2.19451874e-04,
  3.40902261e-03,-4.07719871e-04]


--- 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,
  1.39623903, 0.0077091 , 1.35223647, 0.04408144,-0.08568094,-0.04718353,
  0.0934033 , 0.70921828,-0.07119932,-0.69794214,-0.06940357]

qacc:
[-2.11242845e+00, 8.35044675e-01,-4.99839143e+00, 1.28250185e+01,
 -4.81169180e-03, 6.13470457e-01,-5.13122345e+00, 1.81624285e+01,
 -6.60232587e+00, 1.11967294e+00,-3.87102684e+00, 5.74835014e+00,
  4.07859157e-02, 1.72917649e-01, 4.96717817e+00,-1.68821272e+01,
  4.21005725e+00,-7.79197787e-01, 2.27370998e+00,-6.19548617e-01,
  1.36215896e+02, 4.96709841e+00]

qfrc_actuator:
[ 8.33827711e-05, 9.09925517e-04, 1.72671991e-04,-1.34747489e-04,
  1.01961146e-05, 3.48993791e-02, 1.09196482e-02, 1.68392896e-03,
 -7.76020999e-05, 8.96288967e-04, 1.53390884e-04, 5.10706010e-05,
  0.00000000e+00,-1.57646582e-03, 0.00000000e+00,-8.21538245e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003906793776892896
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.68355070e-14, -1.42088767e-14,  1.00000000e+00,  8.07568713e-28,
        1.00000000e+00,  1.42088767e-14, -1.00000000e+00,  0.00000000e+00,
        5.68355070e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13925182, -0.03670731,  0.06180319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.41037330e-06,-4.59517987e-05, 7.28095711e-06, 5.79885873e-05,
 -3.97635357e-05, 3.12390129e-05,-2.94951576e-06, 6.60467242e-06,
  3.41069288e-03, 3.06339597e-05, 4.17992738e-06,-8.05008849e-05,
 -4.05118122e-06,-1.32887035e-05,-4.90473403e+00,-7.27071362e-06,
  3.40928910e-03,-3.91680905e-04]


--- 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,
  1.3962391 , 0.00770957, 1.35233136, 0.04407998,-0.08567823,-0.04715354,
  0.09340456, 0.70921307,-0.07153775,-0.69794472,-0.06908214]

qacc:
[ 4.64586945e+00, 2.53388940e+00,-1.38286626e+01, 3.19026643e+01,
  3.90919003e-02, 1.92016192e+00,-9.48737755e+00, 2.46162235e+01,
  7.83234198e+00,-2.04189425e+00, 6.96342313e+00,-1.04785242e+01,
  1.69252106e-02, 2.30093386e-01, 1.05582490e+01,-3.62842801e+01,
 -4.54412390e+00, 8.45727911e-01,-2.42337473e+00,-1.75151913e+00,
 -1.47259112e+02,-8.24750258e+00]

qfrc_actuator:
[ 1.11652315e-04, 8.72842293e-04, 1.48355434e-04,-8.63140773e-05,
  2.23240083e-05, 3.49033763e-02, 1.09284648e-02, 1.75496815e-03,
 -2.93289521e-05, 8.09864258e-04, 1.46864330e-04, 3.62988511e-05,
  0.00000000e+00,-1.56207567e-03, 0.00000000e+00,-9.95339078e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038939435339006567
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.34591258e-15, -2.85115337e-14,  1.00000000e+00,  1.52420167e-28,
        1.00000000e+00,  2.85115337e-14, -1.00000000e+00,  0.00000000e+00,
        5.34591258e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00886163, -0.06565367,  0.06180382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.12926283e-05,-1.82613304e-05, 2.35423307e-06, 7.12145223e-05,
  4.71207972e-05,-6.93123727e-05,-2.04121271e-07,-1.34039723e-05,
  3.39230481e-03, 3.51370378e-05,-9.01629124e-06,-1.78239166e-04,
  1.89605373e-05, 3.01884568e-05,-4.90465348e+00, 1.92209735e-04,
  3.41571045e-03,-3.75695519e-04]


--- 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,
  1.39623924, 0.00771021, 1.35242593, 0.04407879,-0.08569164,-0.04712053,
  0.09339275, 0.70902441,-0.07188662,-0.69813287,-0.06875462]

qacc:
[ 5.79728811e+00, 3.17269161e+00,-1.58703771e+01, 3.34349907e+01,
  4.77226293e-02,-1.63504980e+00, 5.56874974e+00,-7.18776814e+00,
  7.84104869e+00, 7.82682441e-01,-8.09121541e+00, 2.42874364e+01,
 -5.65158296e-03, 1.21453268e-01,-1.29762772e+00, 3.83705320e+00,
 -4.02968446e+00, 7.53157549e-01,-3.26847939e+00,-1.72847787e+00,
 -1.30409399e+02,-7.17320679e+00]

qfrc_actuator:
[ 1.45709387e-04, 8.50829903e-04, 1.15972727e-04,-3.97874895e-05,
  2.94200929e-05, 3.49057744e-02, 1.09514806e-02, 1.74354802e-03,
  1.65085365e-05, 7.58295622e-04, 1.43048431e-04, 8.09862399e-05,
  0.00000000e+00,-1.57149710e-03, 0.00000000e+00,-9.72760140e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038822174593584197
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.78735323e-15, -1.42988258e-14,  1.00000000e+00, -2.55570525e-29,
        1.00000000e+00,  1.42988258e-14, -1.00000000e+00,  0.00000000e+00,
       -1.78735323e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00888953, -0.06566011,  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:
[ 3.48552828e-05,-4.70373763e-05,-4.18799086e-05, 4.49322047e-05,
  1.37686817e-05,-5.10481809e-06, 2.17993242e-05,-1.02486866e-05,
  4.71936691e-05,-9.09237553e-05,-1.86165080e-05, 4.14494245e-05,
  3.36664558e-03, 1.63862054e-05,-2.55238190e-05, 1.11009456e-05,
 -6.12666909e-06,-1.60995922e-05,-4.90473986e+00,-1.59572133e-05,
  3.41716047e-03,-3.69727990e-04]


--- 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,
  1.39623949, 0.00771104, 1.35252037, 0.04407749,-0.08568626,-0.04709106,
  0.09339574, 0.70904923,-0.07222555,-0.69810377,-0.0684382 ]

qacc:
[ 4.51905457e-01, 8.52099252e-01,-5.98669948e+00, 1.56150556e+01,
 -8.08555668e-02, 1.59978324e+00,-6.09045976e+00, 1.16620008e+01,
 -1.30540619e+01,-8.48085113e-01, 1.35761874e-01, 7.62764068e+00,
 -1.10809400e-02, 1.51817177e-01, 1.35008241e-01,-7.14402174e-01,
  4.69790703e+00,-8.84537668e-01, 3.70065346e+00,-1.47916286e-01,
  1.52282570e+02, 7.73759875e+00]

qfrc_actuator:
[ 1.47381762e-04, 8.37968496e-04, 1.14643812e-04,-1.25054069e-05,
 -2.06537416e-06, 3.49249614e-02, 1.09471410e-02, 1.77246589e-03,
 -6.37515049e-05, 7.63546983e-04, 1.76518922e-04, 1.07065545e-04,
  0.00000000e+00,-1.55975349e-03, 0.00000000e+00,-9.76649314e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003920129753482035
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.24816177e-14, -1.41605392e-14,  1.00000000e+00,  6.01562615e-28,
        1.00000000e+00,  1.41605392e-14, -1.00000000e+00,  0.00000000e+00,
        4.24816177e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13923288, -0.03670635,  0.06180258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.33489292e-05, 2.03175232e-05,-3.15911038e-06, 2.91663733e-05,
 -7.89130062e-05,-4.76134399e-05, 1.38434284e-05, 2.23454723e-05,
  3.36349609e-03, 1.98732798e-05,-1.09495241e-05,-6.65460987e-06,
  2.07352622e-05,-6.56502885e-05,-4.90464151e+00,-1.86372407e-04,
  3.41220796e-03,-3.63185999e-04]


--- 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,
  1.39624008, 0.00771212, 1.35261494, 0.04407447,-0.08566417,-0.04706469,
  0.09340745, 0.70926344,-0.0725556 ,-0.69788189,-0.0681316 ]

qacc:
[ 7.26473984e-02, 2.12958459e-01,-1.93864251e+00, 6.37913000e+00,
 -2.36055494e-01, 3.75497675e+00,-1.42123444e+01, 2.45866671e+01,
 -1.11529444e+01,-2.58946621e+00, 1.09232621e+01,-1.94514413e+01,
 -2.40567243e-02, 2.73870336e-01, 5.43169234e+00,-1.87120701e+01,
  4.17667545e+00,-7.75144946e-01, 2.18040020e+00,-3.54889632e-02,
  1.35109037e+02, 6.86518992e+00]

qfrc_actuator:
[ 1.47729997e-04, 8.66299731e-04, 1.31688900e-04, 3.26657342e-06,
 -5.64411606e-05, 3.49184650e-02, 1.09090356e-02, 1.82490117e-03,
 -1.28825097e-04, 7.85176946e-04, 2.14196981e-04, 8.65475851e-05,
  0.00000000e+00,-1.53539217e-03, 0.00000000e+00,-1.06716805e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039177224643932584
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41692404e-14,  1.41692404e-14,  1.00000000e+00,  2.00767372e-28,
        1.00000000e+00, -1.41692404e-14, -1.00000000e+00,  0.00000000e+00,
       -1.41692404e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13923629, -0.03670369,  0.06180271])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.81734203e-05, 4.99851845e-06,-3.36354593e-05, 5.36307265e-05,
 -6.74061875e-05,-1.16590753e-06, 3.03377526e-05,-2.16403631e-05,
  3.35742346e-03, 3.52190459e-05,-6.97749104e-06,-9.25779495e-05,
 -8.52013731e-06,-7.57300607e-06,-4.90474233e+00, 2.00027062e-05,
  3.41217584e-03,-3.47406564e-04]


--- 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,
  1.39624045, 0.00771331, 1.35270906, 0.04407372,-0.08562713,-0.04704105,
  0.09342274, 0.70964672,-0.07287762,-0.69748762,-0.0678337 ]

qacc:
[-7.34595444e-02, 5.44093412e-01,-2.02464128e+00, 4.26436619e+00,
 -2.50762420e-01, 5.95183247e-01,-1.99938682e+00, 1.05511894e+00,
 -7.29992622e-01, 8.84581715e-01,-1.37515914e+00,-2.74451216e+00,
 -3.46033160e-02, 4.09809124e-02,-7.56547082e+00, 2.55036481e+01,
  3.74000834e+00,-6.83775359e-01, 8.92713228e-01, 7.03228531e-02,
  1.20719512e+02, 6.13027898e+00]

qfrc_actuator:
[ 1.47307070e-04, 9.01407559e-04, 1.41851413e-04, 1.21876269e-05,
 -8.86027742e-05, 3.48965205e-02, 1.08867315e-02, 1.81970757e-03,
 -1.31139302e-04, 8.16453338e-04, 2.00844293e-04, 7.43025900e-05,
  0.00000000e+00,-1.55687175e-03, 0.00000000e+00,-9.41703434e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003873800771817648
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86597863e-14, -1.43298932e-14,  1.00000000e+00,  4.10691677e-28,
        1.00000000e+00,  1.43298932e-14, -1.00000000e+00,  0.00000000e+00,
        2.86597863e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13929786, -0.03669011,  0.06180476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.24492181e-05,-2.41506710e-05,-2.35793686e-05,-4.78419395e-06,
 -4.29234535e-06, 3.59751049e-05,-1.05948150e-05,-1.16629676e-05,
  3.34017834e-03, 6.50712671e-07,-1.49856056e-05, 1.19055397e-04,
  1.91402006e-05, 3.72432858e-05,-4.90464492e+00, 2.17679847e-04,
  3.41834141e-03,-3.31496102e-04]


--- 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,
  1.39624005, 0.00771401, 1.3528028 , 0.0440768 ,-0.08561037,-0.04701349,
  0.09343188, 0.70979858,-0.07321186,-0.69732779,-0.06752743]

qacc:
[ 2.80688918e+00,-3.55122461e-01, 3.00394366e+00,-7.88551552e+00,
 -1.50943338e-01,-2.28763185e+00, 8.39018611e+00,-1.58628079e+01,
 -3.13513454e+00, 1.28160596e+00,-1.31448545e+00,-6.98191365e+00,
 -6.96244969e-03,-4.96058107e-01,-1.21445236e+01, 4.16168395e+01,
 -5.07242264e+00, 9.82741098e-01,-1.53524874e+00,-1.89440812e+00,
 -1.64608753e+02,-9.16015896e+00]

qfrc_actuator:
[ 1.64187072e-04, 9.22534528e-04, 1.47904356e-04,-7.40637750e-07,
 -8.94252028e-05, 3.48655142e-02, 1.08915933e-02, 1.78064044e-03,
 -1.49757345e-04, 8.53076682e-04, 1.75283197e-04, 4.92543058e-05,
  0.00000000e+00,-1.62355824e-03, 0.00000000e+00,-7.43227854e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003961097258970543
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40140844e-14, -7.00704219e-15,  1.00000000e+00,  9.81972805e-29,
        1.00000000e+00,  7.00704219e-15, -1.00000000e+00,  0.00000000e+00,
        1.40140844e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.008706  , -0.06563324,  0.06180087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.36376833e-05,-4.91251950e-05,-2.68393207e-06,-4.05939750e-05,
 -1.87328605e-05, 5.40766004e-05,-1.98302333e-05,-2.40989186e-05,
  3.35131765e-03,-7.13763641e-05, 5.44455578e-06, 2.02991879e-04,
  8.69853650e-05, 7.21368620e-05,-4.90440939e+00, 4.06002039e-04,
  3.43002189e-03,-3.15507601e-04]


--- 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,
  1.39623916, 0.00771411, 1.35289669, 0.04408088,-0.08561151,-0.04698245,
  0.09343096, 0.70974683,-0.07355747,-0.6973744 ,-0.06721369]

qacc:
[-1.34892061e+00,-1.66351174e-01, 1.83433176e+00,-4.90034614e+00,
 -2.68316934e-02,-4.34781405e+00, 1.48322786e+01,-2.20214669e+01,
  4.06413820e+00, 8.25718205e-01,-8.26000463e-01,-4.18572244e+00,
  3.67020992e-02,-5.24487673e-01,-2.83884803e+00, 1.02169483e+01,
 -4.47367197e+00, 8.68126159e-01,-2.51591087e+00,-1.91525846e+00,
 -1.44919123e+02,-7.82244079e+00]

qfrc_actuator:
[ 1.55611168e-04, 9.35096939e-04, 1.51422137e-04,-8.67896725e-06,
 -7.14427665e-05, 3.48294025e-02, 1.09301464e-02, 1.73972470e-03,
 -1.24585860e-04, 8.74798694e-04, 1.60508376e-04, 3.46305840e-05,
  0.00000000e+00,-1.64580003e-03, 0.00000000e+00,-6.98676461e-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, -4.43662572,  7.40966457, -4.43662572, 61.71052692,
       31.77879318,  7.40966457, 31.77879318, 27.66429802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003989590184106502
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.04354988e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.04354988e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00864072, -0.06562333,  0.06179963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.80717977e-06,-6.50326025e-05, 2.74488230e-05,-4.34121746e-05,
  2.46421356e-05, 4.68375537e-05,-6.87160729e-06,-1.34586104e-05,
  3.38996075e-03,-6.88969088e-05, 2.26123141e-05, 5.60357397e-05,
  3.37885933e-06, 2.50328476e-05,-4.90469826e+00, 1.59541031e-04,
  3.43685518e-03,-3.10242718e-04]


--- 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,
  1.39623857, 0.00771389, 1.35299123, 0.04408081,-0.08562851,-0.04694833,
  0.09341663, 0.70951469,-0.07391364,-0.69760374,-0.06689327]

qacc:
[-6.90701767e+00,-1.91061631e+00, 1.03104766e+01,-2.40533039e+01,
  2.34453501e-02,-4.92933172e+00, 2.04793691e+01,-4.36631373e+01,
  8.53750036e+00,-1.61525640e+00, 8.11184628e+00,-1.74164756e+01,
  5.16761623e-02,-1.70862240e-01, 1.35500459e+01,-4.59993328e+01,
 -3.96699127e+00, 7.71144511e-01,-3.35248172e+00,-1.91284343e+00,
 -1.28343478e+02,-6.72452517e+00]

qfrc_actuator:
[ 1.14362517e-04, 9.24670249e-04, 1.53387377e-04,-4.91283621e-05,
 -6.00803937e-05, 3.48439054e-02, 1.09527436e-02, 1.62705722e-03,
 -7.38371811e-05, 8.69722272e-04, 1.69929923e-04, 8.50512589e-06,
  0.00000000e+00,-1.62332193e-03, 0.00000000e+00,-9.22720566e-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, -4.42687909,  7.41549178, -4.42687909, 66.21352101,
       34.37224688,  7.41549178, 34.37224688, 29.15580936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003966244405383158
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57453850e-14, -2.79917955e-14,  1.00000000e+00,  4.40741597e-28,
        1.00000000e+00,  2.79917955e-14, -1.00000000e+00,  0.00000000e+00,
        1.57453850e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00869506, -0.06563633,  0.06180068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.74649773e-06,-1.74043166e-05, 1.17263681e-05,-1.14824827e-04,
  5.14871751e-05, 1.91282440e-05, 1.77913862e-05,-2.46164858e-05,
  3.41360211e-03,-1.65447382e-05, 1.29891965e-05,-2.18835390e-04,
 -9.03835886e-06,-2.62141838e-05,-4.90473593e+00,-4.01983668e-05,
  3.43665159e-03,-3.04218215e-04]


--- 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,
  1.39623849, 0.00771381, 1.35308596, 0.04407708,-0.08565967,-0.04691145,
  0.09338604, 0.70912157,-0.07427966,-0.6979957 ,-0.06656681]

qacc:
[ 1.61176475e+00,-1.14248136e+00, 6.07929644e+00,-1.42605278e+01,
 -2.23500264e-02,-1.36132395e+00, 5.25773010e+00,-1.14379597e+01,
  2.27560574e+00,-1.74285484e+00, 6.81017616e+00,-1.16064063e+01,
  2.80969311e-02, 1.89799875e-01, 1.13486152e+01,-3.92831002e+01,
 -3.53735180e+00, 6.88914161e-01,-4.06444895e+00,-1.89667808e+00,
 -1.14393723e+02,-5.82184023e+00]

qfrc_actuator:
[ 1.25231954e-04, 9.18268763e-04, 1.54300755e-04,-7.29000265e-05,
 -7.05361832e-05, 3.48175015e-02, 1.09481313e-02, 1.59735171e-03,
 -6.17126901e-05, 8.30969889e-04, 1.75683803e-04,-6.43691140e-06,
  0.00000000e+00,-1.59180097e-03, 0.00000000e+00,-1.10787897e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039014722231921553
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.89266091e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.89266091e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00884396, -0.06566752,  0.06180355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.46910166e-06,-3.71876789e-05,-1.00530913e-05,-3.25509707e-05,
  1.36394993e-05,-2.54200653e-05, 1.10484321e-05,-1.39849090e-05,
  3.39884240e-03, 3.11016308e-05,-2.16496737e-05,-1.96457026e-04,
  2.77132819e-05,-7.93132797e-05,-4.90459987e+00,-2.04142607e-04,
  3.43021011e-03,-2.97646362e-04]


--- 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 ,
  1.39623876, 0.00771428, 1.35318028, 0.04407347,-0.08566979,-0.04687851,
  0.09337673, 0.7089679 ,-0.07463916,-0.69814389,-0.06624666]

qacc:
[ 3.97071864e+00, 2.19547093e+00,-7.03445114e+00, 8.22961626e+00,
  2.84150994e-02, 4.04463561e+00,-1.82742112e+01, 4.07417054e+01,
  1.24854915e+00,-1.18350408e-02,-3.27003814e+00, 1.30520177e+01,
 -2.94506217e-03, 4.31331215e-01,-9.79254384e-01, 2.57890399e+00,
  5.25690112e+00,-9.85202402e-01, 5.32042848e+00, 8.90023950e-01,
  1.70448040e+02, 1.25155269e+01]

qfrc_actuator:
[ 1.48948732e-04, 9.67582595e-04, 1.36857076e-04,-6.89106783e-05,
 -5.84915889e-05, 3.47845002e-02, 1.09274128e-02, 1.70545042e-03,
 -5.46753870e-05, 7.90091936e-04, 1.79078657e-04, 2.07896225e-05,
  0.00000000e+00,-1.55518696e-03, 0.00000000e+00,-1.09101717e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003942504013739752
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40801762e-14,  2.81603524e-14,  1.00000000e+00, -3.96502724e-28,
        1.00000000e+00, -2.81603524e-14, -1.00000000e+00,  0.00000000e+00,
        1.40801762e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1391977 , -0.03669288,  0.06180154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.22046322e-06,-5.65161534e-05,-3.00954701e-05, 1.05926262e-04,
  7.42766325e-06,-5.34006463e-05,-9.73581627e-07, 2.62502777e-05,
  3.37314469e-03, 6.07706203e-05,-3.27782924e-05, 2.88740353e-06,
  9.77536459e-05,-1.32696792e-04,-4.90434428e+00,-3.40428392e-04,
  3.41820701e-03,-2.90681083e-04]


--- 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,
  1.39623947, 0.0077152 , 1.35327461, 0.04406836,-0.08566135,-0.04684899,
  0.09338162, 0.70902544,-0.07499279,-0.69807732,-0.06593227]

qacc:
[ 2.30228999e+00, 2.79135771e+00,-8.74714018e+00, 9.85537300e+00,
  1.04693219e-01, 6.01767104e+00,-2.32368255e+01, 4.26745339e+01,
  3.65085458e+00, 1.37729769e+00,-1.01920430e+01, 2.83485721e+01,
 -2.65580988e-02, 4.12121373e-01, 4.56595122e+00,-1.59264456e+01,
  4.64351176e+00,-8.55079127e-01, 3.54966248e+00, 8.36571376e-01,
  1.50268496e+02, 1.09186206e+01]

qfrc_actuator:
[ 1.62268245e-04, 1.01432222e-03, 1.08959003e-04,-6.63394576e-05,
 -3.30457997e-05, 3.48365904e-02, 1.08973969e-02, 1.80498286e-03,
 -3.29233756e-05, 7.66025862e-04, 1.81057789e-04, 7.26000013e-05,
  0.00000000e+00,-1.53374121e-03, 0.00000000e+00,-1.16829839e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003982746649622358
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39379067e-14,  2.78758134e-14,  1.00000000e+00, -3.88530487e-28,
        1.00000000e+00, -2.78758134e-14, -1.00000000e+00,  0.00000000e+00,
        1.39379067e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13914076, -0.03669981,  0.06179967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.03014393e-05, 1.81314277e-05,-4.13899413e-05, 9.94036338e-05,
  2.19482597e-05,-5.29821937e-05,-8.25498115e-06, 5.00018270e-05,
  3.35524559e-03, 5.44788742e-05,-1.43507475e-05,-8.12540674e-05,
  3.22411883e-06,-5.59913055e-05,-4.90467101e+00,-1.30953466e-04,
  3.41144082e-03,-2.75032018e-04]


--- Step 2625 ---
qpos:
[ 0.01868175, 0.03002906,-0.00947751,-0.02527883,-0.00355566, 1.34082571,
 -0.03002706, 0.94382098, 0.01154044, 0.02727381,-0.00830605, 0.02643615,
  1.39624013, 0.00771625, 1.35336865, 0.04406403,-0.08563638,-0.04682246,
  0.0933947 , 0.70927035,-0.07534105,-0.6978201 ,-0.06562314]

qacc:
[ 4.19919423e+00, 2.41955275e+00,-1.13975632e+01, 2.46590388e+01,
  5.41865786e-02, 1.86178787e+00,-6.25048668e+00, 1.02520401e+01,
 -7.78575092e-01, 1.18074802e+00,-4.88150396e+00, 8.82126040e+00,
 -4.37300763e-02, 1.09559227e-01,-2.74404935e+00, 9.00022319e+00,
  4.12986896e+00,-7.46634711e-01, 2.04697467e+00, 8.11098010e-01,
  1.33362890e+02, 9.58699004e+00]

qfrc_actuator:
[ 1.87109404e-04, 1.00585968e-03, 9.28725143e-05,-2.91229357e-05,
 -3.52720637e-05, 3.48859429e-02, 1.08979459e-02, 1.82768228e-03,
 -3.81875593e-05, 8.05487218e-04, 1.82259180e-04, 8.52078184e-05,
  0.00000000e+00,-1.55701306e-03, 0.00000000e+00,-1.12296003e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003972324737380961
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39744746e-14, -1.39744746e-14,  1.00000000e+00,  1.95285941e-28,
        1.00000000e+00,  1.39744746e-14, -1.00000000e+00,  0.00000000e+00,
        1.39744746e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13915522, -0.03669389,  0.06180017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.56809736e-05, 5.42852236e-05, 2.30409790e-06, 2.43335985e-05,
 -4.64450302e-06, 1.03138905e-05,-9.01865739e-06, 1.10256515e-05,
  3.33312174e-03, 8.99640327e-06,-1.64929766e-05, 3.87563905e-05,
 -1.35707722e-05, 4.54951846e-06,-4.90472670e+00, 7.81861032e-05,
  3.41157486e-03,-2.58855961e-04]


--- 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,
  1.39624038, 0.00771734, 1.35346221, 0.04406325,-0.08559661,-0.04679856,
  0.09341088, 0.70968254,-0.07568431,-0.69739231,-0.06531878]

qacc:
[-5.22517641e-01,-2.74860386e+00, 8.90568594e+00,-8.68083518e+00,
  2.84797167e-02,-2.39243425e+00, 9.61577770e+00,-1.74545975e+01,
 -3.53830337e+00,-2.87730073e-01, 4.32929343e+00,-1.46318509e+01,
 -3.47428459e-02,-4.81136730e-02,-1.14770721e+01, 3.91182232e+01,
  3.69955730e+00,-6.56259862e-01, 7.74579077e-01, 8.07216949e-01,
  1.19197459e+02, 8.47876680e+00]

qfrc_actuator:
[ 1.83030944e-04, 9.82228491e-04, 1.36951224e-04,-2.51133715e-05,
 -3.63284451e-05, 3.48800920e-02, 1.09165021e-02, 1.78726106e-03,
 -5.93153119e-05, 8.47155409e-04, 1.83226049e-04, 5.69468770e-05,
  0.00000000e+00,-1.57147426e-03, 0.00000000e+00,-9.34710337e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003921340982765267
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83123306e-14,  1.41561653e-14,  1.00000000e+00, -4.00794033e-28,
        1.00000000e+00, -1.41561653e-14, -1.00000000e+00,  0.00000000e+00,
        2.83123306e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1392264 , -0.03667783,  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:
[-3.33834546e-06,-7.20657134e-06, 5.07294115e-05, 5.84324070e-06,
  8.21221922e-06, 2.53698713e-05, 3.01546866e-05,-3.81584798e-05,
 -2.12629387e-05, 4.60763938e-05, 2.38042817e-06,-2.79147676e-05,
  3.33586404e-03,-1.19934183e-05,-4.22196058e-06, 1.88090241e-04,
  2.38528745e-05, 5.30432387e-05,-4.90459381e+00, 2.82876231e-04,
  3.41783172e-03,-2.42318426e-04]


--- 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,
  1.39624038, 0.00771826, 1.35355584, 0.04406371,-0.08557728,-0.04677045,
  0.09342119, 0.70986105,-0.07603946,-0.69720131,-0.06500488]

qacc:
[-9.39397111e+00,-4.81604782e+00, 1.75204624e+01,-2.43891721e+01,
  7.71564711e-02,-2.78884604e+00, 9.83950166e+00,-1.39372896e+01,
  7.48631536e-01, 1.25137232e+00,-3.99165212e+00, 4.74242403e+00,
 -1.23944930e-02,-1.48972095e-01,-3.65053928e+00, 1.28857592e+01,
 -5.10722193e+00, 1.05080362e+00,-1.46542225e+00,-1.99499839e+00,
 -1.66253484e+02,-9.06072590e+00]

qfrc_actuator:
[ 1.26454503e-04, 9.49909157e-04, 1.98338577e-04,-4.06593624e-05,
 -1.89204803e-05, 3.48590168e-02, 1.09452934e-02, 1.76326861e-03,
 -5.40969386e-05, 8.54293255e-04, 1.66303842e-04, 5.81393333e-05,
  0.00000000e+00,-1.58060796e-03, 0.00000000e+00,-8.76843638e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003915295210403229
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86126528e-15, -1.41780245e-14,  1.00000000e+00,  1.25635236e-28,
        1.00000000e+00,  1.41780245e-14, -1.00000000e+00,  0.00000000e+00,
        8.86126528e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00880547, -0.06568131,  0.06180289])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.22620095e-05,-2.28299689e-06, 3.60685813e-05,-2.32311790e-05,
  4.61121792e-06, 3.22110787e-05,-8.06657057e-06, 2.70904436e-06,
  3.35593350e-03,-2.29874911e-05, 1.75823137e-05, 6.75123770e-05,
  9.95355880e-05, 9.24030188e-05,-4.90433011e+00, 4.80917787e-04,
  3.42954954e-03,-2.25527078e-04]


--- 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,
  1.39624001, 0.0077187 , 1.35364958, 0.04406454,-0.08557596,-0.04673864,
  0.09342169, 0.70983401,-0.07640601,-0.69721876,-0.06468238]

qacc:
[-8.83339283e+00,-1.54311065e+00, 3.84023949e+00,-8.14164186e-01,
  8.21530175e-02,-2.02448634e+00, 1.07895280e+01,-2.91748440e+01,
  4.90914483e-01, 2.46140328e+00,-9.90497611e+00, 1.71039590e+01,
  7.71808913e-03,-4.04380842e-01,-9.84659255e-01, 3.65837937e+00,
 -4.50436494e+00, 9.25178434e-01,-2.45414384e+00,-2.09103567e+00,
 -1.46338037e+02,-7.58655833e+00]

qfrc_actuator:
[ 7.49461070e-05, 9.12698119e-04, 2.16123513e-04,-3.20837266e-05,
 -8.32836459e-06, 3.49000442e-02, 1.09443333e-02, 1.67812948e-03,
 -5.11607048e-05, 8.58402851e-04, 1.38847008e-04, 7.66195716e-05,
  0.00000000e+00,-1.62186796e-03, 0.00000000e+00,-8.60799419e-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, -5.79662506,  6.40202428, -5.79662506, 39.44748948,
       27.89751122,  6.40202428, 27.89751122, 33.89578246,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039505868502204625
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75642105e-15, -1.40513684e-14,  1.00000000e+00,  2.46801192e-29,
        1.00000000e+00,  1.40513684e-14, -1.00000000e+00,  0.00000000e+00,
        1.75642105e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00872378, -0.06567048,  0.06180134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.37479717e-05, 4.61278753e-05, 2.01728927e-06,-8.46894766e-05,
  3.08185226e-06, 2.05846894e-05,-2.16938984e-05, 1.96359430e-05,
  3.36816661e-03,-5.62327525e-05, 1.26806860e-05, 2.14099538e-05,
  4.74278950e-06, 3.80879577e-05,-4.90465407e+00, 2.18830379e-04,
  3.43731618e-03,-2.20055134e-04]


--- 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,
  1.39623953, 0.00771872, 1.35374357, 0.0440639 ,-0.08559062,-0.04670355,
  0.093409  , 0.70962493,-0.07678342,-0.69742066,-0.06435213]

qacc:
[ 5.92022075e-01, 8.31095168e-01,-3.32471528e+00, 5.28299198e+00,
  9.23432422e-03, 3.10055197e-01, 2.11107672e+00,-1.39441157e+01,
  2.79868850e-01,-6.73127438e-01, 2.76954210e+00,-5.03298652e+00,
  2.60047403e-02,-2.98427941e-01, 4.81396052e+00,-1.63332432e+01,
 -3.99427196e+00, 8.19266087e-01,-3.29775353e+00,-2.14174912e+00,
 -1.29573729e+02,-6.39255167e+00]

qfrc_actuator:
[ 8.01084142e-05, 9.25947902e-04, 2.08008547e-04,-2.71719642e-05,
 -1.96633570e-05, 3.49422841e-02, 1.09260145e-02, 1.62871211e-03,
 -4.95998651e-05, 8.42877585e-04, 1.40887884e-04, 6.96034302e-05,
  0.00000000e+00,-1.62874955e-03, 0.00000000e+00,-9.40495473e-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, -5.78195123,  6.41527995, -5.78195123, 42.10631881,
       30.16573716,  6.41527995, 30.16573716, 35.82408151,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003933178111447395
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58777567e-14, -1.41135615e-14,  1.00000000e+00,  2.24091696e-28,
        1.00000000e+00,  1.41135615e-14, -1.00000000e+00,  0.00000000e+00,
        1.58777567e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00876416, -0.06568289,  0.06180214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.70095164e-06, 6.56073713e-05,-1.15514991e-05,-4.99379902e-05,
  1.65785127e-06,-7.64606584e-06, 4.31131488e-06,-6.50104204e-06,
  3.38685362e-03,-3.84771988e-05, 5.09316645e-06,-7.75677351e-05,
 -1.62733997e-05,-1.82597032e-05,-4.90471795e+00, 5.41517748e-06,
  3.43811951e-03,-2.13767477e-04]


--- 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,
  1.39623913, 0.00771867, 1.35383756, 0.04406232,-0.08561953,-0.04666555,
  0.09338024, 0.70925345,-0.07717116,-0.69778668,-0.06401484]

qacc:
[ 5.11822652e-01, 2.03041048e-01,-1.17419887e+00, 2.42385373e+00,
 -1.74168482e-02,-1.17452845e+00, 4.21096270e+00,-5.99536959e+00,
  1.39422673e-01,-1.09418425e+00, 4.28938364e+00,-6.56615540e+00,
  2.79608104e-02,-5.95075904e-02, 2.85744776e+00,-9.98125958e+00,
 -3.56176726e+00, 7.29792240e-01,-4.01588349e+00,-2.16258201e+00,
 -1.15464833e+02,-5.42358290e+00]

qfrc_actuator:
[ 8.30787254e-05, 9.15939946e-04, 2.02630035e-04,-2.44290167e-05,
 -2.63074849e-05, 3.49138526e-02, 1.09331608e-02, 1.61847865e-03,
 -4.88606869e-05, 8.51308870e-04, 1.60228253e-04, 6.53954809e-05,
  0.00000000e+00,-1.61489299e-03, 0.00000000e+00,-9.87172234e-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, -5.92832627,  6.28026468, -5.92832627, 43.92914047,
       33.31501244,  6.28026468, 33.31501244, 40.0844432 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038735936891387684
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.37399722e-15, -2.86613185e-14,  1.00000000e+00,  1.54025846e-28,
        1.00000000e+00,  2.86613185e-14, -1.00000000e+00,  0.00000000e+00,
        5.37399722e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00890111, -0.06571376,  0.06180478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.04551188e-06, 4.09597941e-06, 1.71975367e-05,-9.76181524e-06,
  7.84524518e-07, 4.77679517e-06, 1.80780278e-05,-4.51124887e-06,
  3.39165366e-03,-4.26388318e-06,-9.05775715e-06,-5.09723754e-05,
  1.38449672e-05,-7.50999902e-05,-4.90460156e+00,-1.70892584e-04,
  3.43272482e-03,-2.06886476e-04]


--- 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,
  1.39623837, 0.00771866, 1.35393096, 0.04406453,-0.08562758,-0.04663128,
  0.0933722 , 0.70911942,-0.07755625,-0.6979109 ,-0.06367926]

qacc:
[ 2.98440138e-01,-2.10861922e+00, 9.44384512e+00,-2.03019859e+01,
 -2.33580815e-02, 4.54309965e-01,-2.97353565e+00, 9.74283722e+00,
  3.01016492e+00,-5.75064585e-01,-1.10695853e+00, 1.15269839e+01,
  3.21788236e-02,-1.01952461e-01,-1.23589343e+01, 4.19432157e+01,
  5.21303686e+00,-9.34916586e-01, 5.17707748e+00, 1.76305513e+00,
  1.68741444e+02, 1.53971609e+01]

qfrc_actuator:
[ 8.47160051e-05, 8.74335517e-04, 1.98836591e-04,-5.84974333e-05,
 -3.00825865e-05, 3.48966979e-02, 1.09372798e-02, 1.64910645e-03,
 -3.08577398e-05, 8.38589740e-04, 1.89714918e-04, 9.84084319e-05,
  0.00000000e+00,-1.62426253e-03, 0.00000000e+00,-7.83197026e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003959838365826952
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.20556190e-14, -1.40185397e-14,  1.00000000e+00,  5.89558364e-28,
        1.00000000e+00,  1.40185397e-14, -1.00000000e+00,  0.00000000e+00,
        4.20556190e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13916808, -0.03666909,  0.06180073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.75663850e-06,-1.18241034e-05, 6.58679139e-06, 3.10253450e-05,
  1.80266065e-05,-6.50018044e-06, 3.25520518e-05, 3.37567537e-05,
  3.38803593e-03,-9.59135701e-06,-1.14396676e-05, 1.99602275e-04,
  7.87488595e-05,-1.31349097e-04,-4.90436082e+00,-3.18632220e-04,
  3.42178703e-03,-1.99572238e-04]


--- 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,
  1.39623739, 0.00771854, 1.35402431, 0.0440688 ,-0.0856172 ,-0.04660025,
  0.09337786, 0.70919488,-0.07793885,-0.69782198,-0.06334545]

qacc:
[ 3.07190254e+00, 1.10548009e+00,-3.17945897e-01,-1.16591741e+01,
 -2.08527934e-02, 3.07096052e+00,-1.37006222e+01, 3.23758603e+01,
 -4.06527363e+00,-1.76594168e+00, 3.94887221e+00, 1.93784425e+00,
  5.42017075e-02,-1.79338336e-01,-6.32273120e+00, 2.19602309e+01,
  4.60705245e+00,-8.09804274e-01, 3.42658806e+00, 1.60521456e+00,
  1.48824855e+02, 1.34405957e+01]

qfrc_actuator:
[ 1.03308233e-04, 9.02867369e-04, 1.60342917e-04,-9.62278285e-05,
 -3.21057755e-05, 3.49041970e-02, 1.09396143e-02, 1.73902497e-03,
 -5.60953752e-05, 8.13383978e-04, 2.24895250e-04, 1.17540560e-04,
  0.00000000e+00,-1.62990511e-03, 0.00000000e+00,-6.81725634e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039951696717672805
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.16836999e-14, -2.77891333e-14,  1.00000000e+00,  1.15835389e-27,
        1.00000000e+00,  2.77891333e-14, -1.00000000e+00,  0.00000000e+00,
        4.16836999e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13911793, -0.03667407,  0.06179909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.01660659e-06, 3.17485658e-06, 1.67752631e-06, 9.04728752e-05,
 -2.47151259e-05,-2.06562543e-05, 3.90172585e-05, 2.06353641e-05,
  3.40542787e-03,-1.72991163e-05, 1.60621371e-05, 1.10935243e-04,
 -6.72341893e-06,-5.18021113e-05,-4.90465234e+00,-9.85724573e-05,
  3.41483960e-03,-1.82920380e-04]


--- 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,
  1.39623638, 0.00771827, 1.35411783, 0.04407326,-0.08559043,-0.04657205,
  0.09339128, 0.70945625,-0.07831905,-0.69754375,-0.06301337]

qacc:
[ 1.83746046e+00, 3.25048089e+00,-1.22190348e+01, 1.77421201e+01,
  1.07265161e-01, 2.05733115e+00,-9.87324994e+00, 2.52398800e+01,
 -8.50400021e+00, 4.28893852e-01, 3.16375909e-01,-7.06116050e+00,
  6.72419094e-02,-1.78098041e-01,-3.33142263e-01, 1.52094730e+00,
  4.09956095e+00,-7.05590910e-01, 1.94133125e+00, 1.49572370e+00,
  1.32138077e+02, 1.18101018e+01]

qfrc_actuator:
[ 1.13979433e-04, 9.19770885e-04, 1.19699589e-04,-8.25155221e-05,
  2.44350488e-06, 3.48909258e-02, 1.09410007e-02, 1.80986102e-03,
 -1.06587682e-04, 7.98667170e-04, 1.92070604e-04, 9.28306065e-05,
  0.00000000e+00,-1.63317943e-03, 0.00000000e+00,-6.77041960e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003980657705492115
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.3945221e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.3945221e-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([-0.13913802, -0.03666685,  0.06179977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12152429e-05, 2.70401911e-06,-4.90668538e-05, 1.09995685e-05,
  3.09935103e-05,-8.46910074e-06, 4.85070809e-06, 7.30778944e-05,
 -5.12264502e-05,-1.73233668e-05,-3.15738187e-05,-2.38451032e-05,
  3.41613478e-03,-1.51940460e-05, 1.71587291e-05, 1.23367562e-05,
 -1.65711839e-05, 1.30755424e-05,-4.90468098e+00, 1.24563837e-04,
  3.41461891e-03,-1.65539154e-04]


--- 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,
  1.3962351 , 0.00771758, 1.35421134, 0.04407844,-0.08554896,-0.04654632,
  0.09340744, 0.70988362,-0.07869688,-0.69709604,-0.06268295]

qacc:
[ 1.03435858e+00, 1.90962465e+00,-9.44515399e+00, 1.94452282e+01,
  1.35069184e-01,-1.25792643e+00, 5.10907808e+00,-1.07147180e+01,
  7.31823169e-01, 2.39261085e+00,-8.52430648e+00, 1.05368007e+01,
  7.87006799e-02,-3.95754017e-01,-2.18934671e+00, 7.60743600e+00,
  3.67437011e+00,-6.18794444e-01, 6.83906872e-01, 1.42440017e+00,
  1.18155873e+02, 1.04537464e+01]

qfrc_actuator:
[ 1.19897248e-04, 8.94105662e-04, 9.58839200e-05,-5.63955967e-05,
  2.31479093e-05, 3.48830640e-02, 1.09417206e-02, 1.78011328e-03,
 -1.00515595e-04, 8.07781367e-04, 1.54867065e-04, 9.57414801e-05,
  0.00000000e+00,-1.67044125e-03, 0.00000000e+00,-6.40626892e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003926280542097087
  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([-0.13921388, -0.03664999,  0.0618023 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.90197152e-05,-9.39894514e-06, 1.75939406e-06,-2.81643493e-05,
  4.56683655e-06,-8.12230297e-06,-4.54915525e-05, 6.13287459e-07,
  3.41787453e-03,-4.43688543e-05, 6.41886163e-06, 3.86387707e-05,
  2.63497963e-05, 6.68673562e-05,-4.90452701e+00, 3.45338266e-04,
  3.42039873e-03,-1.47640391e-04]


--- 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,
  1.39623383, 0.00771636, 1.35430523, 0.044081  ,-0.08552802,-0.04651615,
  0.09341797, 0.7100758 ,-0.07908736,-0.69688672,-0.06234139]

qacc:
[-2.40122452e+00,-3.37228169e-01,-1.06236763e+00, 6.68985441e+00,
  6.07422800e-02,-4.37929616e+00, 1.92853225e+01,-4.49849548e+01,
  6.50687141e+00, 2.54168380e+00,-7.97775835e+00, 8.24025046e+00,
  9.43834392e-02,-4.23906769e-01, 8.45371702e+00,-2.87949997e+01,
 -5.13299923e+00, 1.11017771e+00,-1.40779052e+00,-2.39491522e+00,
 -1.67429377e+02,-8.38782573e+00]

qfrc_actuator:
[ 1.05219519e-04, 8.60982040e-04, 9.97745426e-05,-4.09697154e-05,
  1.76256759e-05, 3.48784387e-02, 1.09420018e-02, 1.65591356e-03,
 -6.11902240e-05, 8.66582763e-04, 1.33274052e-04, 9.71631652e-05,
  0.00000000e+00,-1.69228477e-03, 0.00000000e+00,-7.81051673e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003908714441568491
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77523685e-15, -2.84037896e-14,  1.00000000e+00,  5.04234538e-29,
        1.00000000e+00,  2.84037896e-14, -1.00000000e+00,  0.00000000e+00,
        1.77523685e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00881153, -0.06572643,  0.06180318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.75365530e-05,-1.03246321e-05,-2.18274176e-06,-1.25083001e-04,
  3.94563949e-05, 4.49077897e-05,-2.88430617e-05,-4.88131531e-07,
  3.43102654e-03,-4.60620398e-05, 4.71901772e-06,-1.38029869e-04,
  1.06537776e-04, 1.12129934e-04,-4.90424664e+00, 5.60678120e-04,
  3.43154966e-03,-1.29364733e-04]


--- 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 ,
  1.39623299, 0.00771479, 1.35439959, 0.04407819,-0.08552519,-0.04648208,
  0.09341888, 0.71006115,-0.07949017,-0.69688718,-0.06198978]

qacc:
[-4.50727997e+00,-1.75711289e+00, 7.69453092e+00,-1.64287958e+01,
  2.39159651e-02,-1.31602556e+00, 5.77514618e+00,-1.39093920e+01,
  1.06824189e+00,-1.26531817e+00, 8.06705067e+00,-2.06213281e+01,
  8.80601265e-02,-1.86922748e-01, 1.69398400e+01,-5.82699632e+01,
 -4.52596968e+00, 9.75412741e-01,-2.40495362e+00,-2.51578891e+00,
 -1.47323775e+02,-6.87852155e+00]

qfrc_actuator:
[ 7.85386640e-05, 8.41505621e-04, 1.02181302e-04,-6.74616061e-05,
  1.41681606e-05, 3.48757195e-02, 1.09419954e-02, 1.61917251e-03,
 -5.58832498e-05, 8.83740213e-04, 1.39032174e-04, 6.22444270e-05,
  0.00000000e+00,-1.68682318e-03, 0.00000000e+00,-1.06004179e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.43577492,  5.75912997, -6.43577492, 29.45462861,
       23.26422018,  5.75912997, 23.26422018, 34.63391632,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003947296595144062
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.78942554e-15, -1.40630809e-14,  1.00000000e+00,  1.23606402e-28,
        1.00000000e+00,  1.40630809e-14, -1.00000000e+00,  0.00000000e+00,
        8.78942554e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0087218 , -0.06571557,  0.06180148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.90592213e-06,-1.26189706e-05,-5.94563908e-06,-4.00180238e-05,
  6.47853457e-06, 3.63144986e-05, 1.14761946e-05,-3.40022317e-05,
  3.43040352e-03,-1.34040501e-05,-1.60824549e-05,-2.86751020e-04,
  4.86295290e-06, 4.92634132e-05,-4.90458786e+00, 2.74129773e-04,
  3.44058003e-03,-1.23377185e-04]


--- 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 ,
  1.39623236, 0.00771343, 1.3544935 , 0.04407506,-0.0855384 ,-0.04644456,
  0.09340676, 0.70986341,-0.07990489,-0.69707317,-0.06162907]

qacc:
[-2.77228827e+00,-6.43806399e-01, 5.62134272e+00,-1.77235367e+01,
  6.56092782e-03, 1.30818980e+00,-6.70529733e+00, 1.73344018e+01,
 -5.33694303e+00,-1.05761128e+00, 2.17902528e+00, 2.32790613e+00,
  6.45770290e-02, 1.12642588e-01, 2.97691611e-01,-1.99849484e+00,
 -4.01237427e+00, 8.62038583e-01,-3.25586381e+00,-2.58018618e+00,
 -1.30399938e+02,-5.66967462e+00]

qfrc_actuator:
[ 6.27661049e-05, 8.83575026e-04, 1.03706107e-04,-1.00646487e-04,
  1.19790515e-05, 3.48564515e-02, 1.09418941e-02, 1.66972096e-03,
 -8.84060408e-05, 8.58165956e-04, 1.60711634e-04, 7.72209912e-05,
  0.00000000e+00,-1.66496117e-03, 0.00000000e+00,-1.06331336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.42311351,  5.77324776, -6.42311351, 31.27078927,
       25.18227019,  5.77324776, 25.18227019, 36.65327655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003932557631815409
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.82236772e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.82236772e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00875568, -0.06572829,  0.06180215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.89170959e-06,-2.86171436e-05,-4.42396612e-06, 4.90632251e-05,
 -3.23193299e-05,-4.35164319e-06, 2.94276010e-05, 1.62697846e-05,
  3.40900684e-03, 2.56761836e-05,-4.11668176e-05,-2.17659741e-05,
 -2.12760847e-05,-1.37425605e-05,-4.90466355e+00, 3.83086151e-05,
  3.44264599e-03,-1.16491199e-04]


--- 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,
  1.39623186, 0.00771256, 1.35458684, 0.04407453,-0.08556593,-0.04640397,
  0.09337873, 0.7095024 ,-0.08033104,-0.69742417,-0.06126008]

qacc:
[ 1.33818932e+00,-8.85081556e-01, 5.63632093e+00,-1.36842463e+01,
 -6.23994237e-02, 1.00303461e+00,-6.46420128e+00, 2.08946572e+01,
 -3.64538202e-01,-7.11605608e-01, 3.62823397e+00,-7.29404869e+00,
  5.24297879e-02, 2.74452525e-01,-8.69113327e+00, 2.91874080e+01,
 -3.57691537e+00, 7.66469579e-01,-3.98029664e+00,-2.60721849e+00,
 -1.16156465e+02,-4.69957622e+00]

qfrc_actuator:
[ 7.12973523e-05, 9.26665860e-04, 1.22708962e-04,-1.19691137e-04,
 -7.18324321e-06, 3.48452357e-02, 1.09594642e-02, 1.73569710e-03,
 -8.96661037e-05, 8.78317957e-04, 1.73713370e-04, 6.81509175e-05,
  0.00000000e+00,-1.63366796e-03, 0.00000000e+00,-9.21814700e-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, -6.53923078,  5.64138615, -6.53923078, 32.27854142,
       27.40490589,  5.64138615, 27.40490589, 40.40284783,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038751191908195023
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43250178e-14, -2.14875266e-14,  1.00000000e+00,  3.07809201e-28,
        1.00000000e+00,  2.14875266e-14, -1.00000000e+00,  0.00000000e+00,
        1.43250178e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00888739, -0.06575977,  0.0618047 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.80455199e-05,-2.64370194e-05, 1.29050700e-05, 6.61210350e-05,
 -2.20975813e-06, 2.44803037e-05, 1.62963875e-05,-7.92001057e-06,
  3.39777345e-03, 4.68683595e-05,-2.08577145e-05, 1.35103742e-04,
  4.98184785e-06,-7.59230625e-05,-4.90455513e+00,-1.58761828e-04,
  3.43850186e-03,-1.08938220e-04]


--- 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 ,
  1.39623173, 0.00771201, 1.35468032, 0.04407331,-0.08557268,-0.04636688,
  0.09337101, 0.70937756,-0.08075814,-0.69753433,-0.06088889]

qacc:
[ 8.67671515e-01, 9.01413692e-01,-3.29197298e+00, 5.79330879e+00,
 -7.65556601e-02, 2.48945027e+00,-9.88917482e+00, 1.80124431e+01,
  2.82271860e+00,-1.07864856e+00, 8.40587076e+00,-2.33303321e+01,
  4.26030003e-02, 2.44043229e-01, 2.29937834e+00,-7.73761272e+00,
  5.19245885e+00,-8.73016457e-01, 5.07921998e+00, 2.53384819e+00,
  1.67679990e+02, 1.80218593e+01]

qfrc_actuator:
[ 7.63089504e-05, 9.34628183e-04, 1.16412943e-04,-1.12488761e-04,
 -1.86199140e-05, 3.48390168e-02, 1.09340886e-02, 1.77471148e-03,
 -7.25018983e-05, 9.25646226e-04, 1.81631997e-04, 2.72692483e-05,
  0.00000000e+00,-1.61484099e-03, 0.00000000e+00,-9.62529102e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003951186003176885
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.80984753e-14,  1.40492377e-14,  1.00000000e+00, -3.94762158e-28,
        1.00000000e+00, -1.40492377e-14, -1.00000000e+00,  0.00000000e+00,
        2.80984753e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13917431, -0.03663743,  0.06180111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.21019775e-05,-1.63285004e-05,-2.71399161e-05, 4.01303097e-05,
  1.71085144e-05, 6.40334501e-05, 1.47096992e-05,-3.94227797e-05,
  3.39146138e-03, 4.10311934e-05, 5.52237971e-06,-3.58565255e-05,
  6.69257487e-05,-1.36576023e-04,-4.90431968e+00,-3.25911286e-04,
  3.42879736e-03,-1.00885305e-04]


--- 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,
  1.39623202, 0.00771191, 1.35477385, 0.04407128,-0.08556124,-0.04633848,
  0.09335349, 0.70945348,-0.08102049,-0.69744961,-0.06062583]

qacc:
[ 4.99012863e-01, 2.63971300e+00,-1.27308973e+01, 2.74582429e+01,
  5.43449685e-02, 2.23108810e+00,-7.26405406e+00, 7.51681330e+00,
  1.76503021e+00,-1.06048481e+00, 5.43819412e+00,-1.26228540e+01,
  1.83847774e-02, 3.62114240e-01, 2.51938876e+00,-8.68735723e+00,
  4.54712667e+00,-2.17281187e+00,-2.45129252e+00, 2.28992250e+01,
  1.48521178e+02,-8.18328773e+01]

qfrc_actuator:
[ 7.92004678e-05, 9.21424390e-04, 9.51039861e-05,-7.21980658e-05,
  1.01762902e-05, 3.48534166e-02, 1.09013150e-02, 1.77976651e-03,
 -6.23932851e-05, 8.82320230e-04, 1.68841489e-04, 3.53149654e-06,
  0.00000000e+00,-1.58576432e-03, 0.00000000e+00,-1.00380642e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.90108652,  3.48706305, -7.90108652,  9.84913307,
        2.74792744,  3.48706305,  2.74792744, 14.86269568,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0040051274808296095
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.52876448e-15, -1.38600211e-14,  1.00000000e+00,  1.32068876e-28,
        1.00000000e+00,  1.38600211e-14, -1.00000000e+00,  0.00000000e+00,
        9.52876448e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18108072, -0.01144057,  0.06179863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.57342013e-05, 1.26943024e-06,-3.78781481e-05, 4.69826052e-06,
  1.06353869e-05,-6.19024391e-06, 8.80294214e-07,-2.12519625e-05,
  3.37303397e-03, 5.41655069e-05,-3.23201465e-06,-4.29984701e-05,
 -1.39070523e-05,-5.15125878e-05,-4.90458949e+00,-8.24831960e-05,
  3.42098120e-03,-8.23537256e-05]


--- 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,
  1.39623241, 0.00771213, 1.35486714, 0.04407044,-0.08553377,-0.04631769,
  0.09332265, 0.70970614,-0.08113757,-0.69719342,-0.06045845]

qacc:
[ 2.91447038e-01, 1.26116839e+00,-8.19135647e+00, 2.24358831e+01,
  3.01497589e-02, 3.57551188e+00,-1.40545448e+01, 2.82765476e+01,
 -1.91375466e+00,-7.09087098e-01, 3.15306607e+00,-7.20306999e+00,
 -1.59122508e-03, 2.22853599e-01,-3.94506754e+00, 1.33013724e+01,
  4.01069803e+00,-1.90392527e+00,-3.32845397e+00, 2.01254643e+01,
  1.30739370e+02,-7.22948021e+01]

qfrc_actuator:
[ 8.08217828e-05, 9.13357441e-04, 1.00538390e-04,-3.05460253e-05,
  9.61712704e-06, 3.48977454e-02, 1.09000226e-02, 1.85358167e-03,
 -7.42781543e-05, 8.55974718e-04, 1.61334834e-04,-1.00107376e-05,
  0.00000000e+00,-1.58629616e-03, 0.00000000e+00,-9.38514379e-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,  2.30350064, -8.32350057,  2.30350064, 86.69247414,
       21.60176464, -8.32350057, 21.60176464, 14.61457896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0040185421338972335
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.88511823e-15, -1.38137537e-14,  1.00000000e+00,  5.36680662e-29,
        1.00000000e+00,  1.38137537e-14, -1.00000000e+00,  0.00000000e+00,
        3.88511823e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18104166, -0.01144862,  0.06179794])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.73918383e-06, 3.77689250e-05,-5.21499485e-06, 7.28502399e-05,
 -1.15724914e-05,-3.05571835e-05,-9.41501657e-06,-1.41894948e-05,
  3.35136179e-03, 3.14242104e-05,-7.51999762e-06, 6.21686078e-05,
  4.14009234e-06, 8.18771488e-06,-4.90481842e+00, 1.45576129e-04,
  3.39025862e-03,-6.77446815e-05]


--- 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,
  1.39623262, 0.0077126 , 1.35496004, 0.04407305,-0.08549089,-0.04630345,
  0.09328295, 0.71013511,-0.08115339,-0.69676359,-0.06035516]

qacc:
[ 1.37856022e-01, 1.09253102e+00,-3.54233910e+00, 5.19837093e+00,
 -1.67862812e-01, 1.59440512e+00,-7.91412058e+00, 2.12215359e+01,
 -4.16333634e+00, 3.22923069e+00,-1.66488102e+01, 3.81270966e+01,
 -2.72964524e-03, 1.05506178e-01,-1.10142746e+01, 3.76838446e+01,
  3.85051361e+00,-1.63701355e+00,-2.21440916e+00, 1.54967533e+01,
  1.28734142e+02,-4.56718365e+01]

qfrc_actuator:
[ 8.16832565e-05, 9.61788058e-04, 1.03980138e-04,-2.39149973e-05,
 -4.40547624e-05, 3.48710482e-02, 1.08997417e-02, 1.91405939e-03,
 -9.90107321e-05, 8.75516967e-04, 1.57060984e-04, 5.35732002e-05,
  0.00000000e+00,-1.58689810e-03, 0.00000000e+00,-7.57696059e-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, -7.59639853,  4.10871102, -7.59639853, 16.21583116,
       14.0133136 ,  4.10871102, 14.0133136 , 34.54490634,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003981407660090566
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.13575827e-07,  6.13575841e-07,  1.00000000e+00,  3.76475304e-13,
        1.00000000e+00, -6.13575841e-07, -1.00000000e+00,  5.04870979e-29,
       -6.13575827e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.16539297, -0.02085682,  0.06179946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.85063298e-05,-4.62805242e-06, 8.65403696e-06, 6.31498379e-05,
 -2.50797084e-05,-1.19234772e-07,-1.22351619e-05, 6.16756560e-05,
  3.34629860e-03, 1.46207117e-05, 2.42206770e-06, 1.83072202e-04,
  5.04462065e-05, 4.50977029e-06,-4.90479287e+00, 2.25763780e-04,
  3.38657152e-03,-6.01629111e-05]


--- 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,
  1.39623284, 0.00771308, 1.35505316, 0.04407578,-0.08547207,-0.04628547,
  0.09324272, 0.71029625,-0.08122319,-0.69660229,-0.06022686]

qacc:
[ 3.02144326e+00,-3.85197058e-03, 2.08819011e+00,-7.35709301e+00,
 -2.09166208e-01,-7.09455107e+00, 2.62778035e+01,-4.61890901e+01,
  4.62768082e-01, 1.49978466e-01,-4.34179292e+00, 1.71476686e+01,
  5.90319046e-03, 2.47901186e-03,-5.54546953e-02, 6.57420026e-01,
 -6.01729583e+00, 9.35774513e-01,-1.35611019e-01,-1.32205648e+01,
 -1.91294348e+02, 8.71322212e+00]

qfrc_actuator:
[ 9.98441497e-05, 9.90389488e-04, 1.06416253e-04,-3.79003893e-05,
 -7.58966938e-05, 3.48020371e-02, 1.09352687e-02, 1.80637168e-03,
 -9.55944957e-05, 8.51453587e-04, 1.72718784e-04, 9.10569159e-05,
  0.00000000e+00,-1.58760136e-03, 0.00000000e+00,-7.58833714e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004047504362527758
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.5718177e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        8.5718177e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0084605 , -0.06563327,  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:
[ 1.82030239e-05, 5.74665996e-05, 1.34728244e-05,-1.15615646e-05,
 -6.05075334e-05,-6.79737670e-05, 3.74640342e-05,-1.06106148e-04,
  2.68107129e-06,-2.40410191e-05, 1.62619025e-05, 3.82570383e-05,
  3.35560000e-03, 1.23759145e-06, 2.00640788e-05, 9.05067682e-06,
  1.29402359e-04,-3.48639805e-05,-4.90454457e+00, 2.39742005e-04,
  3.40010279e-03,-5.63602737e-05]


--- 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 ,
  1.39623326, 0.00771348, 1.35514664, 0.04407616,-0.08547426,-0.04626413,
  0.09319712, 0.7102234 ,-0.08133818,-0.69667607,-0.06007731]

qacc:
[ 1.85218716e+00,-2.10750581e+00, 7.76238582e+00,-1.08162585e+01,
 -6.47670256e-02,-3.16691161e+00, 1.21892946e+01,-2.18704495e+01,
  6.29639898e+00,-4.70234649e+00, 1.95515935e+01,-3.63048447e+01,
  1.27250662e-03, 1.12531470e-03, 7.66346955e+00,-2.60083547e+01,
 -5.24974864e+00, 8.39695320e-01,-1.33844995e+00,-1.10706786e+01,
 -1.67212768e+02, 6.68798960e+00]

qfrc_actuator:
[ 1.10289389e-04, 9.53619389e-04, 1.25920822e-04,-4.61566943e-05,
 -5.88785139e-05, 3.48325284e-02, 1.09736164e-02, 1.76035129e-03,
 -5.78807203e-05, 8.01536848e-04, 1.99823487e-04, 4.18412006e-05,
  0.00000000e+00,-1.58821949e-03, 0.00000000e+00,-8.84952284e-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,  8.6267337 ,  0.40772846,  8.6267337 ,  8.71609951,
       -1.68705445,  0.40772846, -1.68705445, 44.33112352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004133219828944275
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17516753e-14, -1.34304860e-14,  1.00000000e+00,  1.57830711e-28,
        1.00000000e+00,  1.34304860e-14, -1.00000000e+00,  0.00000000e+00,
        1.17516753e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00825387, -0.06557172,  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:
[ 1.09932291e-05,-2.37087956e-06, 3.26281209e-05,-5.55656007e-06,
 -1.87412865e-05,-2.96489906e-06, 2.62049875e-05,-4.94244857e-05,
  3.77826109e-05,-5.83734470e-05, 2.54637940e-05,-4.89402240e-05,
  3.35452080e-03, 3.17959357e-07, 7.32904635e-06,-1.23716211e-04,
  2.37366978e-05,-2.90932196e-06,-4.90491154e+00, 1.60252975e-04,
  3.40988247e-03,-5.45748696e-05]


--- 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,
  1.39623373, 0.0077139 , 1.35524004, 0.04407605,-0.08549485,-0.04623976,
  0.09314206, 0.70994485,-0.08149118,-0.69695648,-0.05990962]

qacc:
[-1.89948564e+00,-2.60381998e+00, 7.52153195e+00,-4.42374180e+00,
  1.21424892e-01, 2.15597494e+00,-6.97978702e+00, 1.09453356e+01,
  3.85682292e+00,-2.47018685e+00, 1.05749598e+01,-2.08587295e+01,
 -1.00311534e-02, 3.94779805e-02, 1.35875934e+00,-4.94349441e+00,
 -4.60064654e+00, 7.55927743e-01,-2.36877264e+00,-9.33449740e+00,
 -1.46907249e+02, 5.10169291e+00]

qfrc_actuator:
[ 9.83509391e-05, 9.31311723e-04, 1.72837400e-04,-3.32645566e-05,
 -1.26879242e-05, 3.49046536e-02, 1.09782414e-02, 1.78658330e-03,
 -3.57962360e-05, 7.89756958e-04, 2.15536910e-04, 1.29994305e-05,
  0.00000000e+00,-1.58869800e-03, 0.00000000e+00,-9.06106930e-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,  8.6328267 ,  0.24714387,  8.6328267 ,  8.66800953,
       -1.10540266,  0.24714387, -1.10540266, 47.24848624,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004152793900048496
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.67089773e-15, -2.67343637e-14,  1.00000000e+00, -4.46703876e-29,
        1.00000000e+00,  2.67343637e-14, -1.00000000e+00,  0.00000000e+00,
       -1.67089773e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00819989, -0.06554555,  0.06179106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.51153061e-05, 7.41327242e-05, 5.57831033e-06, 2.57648964e-05,
  2.31713037e-05,-4.12423754e-05, 5.09667695e-06,-3.14157447e-05,
  3.34427421e-03, 4.09723230e-06,-1.30122793e-05,-2.77248975e-05,
  1.04343597e-05,-5.75098944e-06,-4.90494360e+00, 7.73819457e-05,
  3.41193001e-03,-5.24764660e-05]


--- 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,
  1.39623408, 0.00771399, 1.35533347, 0.04407466,-0.08549405,-0.0462189 ,
  0.09311002, 0.7099137 ,-0.08164693,-0.6969848 ,-0.05973695]

qacc:
[-7.17198742e+00,-8.72002237e-02,-1.56922897e+00, 9.11316505e+00,
  1.06527497e-01, 1.85648298e-01, 2.42693816e+00,-1.46404167e+01,
  8.08044414e+00, 1.42953979e+00,-4.47094403e+00, 4.45827448e+00,
 -8.44506713e-03,-2.24761808e-01, 3.92801007e+00,-1.36591804e+01,
  5.34716450e+00,-8.75902387e-01, 5.75626325e+00, 3.28539935e+00,
  1.75409742e+02, 2.04118468e+01]

qfrc_actuator:
[ 5.55832474e-05, 9.53466750e-04, 2.00104990e-04,-8.01178002e-06,
 -2.63099988e-06, 3.49123113e-02, 1.09453896e-02, 1.73085530e-03,
  1.24061627e-05, 8.36375442e-04, 2.06814375e-04, 1.41625173e-05,
  0.00000000e+00,-1.62467577e-03, 0.00000000e+00,-9.71717186e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004126779011024498
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34514475e-14, -2.01771713e-14,  1.00000000e+00,  2.71412160e-28,
        1.00000000e+00,  2.01771713e-14, -1.00000000e+00,  0.00000000e+00,
        1.34514475e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13888124, -0.03664522,  0.06179195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.08110627e-05, 5.05383858e-05,-1.69592191e-05,-5.27384180e-05,
  4.88664247e-05, 2.32869815e-05,-1.76996207e-05,-1.03824584e-06,
  3.34171905e-03,-3.32057083e-05,-1.03758816e-05,-6.91318936e-05,
  5.98985860e-05,-3.02966643e-05,-4.90474971e+00,-3.49094366e-06,
  3.40684287e-03,-5.00343713e-05]


--- 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,
  1.39623448, 0.00771361, 1.35542721, 0.04406947,-0.08547539,-0.04620637,
  0.09306774, 0.71007987,-0.08164029,-0.69682172,-0.05967347]

qacc:
[-7.33678826e+00,-1.42639681e+00, 7.21806162e+00,-1.49152429e+01,
 -3.90443346e-02, 1.52849499e+00,-3.33522891e+00,-1.25148026e+00,
  1.85455572e+00, 1.63426785e+00,-3.22708325e+00,-2.38827420e+00,
 -4.28860560e-03,-2.62044129e-01, 1.19525252e+01,-4.11676633e+01,
  4.46613960e+00,-2.08081871e+00,-2.55908158e+00, 2.19281282e+01,
  1.46014362e+02,-8.16439516e+01]

qfrc_actuator:
[ 1.27726738e-05, 9.66512527e-04, 2.15731423e-04,-2.89290279e-05,
 -3.20865939e-05, 3.49521245e-02, 1.09259005e-02, 1.71603852e-03,
  2.23429572e-05, 8.82033994e-04, 1.84005017e-04,-2.49926294e-06,
  0.00000000e+00,-1.64609795e-03, 0.00000000e+00,-1.16953336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004177710533051646
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.32874575e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.32874575e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18058283, -0.01159143,  0.06178948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.12455974e-05, 6.28686692e-05,-1.30804098e-05,-1.50187300e-05,
  1.13759267e-05, 5.50118681e-05,-2.02122162e-05,-1.62958805e-05,
  3.34778731e-03,-3.79135673e-05,-1.44087529e-05,-2.03435535e-04,
  4.59344325e-06,-5.22664405e-06,-4.90493203e+00, 8.91759384e-05,
  3.40226365e-03,-4.24971535e-05]


--- 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,
  1.39623502, 0.00771286, 1.35552111, 0.04405992,-0.0854781 ,-0.04619049,
  0.09302086, 0.71000696,-0.08168228,-0.69689846,-0.05958741]

qacc:
[-7.27245199e+00,-2.13893123e+00, 8.61548257e+00,-1.37150669e+01,
 -2.18608795e-02, 6.24160257e-01,-1.70710400e+00, 3.11536805e+00,
 -4.98781418e+00, 4.45819849e-01,-1.74709901e+00, 4.08888106e+00,
 -1.11027171e-02,-1.77709698e-01, 1.34159352e+01,-4.65623070e+01,
 -5.34158605e+00, 8.34444248e-01,-1.15034662e+00,-1.20022778e+01,
 -1.70814375e+02, 8.03767387e+00]

qfrc_actuator:
[-2.97101978e-05, 9.56167684e-04, 2.42061545e-04,-4.13497138e-05,
 -3.17485470e-05, 3.49754334e-02, 1.09323702e-02, 1.72546155e-03,
 -8.08356716e-06, 8.91196336e-04, 1.88575763e-04, 5.98520969e-06,
  0.00000000e+00,-1.65852036e-03, 0.00000000e+00,-1.39037867e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004228083957489671
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14880068e-14, -1.31291506e-14,  1.00000000e+00,  1.50827772e-28,
        1.00000000e+00,  1.31291506e-14, -1.00000000e+00,  0.00000000e+00,
        1.14880068e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00799975, -0.0654617 ,  0.06178699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.30536774e-06, 5.50723675e-05, 1.68374649e-05, 1.05798725e-05,
 -3.00723337e-05, 3.50575654e-05, 1.28861036e-05, 9.82839819e-06,
  3.34496949e-03,-2.69636565e-05,-3.13839266e-05,-2.34505735e-04,
  2.03620040e-05,-1.20174778e-05,-4.90493152e+00, 1.34404747e-04,
  3.40722022e-03,-3.99159313e-05]


--- 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,
  1.39623523, 0.00771207, 1.35561425, 0.04405279,-0.08549949,-0.04617161,
  0.09296512, 0.70972422,-0.081765  ,-0.6971857 ,-0.05948211]

qacc:
[-1.29718536e+00, 2.18680724e+00,-1.00720433e+01, 2.06185377e+01,
 -1.13153362e-02,-6.34281402e-01, 3.37841012e+00,-9.26443261e+00,
 -2.34134651e-01,-1.51535458e+00, 4.45496260e+00,-2.84986115e+00,
 -1.48561789e-02,-8.87249313e-02,-8.45486629e+00, 2.79102054e+01,
 -4.67363488e+00, 7.51122762e-01,-2.21456748e+00,-1.00535337e+01,
 -1.49848923e+02, 6.17127829e+00]

qfrc_actuator:
[-3.61549298e-05, 9.49691583e-04, 2.21164285e-04,-1.31696592e-05,
 -3.12905535e-05, 3.49532879e-02, 1.09185519e-02, 1.69581275e-03,
 -8.75386319e-06, 8.60810127e-04, 2.09157988e-04, 1.14394128e-05,
  0.00000000e+00,-1.66544203e-03, 0.00000000e+00,-1.25016753e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364e+00,  8.63635409e+00, -1.28441347e-02,  8.63635409e+00,
        8.63643837e+00,  5.02500291e-02, -1.28441347e-02,  5.02500291e-02,
        4.24243184e+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: -0.004250621379834521
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63244224e-15, -1.30595380e-14,  1.00000000e+00,  2.13189414e-29,
        1.00000000e+00,  1.30595380e-14, -1.00000000e+00,  0.00000000e+00,
        1.63244224e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00793859, -0.06543225,  0.06178572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.26636416e-06, 1.19243835e-05,-8.20727300e-07,-2.72545228e-05,
 -1.53842272e-06,-7.71957397e-06, 2.97533399e-05, 7.59720837e-06,
  3.33732859e-03,-1.47939513e-05,-4.17410673e-05, 1.22855384e-04,
  8.27601573e-06,-2.01921338e-07,-4.90497598e+00, 9.94739636e-05,
  3.40618632e-03,-3.89289302e-05]


--- 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,
  1.39623512, 0.00771144, 1.35570684, 0.04404966,-0.08549909,-0.04616288,
  0.09290588, 0.70968367,-0.08164843,-0.69723815,-0.0595112 ]

qacc:
[ 8.33958690e+00, 8.19831865e-01,-3.47736548e+00, 4.80701301e+00,
  5.65240172e-02, 1.16309659e+00,-3.81957520e+00, 3.63758995e+00,
  2.81280119e+00,-1.72658192e+00, 4.64036303e+00,-2.88164344e+00,
  3.63620119e-03,-1.31974481e-03,-1.29155181e+01, 4.39996144e+01,
  5.45142828e+00,-2.53776645e+00,-8.77166951e-01, 2.67934518e+01,
  1.79173634e+02,-1.00359677e+02]

qfrc_actuator:
[ 1.41685891e-05, 9.09916270e-04, 1.90333202e-04,-1.46186102e-05,
 -1.30122004e-05, 3.49395008e-02, 1.08926519e-02, 1.69661611e-03,
  8.10892572e-06, 8.07040830e-04, 2.21090656e-04, 1.50326936e-05,
  0.00000000e+00,-1.65151446e-03, 0.00000000e+00,-1.04037079e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0043974654321615805
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.86206431e-15, -1.26234423e-14,  1.00000000e+00,  1.24493200e-28,
        1.00000000e+00,  1.26234423e-14, -1.00000000e+00,  0.00000000e+00,
        9.86206431e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18000985, -0.01178878,  0.06177883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.63485815e-05,-8.17912632e-06,-2.44626554e-05, 5.05083112e-07,
  1.68147550e-05,-5.16250793e-05, 1.42622953e-05, 4.44103334e-06,
  3.35409330e-03, 4.12334119e-07,-5.15596317e-06, 2.11412578e-04,
  6.08629328e-05,-1.37939066e-05,-4.90478324e+00, 5.83951404e-05,
  3.39857238e-03,-3.77415033e-05]


--- 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,
  1.39623514, 0.00771097, 1.35579964, 0.0440467 ,-0.08547968,-0.04616298,
  0.09283857, 0.70985415,-0.08135801,-0.69708601,-0.05965781]

qacc:
[ 8.22113122e+00,-3.14205360e+00, 1.46318864e+01,-3.25707382e+01,
  1.33160348e-01, 3.95560842e+00,-1.82879711e+01, 4.43126693e+01,
  1.62492841e+00, 1.36906709e+00,-9.03627308e+00, 2.30126164e+01,
  1.46491756e-02, 1.20705375e-01,-1.96060541e-01, 1.13569613e+00,
  4.74969019e+00,-2.20767362e+00,-2.01556700e+00, 2.32477610e+01,
  1.56129914e+02,-8.76762776e+01]

qfrc_actuator:
[ 6.19848628e-05, 8.68178065e-04, 1.89237974e-04,-6.90303082e-05,
  1.58085793e-05, 3.49307820e-02, 1.08953829e-02, 1.82185393e-03,
  1.73942422e-05, 7.75146425e-04, 2.09949671e-04, 5.29742089e-05,
  0.00000000e+00,-1.62523988e-03, 0.00000000e+00,-1.03991124e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00446515039586079
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.8850281e-16,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.8850281e-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([-0.17982949, -0.01185097,  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:
[ 4.92607910e-05,-6.88563514e-05,-1.25578985e-05,-5.70755645e-05,
  3.84818520e-05,-1.80211709e-05,-1.64012965e-06, 1.24285045e-04,
  9.75907111e-06,-5.76170686e-05,-1.98979220e-05, 3.63094687e-05,
  3.37023767e-03, 1.93431162e-05, 2.00801886e-05, 1.13640264e-05,
 -4.55886185e-06, 7.10143493e-06,-4.90498446e+00, 1.21599987e-04,
  3.40865307e-03,-3.89389551e-05]


--- 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,
  1.39623526, 0.00771077, 1.3558924 , 0.0440448 ,-0.08544366,-0.0461708 ,
  0.09275929, 0.71020905,-0.08091536,-0.69675453,-0.05990768]

qacc:
[ 1.08328902e+01, 3.36708982e-01, 4.80519403e-01,-6.11455131e+00,
  1.53292899e-02,-6.72762535e-02,-3.53113211e+00, 2.04148417e+01,
  7.96560612e-01, 3.91287586e+00,-1.53590364e+01, 2.41975421e+01,
  6.08803186e-03, 1.83439623e-01,-3.26942063e+00, 1.13506896e+01,
  4.15234031e+00,-1.92892865e+00,-2.99249153e+00, 2.01885221e+01,
  1.36674004e+02,-7.69105620e+01]

qfrc_actuator:
[ 1.25676267e-04, 9.14409455e-04, 1.87904751e-04,-8.31382077e-05,
 -2.53766527e-06, 3.49075944e-02, 1.09328356e-02, 1.89506163e-03,
  2.21392868e-05, 8.09780999e-04, 1.67624087e-04, 7.53170742e-05,
  0.00000000e+00,-1.60938615e-03, 0.00000000e+00,-9.85293385e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004464807959373221
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48660868e-14, -1.24330434e-14,  1.00000000e+00,  3.09161137e-28,
        1.00000000e+00,  1.24330434e-14, -1.00000000e+00,  0.00000000e+00,
        2.48660868e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17980931, -0.01185574,  0.06177511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.39385240e-06,-2.97439370e-05, 3.73869772e-05, 7.55011656e-05,
  5.00869799e-06,-1.14905648e-07,-5.54194124e-05, 1.98922026e-05,
  3.36309490e-03, 2.69859337e-05, 7.84224121e-06, 5.72202885e-05,
 -1.70694634e-05,-5.38007243e-05,-4.90483067e+00, 7.58381700e-07,
  3.44843324e-03,-4.87336548e-05]


--- 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,
  1.39623581, 0.00771066, 1.35598565, 0.04403955,-0.08543443,-0.04617563,
  0.09268399, 0.71026904,-0.08055874,-0.69671618,-0.06012278]

qacc:
[ 9.40319510e+00, 4.16367827e+00,-1.60607007e+01, 2.59913644e+01,
 -2.88998895e-02,-4.78729087e+00, 1.82186254e+01,-3.36541993e+01,
  3.38949328e-01, 2.17951859e+00,-7.73944520e+00, 1.14678338e+01,
 -5.30923331e-03, 1.66586495e-01, 1.08687302e+01,-3.69375748e+01,
 -6.69543713e+00, 7.48242448e-01, 9.94380032e-01,-2.15857260e+01,
 -2.10818563e+02, 2.16269884e+01]

qfrc_actuator:
[ 1.80450189e-04, 9.59742666e-04, 1.51318758e-04,-5.55882304e-05,
 -1.35259323e-05, 3.48760453e-02, 1.09548624e-02, 1.81277578e-03,
  2.41768841e-05, 8.66095315e-04, 1.60749179e-04, 8.83373246e-05,
  0.00000000e+00,-1.59995838e-03, 0.00000000e+00,-1.16543039e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004582028710625269
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51437155e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.51437155e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00712743, -0.06513223,  0.06176942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.39303512e-06,-3.84190836e-05, 2.26803199e-05,-8.03287342e-05,
  2.18403451e-06, 4.56809894e-05,-1.30256755e-05, 1.14861942e-05,
  3.35801377e-03, 2.28249106e-05, 8.12248532e-06,-1.76367854e-04,
  6.70550319e-06,-1.68112345e-04,-4.90444424e+00,-2.40191186e-04,
  3.50848068e-03,-6.50655416e-05]


--- 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,
  1.39623675, 0.00771065, 1.3560791 , 0.04403087,-0.08544835,-0.04617771,
  0.09260704, 0.71007288,-0.08027221,-0.69693307,-0.06030895]

qacc:
[-3.37176156e+00, 4.47953546e-01,-3.25210652e+00, 9.23763819e+00,
  2.17956820e-02,-5.52404226e-01, 3.74894666e+00,-1.44941555e+01,
  9.49946479e-02,-1.26203327e+00, 4.96217210e+00,-5.05717934e+00,
 -3.24252649e-02, 2.06482096e-01, 1.07038198e+01,-3.69878783e+01,
 -5.78802888e+00, 6.84147890e-01,-4.12977085e-01,-1.74566836e+01,
 -1.83141181e+02, 1.67083425e+01]

qfrc_actuator:
[ 1.58521442e-04, 9.33088080e-04, 1.47516159e-04,-3.92745402e-05,
 -2.25655721e-06, 3.48750940e-02, 1.09319697e-02, 1.76390434e-03,
  2.46062588e-05, 9.17344688e-04, 2.10483941e-04, 9.58260225e-05,
  0.00000000e+00,-1.59430436e-03, 0.00000000e+00,-1.34041485e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.54167342, -1.2753792 ,  8.54167342,  8.94346411,
        2.05676236, -1.2753792 ,  2.05676236, 22.41124122,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004681207656412084
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.41143569e-15, -2.37165942e-14,  1.00000000e+00,  1.75774013e-28,
        1.00000000e+00,  2.37165942e-14, -1.00000000e+00,  0.00000000e+00,
        7.41143569e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00688653, -0.06504236,  0.06176457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.30835150e-06,-2.01817442e-05,-3.01819265e-05,-5.12210852e-05,
  5.08711453e-07, 7.46097485e-05, 5.79740596e-05, 9.22008841e-06,
  3.33670462e-03, 2.44320043e-05,-1.84183681e-05,-1.84361791e-04,
 -4.29930870e-05,-2.11686449e-05,-4.90480998e+00, 3.99428059e-05,
  3.47769951e-03,-6.76458018e-05]


--- 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,
  1.39623763, 0.00771093, 1.356172  , 0.04402382,-0.08548235,-0.0461773 ,
  0.0925236 , 0.7096531 ,-0.08004296,-0.69737283,-0.06047092]

qacc:
[-1.12291643e+01,-1.04488037e+00, 3.10664130e+00,-1.30436899e+00,
 -2.51467871e-02, 1.92597426e+00,-7.08980111e+00, 1.12123126e+01,
  2.85662605e+00,-2.35634575e-01, 2.43864631e+00,-6.55457978e+00,
 -5.17236827e-02, 2.10385577e-01,-5.75042684e+00, 1.89518625e+01,
 -5.02090851e+00, 6.25215065e-01,-1.62156092e+00,-1.41583220e+01,
 -1.59756692e+02, 1.28597627e+01]

qfrc_actuator:
[ 9.16245573e-05, 9.52416883e-04, 1.80563144e-04,-2.97413483e-05,
 -1.32306618e-05, 3.48923024e-02, 1.09184163e-02, 1.78837455e-03,
  4.18391704e-05, 9.12154867e-04, 2.04464236e-04, 8.22834792e-05,
  0.00000000e+00,-1.59097809e-03, 0.00000000e+00,-1.24459025e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.52230686, -1.39895054,  8.52230686,  9.04249731,
        2.47413738, -1.39895054,  2.47413738, 23.708632  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004703622102531134
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.37611755e-15, -2.36035761e-14,  1.00000000e+00,  1.74102752e-28,
        1.00000000e+00,  2.36035761e-14, -1.00000000e+00,  0.00000000e+00,
        7.37611755e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00681999, -0.06499679,  0.06176312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.24660740e-06,-1.39922124e-06,-2.24381105e-05, 2.17913226e-05,
  1.72725346e-05, 4.88928415e-05, 1.68487837e-05,-8.16146980e-06,
  3.31677034e-03, 2.21668985e-05,-3.01994862e-05, 8.29077802e-05,
  3.02915480e-06, 5.42594296e-05,-4.90477285e+00, 2.42967556e-04,
  3.44855655e-03,-7.12247595e-05]


--- 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,
  1.3962382 , 0.00771125, 1.35626455, 0.04401925,-0.08549219,-0.046181  ,
  0.09247394, 0.70952087,-0.07981624,-0.69751985,-0.06062645]

qacc:
[-6.92992363e+00, 6.62507768e-01,-8.80369538e-01,-2.71718258e+00,
 -1.60096941e-01, 8.16304369e-01,-4.46469580e+00, 1.47039231e+01,
 -1.34492370e+00, 7.57558608e-01,-3.99842490e-01,-6.70831006e+00,
 -4.41858501e-02,-1.11933784e-02,-8.03990728e+00, 2.73692555e+01,
  6.03938620e+00,-1.02646804e+00, 8.44557751e+00, 4.00462803e+00,
  2.03806691e+02, 2.35793868e+01]

qfrc_actuator:
[ 5.20792579e-05, 9.63775706e-04, 1.64248936e-04,-4.19722813e-05,
 -5.52132342e-05, 3.49203256e-02, 1.09461211e-02, 1.83807491e-03,
  3.33195870e-05, 8.90732061e-04, 1.65313941e-04, 5.63818430e-05,
  0.00000000e+00,-1.60702010e-03, 0.00000000e+00,-1.11424534e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004791135857980328
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.31724388e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.31724388e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1378397 , -0.03674475,  0.06175874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.62650978e-05, 2.35153936e-05, 2.55177035e-05, 4.95060625e-05,
 -7.99438127e-06, 9.03178424e-06,-2.72661505e-05,-2.33850795e-05,
  3.31972333e-03,-8.17480006e-06,-4.63759417e-06, 1.31118553e-04,
  1.11358828e-04, 8.37866473e-05,-4.90447155e+00, 3.94891259e-04,
  3.41863464e-03,-7.53815661e-05]


--- 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,
  1.39623876, 0.00771177, 1.35635707, 0.04401593,-0.08548097,-0.04618824,
  0.09244874, 0.70963897,-0.0795912 ,-0.69741225,-0.0607776 ]

qacc:
[-1.10281513e+00,-3.94479852e-02, 1.97113702e+00,-9.15711091e+00,
 -1.80250136e-01, 4.45165562e-01,-1.76168830e+00, 4.32990691e+00,
 -3.95584002e+00, 7.79780364e-01,-3.43893912e+00, 5.35049455e+00,
 -3.39341877e-02, 1.46539632e-01,-3.79084512e+00, 1.32167175e+01,
  5.26753973e+00,-8.88191323e-01, 6.11490221e+00, 3.20125079e+00,
  1.77406981e+02, 1.98896661e+01]

qfrc_actuator:
[ 4.67174110e-05, 9.34561905e-04, 1.36625080e-04,-6.69520638e-05,
 -7.99526929e-05, 3.49192893e-02, 1.09447488e-02, 1.84898122e-03,
  9.70481609e-06, 8.59578080e-04, 1.42349334e-04, 5.88893311e-05,
  0.00000000e+00,-1.58128974e-03, 0.00000000e+00,-1.05345649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0048619759070904905
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14174057e-14, -1.14174057e-14,  1.00000000e+00,  1.30357152e-28,
        1.00000000e+00,  1.14174057e-14, -1.00000000e+00,  0.00000000e+00,
        1.14174057e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13773324, -0.0367572 ,  0.0617553 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.20795829e-05, 1.84513027e-05, 7.58524179e-06, 1.35117834e-05,
 -2.38409283e-05,-3.27650973e-05,-2.52695268e-05, 1.49580428e-06,
  3.33463815e-03, 1.57551481e-05, 1.09877015e-05, 6.71984157e-05,
 -2.12527748e-06, 2.75391708e-05,-4.90487062e+00, 1.71857234e-04,
  3.41605721e-03,-8.74376021e-05]


--- 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,
  1.39623966, 0.00771279, 1.35644973, 0.04401236,-0.08545126,-0.04619858,
  0.09244007, 0.70997598,-0.07936715,-0.69708177,-0.06092592]

qacc:
[-5.18772321e-01,-3.28548647e-01, 4.22515821e-01, 6.85316958e-01,
 -9.42604308e-02,-2.38718033e-02, 2.04738771e+00,-1.21060235e+01,
  4.19844438e-01, 6.97176971e-01,-5.03938786e+00, 1.25658106e+01,
 -4.35784810e-02, 4.44691494e-01, 9.57440811e-01,-3.01584520e+00,
  4.62062090e+00,-7.72622028e-01, 4.13071945e+00, 2.57226039e+00,
  1.55275948e+02, 1.68702194e+01]

qfrc_actuator:
[ 4.37566559e-05, 9.16707110e-04, 1.37892522e-04,-6.37601538e-05,
 -7.63946849e-05, 3.49007383e-02, 1.09083219e-02, 1.80142026e-03,
  1.29076559e-05, 8.22898385e-04, 1.29105396e-04, 7.80989236e-05,
  0.00000000e+00,-1.53066888e-03, 0.00000000e+00,-1.06965711e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004865260028706998
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.28193975e-14, -5.70484937e-15,  1.00000000e+00,  1.30181225e-28,
        1.00000000e+00,  5.70484937e-15, -1.00000000e+00,  0.00000000e+00,
        2.28193975e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13772199, -0.03675388,  0.061755  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.72182516e-05,-6.45518025e-06,-3.15560230e-05,-4.64675020e-05,
  2.49603320e-06,-6.01820611e-05,-2.30700092e-05, 1.69615569e-05,
  3.33568141e-03, 5.66568980e-05, 1.03713753e-05,-1.15279043e-05,
 -6.61735340e-06,-2.67058590e-05,-4.90488794e+00, 2.79441746e-05,
  3.42040018e-03,-9.66517251e-05]


--- 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,
  1.39624052, 0.00771434, 1.35654202, 0.04401199,-0.08544455,-0.04620521,
  0.09243082, 0.71004779,-0.07918854,-0.69701783,-0.06105287]

qacc:
[ 2.66242629e+00, 2.84136938e+00,-1.17185820e+01, 1.96698488e+01,
  1.52534596e-02, 5.75560492e-01,-1.55997110e+00,-1.14729981e+00,
 -5.66339949e+00,-1.04046067e+00, 3.70955730e+00,-6.25479818e+00,
 -6.02669397e-02, 3.66881617e-01,-1.02140206e+01, 3.49463829e+01,
 -5.74908921e+00, 9.26190745e-01,-1.42723320e-01,-1.10798014e+01,
 -1.89283333e+02, 4.77130807e+00]

qfrc_actuator:
[ 5.99738597e-05, 9.23671787e-04, 1.03008032e-04,-4.39891398e-05,
 -5.58911688e-05, 3.48894138e-02, 1.08869069e-02, 1.79082393e-03,
 -2.13832943e-05, 8.18746985e-04, 1.39428868e-04, 7.14692680e-05,
  0.00000000e+00,-1.51876320e-03, 0.00000000e+00,-9.00278153e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004857514809300474
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85703234e-14, -1.14278913e-14,  1.00000000e+00,  2.12219637e-28,
        1.00000000e+00,  1.14278913e-14, -1.00000000e+00,  0.00000000e+00,
        1.85703234e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00643475, -0.06483342,  0.06175529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.41867202e-06,-2.24666604e-05,-2.76302318e-05,-1.27918221e-05,
 -3.42382718e-05,-4.18417152e-05,-4.35461219e-06,-9.67612548e-06,
  3.31793148e-03, 4.31510219e-05, 1.58071440e-06, 1.69617516e-04,
  6.16371073e-05,-7.83963784e-05,-4.90465132e+00,-6.11936519e-05,
  3.43122289e-03,-1.03758614e-04]


--- 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,
  1.39624105, 0.00771588, 1.35663419, 0.04401431,-0.08545786,-0.04620856,
  0.09241604, 0.70988876,-0.07904782,-0.69718623,-0.06116165]

qacc:
[ 4.63563896e+00, 1.44032402e+00,-7.66535248e+00, 1.76450278e+01,
  1.14673405e-01, 1.01862072e+00,-7.37080504e+00, 2.51413590e+01,
 -9.44176196e+00,-2.74871179e+00, 1.08562513e+01,-1.89211957e+01,
 -5.10666097e-02,-3.25915235e-02,-8.29721905e+00, 2.87901225e+01,
 -5.00555851e+00, 8.20430746e-01,-1.38502667e+00,-9.17341556e+00,
 -1.64816461e+02, 3.40680553e+00]

qfrc_actuator:
[ 8.73482603e-05, 9.27567337e-04, 1.00413303e-04,-1.46338275e-05,
 -2.53901108e-05, 3.48648138e-02, 1.09100946e-02, 1.87310585e-03,
 -7.74767627e-05, 7.98679766e-04, 1.63689017e-04, 4.97270793e-05,
  0.00000000e+00,-1.54805618e-03, 0.00000000e+00,-7.64914646e-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,  8.5067874 ,  1.49041773,  8.5067874 ,  9.90010182,
       -7.21297918,  1.49041773, -7.21297918, 49.8055468 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004891880490504395
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41845123e-15, -1.13476098e-14,  1.00000000e+00,  1.60960312e-29,
        1.00000000e+00,  1.13476098e-14, -1.00000000e+00,  0.00000000e+00,
        1.41845123e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00635623, -0.06480348,  0.06175371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.31116167e-05,-4.28176810e-05, 1.52748111e-05, 8.05000056e-05,
 -5.71108397e-05,-4.47804725e-05, 1.47579530e-05,-2.38712771e-05,
  3.31976100e-03,-1.22430447e-05, 1.84307125e-05, 1.44751707e-04,
 -5.49977182e-06,-1.28002961e-05,-4.90493497e+00, 5.87929080e-05,
  3.42670318e-03,-1.05778495e-04]


--- 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,
  1.39624135, 0.00771697, 1.35672676, 0.04401557,-0.08548867,-0.04620899,
  0.09239146, 0.70952764,-0.07893885,-0.6975579 ,-0.06125491]

qacc:
[ 5.78301272e+00,-2.19153540e+00, 6.03138205e+00,-2.05311445e+00,
  1.93227016e-01,-1.59947288e+00, 5.86511420e+00,-1.00394598e+01,
 -2.78503324e+00,-9.54322822e-01, 2.40169879e+00,-1.04828604e+00,
 -3.07174108e-02,-3.07712582e-01, 3.77854397e+00,-1.23869912e+01,
 -4.37637736e+00, 7.29058706e-01,-2.44784157e+00,-7.62643408e+00,
 -1.44176384e+02, 2.36274321e+00]

qfrc_actuator:
[ 1.21064083e-04, 9.29732044e-04, 1.52420495e-04, 2.39786236e-06,
  1.08602531e-05, 3.48681935e-02, 1.09239110e-02, 1.84961947e-03,
 -9.26840435e-05, 7.87045167e-04, 1.78160159e-04, 5.47721024e-05,
  0.00000000e+00,-1.58400551e-03, 0.00000000e+00,-8.28258645e-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,  8.51581852,  1.43791924,  8.51581852,  9.9001471 ,
       -7.48453066,  1.43791924, -7.48453066, 52.9621527 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004861333266962323
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14189150e-14, -1.71283725e-14,  1.00000000e+00,  1.95587429e-28,
        1.00000000e+00,  1.71283725e-14, -1.00000000e+00,  0.00000000e+00,
        1.14189150e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0064245 , -0.0648062 ,  0.06175497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  5.58161324e-05,-1.48928884e-05, 9.54320770e-06,-2.24568116e-05,
 -1.68966891e-05,-3.46517040e-05, 6.22530841e-06, 3.17670734e-06,
  3.33628651e-03,-4.83438347e-05, 2.18969257e-05,-5.35127939e-05,
  1.34688261e-05, 1.81913517e-05,-4.90490003e+00, 1.57216841e-04,
  3.41602498e-03,-1.08093274e-04]


--- 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,
  1.39624155, 0.00771796, 1.35681935, 0.04401677,-0.08549768,-0.04621292,
  0.09239322, 0.7094229 ,-0.07882816,-0.69766865,-0.0613492 ]

qacc:
[ 4.58917553e-01,-7.34728262e-01, 1.38706487e+00, 1.97274420e+00,
  2.50443949e-01,-1.90247781e+00, 1.18375666e+01,-3.81647294e+01,
 -1.54419735e+00, 1.52601889e+00,-7.14762450e+00, 1.44822206e+01,
 -2.23365386e-02,-5.72186123e-02, 2.16790905e-01,-7.25517573e-01,
  5.45183189e+00,-8.72640922e-01, 6.58282949e+00, 2.37399099e+00,
  1.82078625e+02, 1.71859966e+01]

qfrc_actuator:
[ 1.22733491e-04, 9.13318783e-04, 1.65215420e-04, 1.20725994e-05,
  5.02661182e-05, 3.49059761e-02, 1.08965934e-02, 1.72855587e-03,
 -1.01449533e-04, 7.98295647e-04, 1.69031318e-04, 7.55377695e-05,
  0.00000000e+00,-1.57022735e-03, 0.00000000e+00,-8.30628305e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004936584475085604
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.24896997e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.24896997e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13761051, -0.03675873,  0.0617515 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.23903964e-05, 3.07430335e-05,-2.98005184e-05,-1.21750409e-04,
 -9.27523800e-06,-6.68402894e-06,-1.53986844e-05, 1.95608267e-05,
  3.34795868e-03,-1.14768956e-05, 3.78179743e-07,-3.38498596e-06,
  8.90529517e-05, 2.64565255e-05,-4.90465425e+00, 2.40398106e-04,
  3.39968157e-03,-1.10620854e-04]


--- 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,
  1.39624177, 0.00771896, 1.35691196, 0.04401758,-0.08548759,-0.04621989,
  0.0924131 , 0.70954231,-0.07871576,-0.69755147,-0.06144497]

qacc:
[ 1.12389803e-01, 5.25632598e-01,-4.74016198e+00, 1.37636033e+01,
  1.66916725e-01,-6.07619367e-01, 5.83341389e+00,-2.23296775e+01,
  2.06473877e+00, 1.68958733e+00,-6.22860095e+00, 9.96254223e+00,
 -2.02440712e-02, 2.99276938e-02, 1.17000429e+00,-4.04520085e+00,
  4.77520972e+00,-7.61943100e-01, 4.53160346e+00, 1.93989509e+00,
  1.59146129e+02, 1.47382601e+01]

qfrc_actuator:
[ 1.23278000e-04, 8.68007479e-04, 1.54659160e-04, 3.50451715e-05,
  5.57418156e-05, 3.49460893e-02, 1.08808221e-02, 1.65758007e-03,
 -8.86139663e-05, 8.40841530e-04, 1.63901158e-04, 8.76358161e-05,
  0.00000000e+00,-1.56229980e-03, 0.00000000e+00,-8.50242410e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004951806217075257
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12102834e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.12102834e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13758974, -0.03675966,  0.06175084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.82568925e-05, 4.76329933e-05,-1.67194480e-05,-7.37503896e-05,
  1.25587330e-05, 3.64910853e-05,-7.71764652e-06, 1.16617416e-05,
  3.35225613e-03, 1.21737133e-06,-2.30439380e-06,-2.02362399e-05,
  5.64708225e-06, 8.39207834e-06,-4.90494759e+00, 1.23552076e-04,
  3.39771511e-03,-1.17151554e-04]


--- 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,
  1.39624185, 0.00771946, 1.35700478, 0.04401615,-0.08546066,-0.04622954,
  0.09244414, 0.70985865,-0.07860162,-0.69723383,-0.06154247]

qacc:
[-2.98606675e+00,-8.87191008e-02, 2.47197988e+00,-1.02284889e+01,
 -1.43191772e-02, 7.23417949e-02,-2.19671968e+00, 1.23467981e+01,
 -4.56427427e+00, 9.52068042e-01,-1.97197907e+00,-1.12087985e+00,
 -1.53399438e-02,-3.21302976e-01, 7.14834375e+00,-2.45367310e+01,
  4.20914957e+00,-6.69371094e-01, 2.79082857e+00, 1.60074021e+00,
  1.39926522e+02, 1.27177631e+01]

qfrc_actuator:
[ 1.05413780e-04, 8.94408105e-04, 1.48050615e-04, 1.23642817e-05,
  2.30673472e-05, 3.49340862e-02, 1.09075770e-02, 1.70545201e-03,
 -1.16427243e-04, 8.48556053e-04, 1.43558150e-04, 7.68178755e-05,
  0.00000000e+00,-1.61120392e-03, 0.00000000e+00,-9.68628404e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00491027326004722
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13051043e-14, -1.13051043e-14,  1.00000000e+00,  1.27805383e-28,
        1.00000000e+00,  1.13051043e-14, -1.00000000e+00,  0.00000000e+00,
        1.13051043e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13764801, -0.03674679,  0.06175279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.15477563e-06, 8.85569651e-06, 3.20049103e-05, 4.70996868e-05,
 -2.74347934e-05, 2.70505977e-05,-1.33409468e-05,-9.29339968e-06,
  3.35118727e-03,-4.79918162e-05,-5.17842009e-06,-1.20244291e-04,
  8.13770784e-06,-1.20836154e-05,-4.90494064e+00, 5.50999508e-05,
  3.40252735e-03,-1.21819511e-04]


--- 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,
  1.39624191, 0.00771935, 1.35709791, 0.04401062,-0.08545444,-0.04623529,
  0.09247109, 0.70993303,-0.07851425,-0.69716064,-0.06162501]

qacc:
[-7.80914779e+00,-7.00666140e-01, 5.53832307e+00,-1.65876322e+01,
 -1.54781252e-02, 2.01899046e+00,-1.16333335e+01, 3.70237057e+01,
 -2.79690583e+00, 5.54714786e-01,-1.08613627e+00,-9.13063426e-01,
 -8.39310146e-03,-3.58488379e-01, 1.28030705e+01,-4.41622296e+01,
 -5.17736837e+00, 9.75508206e-01,-1.02334062e+00,-6.26884917e+00,
 -1.72526695e+02,-2.40755686e+00]

qfrc_actuator:
[ 5.91059569e-05, 9.10260323e-04, 1.44083503e-04,-1.91830664e-05,
  2.10315126e-05, 3.49267142e-02, 1.09413263e-02, 1.82286076e-03,
 -1.32445587e-04, 8.53028745e-04, 1.32002870e-04, 7.03208630e-05,
  0.00000000e+00,-1.64044632e-03, 0.00000000e+00,-1.17975359e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004834160279837213
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.74155055e-15,  1.43538764e-14,  1.00000000e+00, -8.24135068e-29,
        1.00000000e+00, -1.43538764e-14, -1.00000000e+00,  0.00000000e+00,
        5.74155055e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00650163, -0.06479837,  0.06175635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.49103440e-06, 5.19853453e-06, 4.05035369e-05, 1.19703802e-04,
 -1.68127121e-05, 1.64478498e-05,-7.91903398e-06,-5.97734634e-06,
  3.35811624e-03,-5.22626692e-05,-1.82601315e-05,-2.19050480e-04,
  6.86200826e-05,-3.37966742e-05,-4.90473174e+00, 2.02911138e-05,
  3.41347390e-03,-1.25078570e-04]


--- 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,
  1.39624197, 0.00771879, 1.35719106, 0.04400159,-0.08546636,-0.04623761,
  0.09248954, 0.709796  ,-0.07844994,-0.69730125,-0.06169455]

qacc:
[ 1.16862577e+00,-1.16120179e+00, 5.29497635e+00,-1.14039417e+01,
  1.08879364e-01, 1.28075042e+00,-5.88412470e+00, 1.68824755e+01,
  1.36831472e+00, 1.16746365e+00,-4.13784720e+00, 7.54310361e+00,
 -8.58217223e-03,-2.67137249e-01, 1.06548787e+01,-3.72127310e+01,
 -4.53470458e+00, 8.56577725e-01,-2.12604220e+00,-5.36987076e+00,
 -1.50803056e+02,-2.25928467e+00]

qfrc_actuator:
[ 6.74437282e-05, 8.84174434e-04, 1.41683674e-04,-3.79349465e-05,
  5.51478297e-05, 3.49577655e-02, 1.09611954e-02, 1.87370174e-03,
 -1.23627507e-04, 9.08812325e-04, 1.43471979e-04, 8.41771549e-05,
  0.00000000e+00,-1.65758966e-03, 0.00000000e+00,-1.35502318e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004831936171104841
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43604834e-15, -2.29767734e-14,  1.00000000e+00, -3.29957572e-29,
        1.00000000e+00,  2.29767734e-14, -1.00000000e+00,  0.00000000e+00,
       -1.43604834e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00651591, -0.06479868,  0.06175661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.14620205e-05, 4.54471439e-05, 2.90068700e-05, 5.49624947e-05,
  8.33107885e-06, 6.30903862e-05, 1.36975094e-05, 1.41735454e-05,
  3.35904711e-03,-3.92997431e-05,-3.48838525e-05,-1.90286242e-04,
  3.65544120e-06,-5.54658030e-06,-4.90496962e+00, 7.03330206e-05,
  3.41434397e-03,-1.26483217e-04]


--- 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,
  1.39624156, 0.00771792, 1.35728355, 0.0439945 ,-0.08545993,-0.04624287,
  0.09252341, 0.70987315,-0.07838348,-0.69722385,-0.06176611]

qacc:
[ 6.76357952e+00, 5.14565277e-03, 1.17530694e+00,-5.23989803e+00,
  7.22138203e-02,-8.00313350e-01, 3.66057200e+00,-8.11110841e+00,
  9.74766323e-01,-2.52439900e-01, 1.19563464e+00, 1.76126961e-01,
 -7.77408018e-04,-3.07477273e-01,-6.88537645e+00, 2.26262930e+01,
  4.58664199e+00,-7.35876497e-01, 3.85583811e+00, 1.73811348e+00,
  1.52187403e+02, 1.36957155e+01]

qfrc_actuator:
[ 1.07887600e-04, 9.04204474e-04, 1.40066528e-04,-4.90415576e-05,
  5.74181426e-05, 3.49404902e-02, 1.09550559e-02, 1.84945439e-03,
 -1.18017449e-04, 9.41746915e-04, 1.68664341e-04, 9.22028784e-05,
  0.00000000e+00,-1.68512704e-03, 0.00000000e+00,-1.24143544e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004787213373467131
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15957128e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.15957128e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13782456, -0.03670799,  0.0617587 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.08643763e-05, 1.51915254e-05, 7.66554041e-06,-2.07522139e-05,
  5.87550837e-06, 7.16444827e-05, 4.04085351e-05, 1.14794069e-05,
  3.35882033e-03,-4.37925971e-05,-3.82530717e-05, 9.82957783e-05,
  1.31117020e-05, 4.24200060e-06,-4.90494285e+00, 1.20263033e-04,
  3.40813917e-03,-1.27955568e-04]


--- 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,
  1.39624059, 0.00771699, 1.35737535, 0.04399245,-0.08547121,-0.04624469,
  0.092548  , 0.70974381,-0.07833708,-0.69735544,-0.06182575]

qacc:
[ 7.07479376e+00,-9.38919619e-01, 4.07996485e+00,-7.15638485e+00,
 -1.56471838e-02,-2.34936417e+00, 1.09910737e+01,-2.86924153e+01,
  3.58312332e+00, 7.95459860e-02,-4.96594992e-01, 2.52170252e+00,
  2.92167414e-02,-2.18992681e-01,-1.62421946e+01, 5.53182816e+01,
 -4.42656934e+00, 8.60596540e-01,-2.31882990e+00,-4.60378144e+00,
 -1.47247311e+02,-3.34293256e+00]

qfrc_actuator:
[ 1.49134821e-04, 9.16199666e-04, 1.56857112e-04,-5.55280065e-05,
  4.05645918e-05, 3.49120091e-02, 1.09334053e-02, 1.76343810e-03,
 -9.65963892e-05, 9.25304499e-04, 1.66162542e-04, 9.67231495e-05,
  0.00000000e+00,-1.68336563e-03, 0.00000000e+00,-9.76336765e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004765198525918786
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89300866e-14, -2.32985681e-14,  1.00000000e+00,  4.41043912e-28,
        1.00000000e+00,  2.32985681e-14, -1.00000000e+00,  0.00000000e+00,
        1.89300866e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00668684, -0.06483076,  0.06175988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.52300719e-06,-1.92036381e-05,-1.84140329e-05,-8.58120730e-05,
  2.16184975e-05, 3.24310876e-05, 1.76679906e-05, 9.21022826e-06,
  3.38220311e-03,-2.66872480e-05,-6.80412569e-06, 2.65684469e-04,
  4.94977291e-06,-3.88579714e-06,-4.90497408e+00, 7.26871914e-05,
  3.41181268e-03,-1.31120209e-04]


--- 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  ,
  1.39623937, 0.0077157 , 1.35746736, 0.04399121,-0.08546452,-0.04624941,
  0.09258674, 0.70982373,-0.07828845,-0.69727407,-0.0618875 ]

qacc:
[-1.76350513e+00,-9.06962219e-01, 3.39592501e+00,-4.84818245e+00,
 -4.53460004e-02, 3.11851525e+00,-1.55886671e+01, 4.17612768e+01,
  2.23099397e+00,-5.08862115e-01, 2.48253546e+00,-6.26782462e+00,
  6.22829681e-02,-3.44456616e-01,-2.18727094e+00, 8.04785684e+00,
  4.49160336e+00,-7.23549193e-01, 3.53470445e+00, 1.66555502e+00,
  1.48687221e+02, 1.32817546e+01]

qfrc_actuator:
[ 1.37255721e-04, 9.05623296e-04, 1.66611133e-04,-5.92350269e-05,
  3.01287558e-05, 3.49124288e-02, 1.09559598e-02, 1.89029998e-03,
 -8.37926967e-05, 8.79303882e-04, 1.47117573e-04, 8.13283563e-05,
  0.00000000e+00,-1.69964799e-03, 0.00000000e+00,-9.43741890e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004736166263553443
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17206931e-14,  1.17206931e-14,  1.00000000e+00, -1.37374647e-28,
        1.00000000e+00, -1.17206931e-14, -1.00000000e+00,  0.00000000e+00,
        1.17206931e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13790243, -0.03668914,  0.06176132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.31090931e-05,-1.63896785e-05, 1.41851731e-05, 1.23756537e-04,
  1.34503586e-05,-2.38530422e-05,-9.85964666e-06,-1.32180159e-05,
  3.41017883e-03,-3.96335234e-05, 2.53434066e-05, 4.63207981e-05,
  1.20042660e-05, 1.61182852e-06,-4.90495206e+00, 1.11892941e-04,
  3.40630217e-03,-1.32357227e-04]


--- 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,
  1.39623838, 0.00771436, 1.35755971, 0.04398839,-0.08547519,-0.04625068,
  0.09261555, 0.7097013 ,-0.07825756,-0.69739765,-0.06193817]

qacc:
[-7.23521941e+00, 1.58197892e+00,-6.62533296e+00, 1.22747636e+01,
 -4.93571831e-02, 4.52145209e+00,-2.01105939e+01, 4.69297311e+01,
  1.35562515e+00,-1.19697716e+00, 1.41365833e+00, 3.27451204e+00,
  6.94236483e-02,-3.98667342e-02, 5.27359662e+00,-1.77205693e+01,
 -4.33950174e+00, 8.63013475e-01,-2.48176862e+00,-4.00745165e+00,
 -1.44267893e+02,-4.16947209e+00]

qfrc_actuator:
[ 9.42017151e-05, 9.17098011e-04, 1.54283203e-04,-4.35519182e-05,
  2.36285747e-05, 3.49126838e-02, 1.09514161e-02, 2.01720860e-03,
 -7.61689990e-05, 7.80344319e-04, 1.36066233e-04, 8.98060942e-05,
  0.00000000e+00,-1.67318197e-03, 0.00000000e+00,-1.03069447e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004690103471190768
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47947565e-15, -1.18358052e-14,  1.00000000e+00, -1.75107857e-29,
        1.00000000e+00,  1.18358052e-14, -1.00000000e+00,  0.00000000e+00,
       -1.47947565e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00687986, -0.06487075,  0.0617636 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.42480943e-05,-2.31716300e-06,-2.50369003e-06, 1.29706040e-04,
  8.01296631e-06,-1.14928838e-04,-1.76552146e-05, 6.85494755e-06,
  3.42225832e-03, 4.70002239e-06, 1.34214239e-05,-8.18722928e-05,
  5.80111755e-06,-2.39434439e-06,-4.90497687e+00, 7.49267604e-05,
  3.41011551e-03,-1.34806310e-04]


--- 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 ,
  1.39623757, 0.00771322, 1.35765194, 0.04398591,-0.08546821,-0.0462548 ,
  0.09265739, 0.70978399,-0.07822443,-0.69731252,-0.06199093]

qacc:
[-1.50200912e+00, 2.20156556e-01,-2.03326796e+00, 5.87740463e+00,
 -4.33990532e-02,-1.39516950e+00, 1.02373191e+01,-3.64010968e+01,
 -2.12298948e+00,-1.81472322e+00, 2.79229147e+00, 4.48003992e+00,
  5.73484712e-02, 1.05559389e-01,-1.20002494e+00, 3.95333541e+00,
  4.41269314e+00,-7.14832755e-01, 3.26004382e+00, 1.62510053e+00,
  1.45735913e+02, 1.30026691e+01]

qfrc_actuator:
[ 8.64188419e-05, 8.88354779e-04, 1.46867685e-04,-3.43363535e-05,
  1.95420037e-05, 3.49482684e-02, 1.09131179e-02, 1.89452315e-03,
 -8.94055229e-05, 7.39223748e-04, 1.65116760e-04, 1.12223030e-04,
  0.00000000e+00,-1.65673813e-03, 0.00000000e+00,-1.00978249e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004674565974800211
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18751455e-14,  1.18751455e-14,  1.00000000e+00,  1.41019081e-28,
        1.00000000e+00, -1.18751455e-14, -1.00000000e+00,  0.00000000e+00,
       -1.18751455e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13799612, -0.03666736,  0.06176446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.25070984e-05, 3.77155782e-05,-3.52262578e-05,-1.19813297e-04,
 -1.30415449e-05,-1.08739699e-04, 3.37699839e-06, 1.70135618e-05,
  3.41035144e-03, 2.35930477e-05,-5.56056051e-06, 1.74640577e-05,
  1.08753653e-05,-3.73735199e-07,-4.90495925e+00, 1.05126467e-04,
  3.40510189e-03,-1.35825490e-04]


--- 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,
  1.39623707, 0.00771202, 1.35774449, 0.04398068,-0.08544557,-0.04626145,
  0.09270623, 0.71004809,-0.07818914,-0.69704266,-0.06204591]

qacc:
[ 2.14411993e+00,-2.00544574e-01,-1.81629657e+00, 9.49962366e+00,
  2.67365783e-02,-3.44039335e-01, 5.11188079e+00,-2.21971279e+01,
  1.59782449e+00,-9.86557677e-01, 6.56644458e+00,-1.68651205e+01,
  4.81779604e-02,-7.55875646e-03, 8.80904159e+00,-3.01491971e+01,
  3.91684524e+00,-6.31298357e-01, 1.74661231e+00, 1.36562911e+00,
  1.28968733e+02, 1.13067469e+01]

qfrc_actuator:
[ 9.94687972e-05, 8.71263190e-04, 1.60004149e-04,-1.12762420e-05,
  3.46886540e-05, 3.49866979e-02, 1.08907071e-02, 1.82122502e-03,
 -7.93066835e-05, 8.39741727e-04, 2.00075374e-04, 8.94681843e-05,
  0.00000000e+00,-1.66428891e-03, 0.00000000e+00,-1.15622346e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00461780580596545
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.40422199e-14,  1.20211099e-14,  1.00000000e+00, -2.89014168e-28,
        1.00000000e+00, -1.20211099e-14, -1.00000000e+00,  0.00000000e+00,
        2.40422199e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1380793 , -0.03665005,  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:
[ 1.27783759e-05,-3.01876995e-05, 8.23713378e-06, 2.21175296e-05,
  7.75723558e-06, 4.87992453e-05,-2.25520644e-05,-7.59709491e-05,
  9.67557793e-06, 4.11605483e-05, 1.35109579e-05,-2.69665794e-05,
  3.40152167e-03, 6.09716622e-06,-1.82924693e-06,-1.46466567e-04,
  6.35760457e-06,-1.03959794e-06,-4.90497849e+00, 7.71481268e-05,
  3.40903648e-03,-1.37648678e-04]


--- 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,
  1.39623704, 0.00771109, 1.35783709, 0.04397306,-0.08544186,-0.04626421,
  0.09274776, 0.71009163,-0.07817029,-0.69699652,-0.06208968]

qacc:
[-1.66977918e+00, 2.32751947e+00,-1.05502713e+01, 2.12984115e+01,
 -1.50397982e-02,-4.57505615e-01, 9.18057745e-01, 1.28004577e+00,
  3.95440830e+00, 6.61165526e-01, 2.53672972e+00,-1.48437650e+01,
  2.51838680e-02, 2.61125817e-01, 7.29845678e+00,-2.53881819e+01,
 -4.73446027e+00, 9.71757525e-01,-1.82404086e+00,-3.61648332e+00,
 -1.57250436e+02,-5.88466869e+00]

qfrc_actuator:
[ 8.91595784e-05, 8.96877332e-04, 1.49708978e-04, 1.97653274e-05,
  2.57451399e-05, 3.49555819e-02, 1.08957065e-02, 1.83091185e-03,
 -5.55456224e-05, 9.35557336e-04, 2.03286022e-04, 5.81910564e-05,
  0.00000000e+00,-1.63279432e-03, 0.00000000e+00,-1.27584272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0046428186823031445
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94290639e-14, -3.58690410e-14,  1.00000000e+00,  6.96901889e-28,
        1.00000000e+00,  3.58690410e-14, -1.00000000e+00,  0.00000000e+00,
        1.94290639e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0070242 , -0.06490777,  0.0617664 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.35734574e-06,-1.08223502e-05, 9.75215436e-06, 8.73318706e-06,
  2.40577812e-05, 1.20488845e-04, 1.24492179e-05,-2.95708696e-05,
  3.38586539e-03, 4.08613908e-05,-1.91657776e-05,-1.28485773e-04,
  5.17290278e-05,-4.99179279e-06,-4.90482404e+00, 7.32831846e-05,
  3.41863684e-03,-1.38354365e-04]


--- 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  ,
  1.39623721, 0.0077104 , 1.35792946, 0.04396505,-0.08545483,-0.04626357,
  0.09277813, 0.70994141,-0.07816627,-0.69714697,-0.06212351]

qacc:
[-4.07514822e+00, 2.46799384e+00,-7.58100630e+00, 7.76416797e+00,
 -2.80304022e-02,-2.72817486e+00, 7.86661629e+00,-5.27000150e+00,
  2.41183554e+00,-5.09324887e-02, 1.77585140e+00,-3.49893389e+00,
  1.87178513e-03, 1.99317917e-01, 8.55849581e-01,-3.48271293e+00,
 -4.17215042e+00, 8.51836478e-01,-2.79280274e+00,-3.26890971e+00,
 -1.38168164e+02,-5.00043069e+00]

qfrc_actuator:
[ 6.51770984e-05, 9.47788039e-04, 1.25834045e-04, 1.97650204e-05,
  2.01738501e-05, 3.49187260e-02, 1.09343670e-02, 1.83606019e-03,
 -4.16935427e-05, 9.74455726e-04, 2.23263463e-04, 5.76535211e-05,
  0.00000000e+00,-1.63144199e-03, 0.00000000e+00,-1.28988022e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.29749308,  8.3251608 , -2.29749308, 83.64685016,
       20.70063004,  8.3251608 , 20.70063004, 14.34911267,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004615639343321827
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.51003212e-15, -1.20267523e-14,  1.00000000e+00,  5.42410394e-29,
        1.00000000e+00,  1.20267523e-14, -1.00000000e+00,  0.00000000e+00,
        4.51003212e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00709897, -0.06492609,  0.06176785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.14671470e-06,-4.06786362e-05, 3.79106013e-05, 5.31430025e-06,
  1.46006740e-05, 1.07575183e-04, 4.53738981e-05, 4.48014340e-06,
  3.36230682e-03, 2.86142174e-05,-2.38611046e-05,-2.38393734e-05,
  2.66015385e-06, 9.12402469e-08,-4.90499264e+00, 8.22025254e-05,
  3.41959448e-03,-1.39028402e-04]


--- 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,
  1.39623745, 0.00770989, 1.35802164, 0.04395722,-0.0854826 ,-0.04625992,
  0.09279403, 0.70961985,-0.07817565,-0.697471  ,-0.06214845]

qacc:
[ 4.74328825e-01, 5.79652675e-01, 1.15719425e+00,-8.64036600e+00,
  3.25913059e-02, 9.53638647e-02, 1.38034964e+00,-8.83711693e+00,
 -1.57700741e+00, 1.60800059e+00,-4.73401971e+00, 5.53799955e+00,
 -8.09192088e-03, 1.29858133e-01,-8.45544485e-01, 2.56238137e+00,
 -3.69663155e+00, 7.50846347e-01,-3.61725739e+00,-2.95889788e+00,
 -1.22106837e+02,-4.27615240e+00]

qfrc_actuator:
[ 6.88516232e-05, 1.01337653e-03, 1.29741071e-04, 1.51930782e-06,
  3.44237608e-05, 3.49498677e-02, 1.09215116e-02, 1.80297696e-03,
 -5.15425097e-05, 9.79068385e-04, 1.99539510e-04, 5.74277757e-05,
  0.00000000e+00,-1.63050536e-03, 0.00000000e+00,-1.27710764e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.1693088 ,  8.35947823, -2.1693088 , 88.32357418,
       20.6790618 ,  8.35947823, 20.6790618 , 14.00264003,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004540636465801405
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.68099414e-14,  2.44508239e-14,  1.00000000e+00, -4.11016917e-28,
        1.00000000e+00, -2.44508239e-14, -1.00000000e+00,  0.00000000e+00,
        1.68099414e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00728137, -0.0649654 ,  0.06177137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.43406355e-06, 1.62107788e-05,-1.63416589e-05,-3.30675301e-05,
 -9.38182728e-06, 7.42945443e-05, 4.22635627e-06, 6.03850624e-06,
  3.35211890e-03, 1.72560935e-05,-1.40297019e-05, 8.29868315e-06,
  1.57135026e-05,-4.48078381e-06,-4.90494438e+00, 1.00832415e-04,
  3.41385262e-03,-1.39680595e-04]


--- 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,
  1.39623782, 0.00770985, 1.35811351, 0.04395126,-0.08549112,-0.04625946,
  0.09282732, 0.70952108,-0.07818294,-0.69756831,-0.06217483]

qacc:
[-2.56355506e+00,-9.79954558e-01, 3.18354180e+00,-1.57911215e+00,
  4.78318658e-02, 1.12396913e+00,-2.34427013e+00,-2.81515816e+00,
 -9.88512722e+00, 1.86286260e+00,-4.67930487e+00, 5.68794920e-01,
 -1.65751752e-02, 3.34290837e-01,-6.07955222e+00, 2.06214799e+01,
  4.81234310e+00,-7.98100922e-01, 4.34898642e+00, 1.89948236e+00,
  1.58259079e+02, 1.45414702e+01]

qfrc_actuator:
[ 5.32747583e-05, 9.98583887e-04, 1.50091725e-04, 8.23269086e-06,
  4.26966251e-05, 3.49680123e-02, 1.08963297e-02, 1.78316985e-03,
 -1.10765066e-04, 9.62931390e-04, 1.50040638e-04, 3.95632243e-05,
  0.00000000e+00,-1.59433267e-03, 0.00000000e+00,-1.17766442e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00450740702073784
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23155399e-14, -1.23155399e-14,  1.00000000e+00,  1.51672524e-28,
        1.00000000e+00,  1.23155399e-14, -1.00000000e+00,  0.00000000e+00,
        1.23155399e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13824958, -0.03660803,  0.06177295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.38486934e-05, 2.29166532e-05,-2.48398161e-05,-2.05635112e-05,
 -5.94659922e-05, 2.64721115e-05,-3.34413510e-05,-1.44199574e-05,
  3.34808578e-03, 4.50773903e-05,-6.48443392e-06, 9.79048322e-05,
  7.06894827e-05,-1.57749624e-05,-4.90474876e+00, 1.25281953e-04,
  3.40224601e-03,-1.40377033e-04]


--- 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 ,
  1.39623847, 0.00771018, 1.35820551, 0.04394484,-0.0854826 ,-0.04626181,
  0.09287135, 0.7096189 ,-0.07818816,-0.69746571,-0.06220298]

qacc:
[-4.49992938e+00,-2.80301620e+00, 8.55599766e+00,-7.36356839e+00,
  1.05851713e-01,-2.60451259e+00, 9.34598225e+00,-1.48065215e+01,
 -1.37060981e-01, 1.90157923e+00,-8.53459717e+00, 1.71753231e+01,
 -2.75730441e-02, 3.29660606e-01, 1.59203159e+00,-5.26496935e+00,
  4.25699760e+00,-7.00942882e-01, 2.68574176e+00, 1.58646638e+00,
  1.39619250e+02, 1.25798289e+01]

qfrc_actuator:
[ 2.64818978e-05, 9.35862543e-04, 1.79679777e-04, 1.17705129e-05,
  6.50689163e-05, 3.49426763e-02, 1.09173276e-02, 1.75358903e-03,
 -1.09803494e-04, 9.69845002e-04, 1.38878388e-04, 6.46867538e-05,
  0.00000000e+00,-1.57289887e-03, 0.00000000e+00,-1.20549291e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004490762202143235
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23611870e-14,  1.85417805e-14,  1.00000000e+00, -2.29198415e-28,
        1.00000000e+00, -1.85417805e-14, -1.00000000e+00,  0.00000000e+00,
        1.23611870e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13827716, -0.03660008,  0.06177388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.05571830e-05,-1.81428386e-05, 2.20509293e-05,-3.00958410e-05,
 -7.62449774e-07, 1.40961707e-05,-1.03255722e-05, 2.48204088e-05,
  3.34209779e-03, 4.27436708e-05, 7.08971741e-06,-2.33834857e-05,
  6.72610804e-06,-3.81102244e-06,-4.90497635e+00, 9.01444139e-05,
  3.40066654e-03,-1.41892438e-04]


--- 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,
  1.39623879, 0.00771067, 1.35829704, 0.04394216,-0.08545892,-0.04626663,
  0.0929205 , 0.70989121,-0.07819133,-0.69718551,-0.06223308]

qacc:
[ 2.50591765e-01,-1.65721824e-01, 1.43908635e+00,-5.71000293e+00,
  4.57032238e-02,-8.49089312e-02,-2.01240703e-02, 2.85794286e-01,
  3.11042583e+00, 1.38819128e-01,-5.13450305e+00, 2.14790745e+01,
 -3.37552240e-02, 4.33776153e-02,-1.20245342e+01, 4.10585930e+01,
  3.79274357e+00,-6.19989796e-01, 1.27813773e+00, 1.34446753e+00,
  1.24009890e+02, 1.09631641e+01]

qfrc_actuator:
[ 2.88130304e-05, 9.15961577e-04, 1.60995701e-04,-4.39073962e-06,
  6.02135708e-05, 3.49271761e-02, 1.09119852e-02, 1.75399865e-03,
 -9.11620167e-05, 9.55168637e-04, 1.68315702e-04, 1.14951892e-04,
  0.00000000e+00,-1.59590004e-03, 0.00000000e+00,-1.00631369e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004429483934672872
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.01287753e-14, -1.25321938e-14,  1.00000000e+00,  6.28223529e-28,
        1.00000000e+00,  1.25321938e-14, -1.00000000e+00,  0.00000000e+00,
        5.01287753e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13836685, -0.03658131,  0.06177687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.32020998e-05,-2.21338236e-05,-7.26577811e-06,-1.85906347e-07,
  1.86300346e-05,-7.94093970e-06, 3.19203259e-05, 5.09918944e-05,
  3.32733286e-03, 1.16979507e-06,-1.21085171e-06, 1.98358786e-04,
  8.02039710e-06, 2.73625979e-06,-4.90497570e+00, 8.44562908e-05,
  3.40509395e-03,-1.42097656e-04]


--- 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,
  1.39623862, 0.00771134, 1.35838812, 0.04394522,-0.08545374,-0.04626754,
  0.09296132, 0.70994896,-0.07820744,-0.6971231 ,-0.06225317]

qacc:
[ 9.14306271e+00, 5.54571255e-01, 3.84695878e-01,-8.89547081e+00,
  7.65837336e-02, 2.24877366e+00,-7.72410892e+00, 1.05530368e+01,
 -9.79761366e+00,-2.74501569e+00, 8.31721835e+00,-5.90218493e+00,
 -1.14879587e-02,-1.03604617e-02,-1.80423547e+01, 6.21106570e+01,
 -4.62494824e+00, 9.81629833e-01,-2.08241615e+00,-2.71170930e+00,
 -1.52894685e+02,-7.13071670e+00]

qfrc_actuator:
[ 8.37769752e-05, 9.21631009e-04, 1.31847825e-04,-3.20186737e-05,
  7.45688845e-05, 3.49531137e-02, 1.08911684e-02, 1.77203462e-03,
 -1.51046500e-04, 9.45624026e-04, 2.21401555e-04, 1.26348464e-04,
  0.00000000e+00,-1.59224038e-03, 0.00000000e+00,-7.10457034e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004385955147584011
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10744993e-14,  1.26565707e-14,  1.00000000e+00, -1.40165183e-28,
        1.00000000e+00, -1.26565707e-14, -1.00000000e+00,  0.00000000e+00,
        1.10744993e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00767926, -0.06506376,  0.06177909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.21564515e-05, 1.22609689e-05,-2.59796782e-05, 1.71540101e-05,
 -5.93384901e-05,-5.27634049e-06, 5.71195139e-05, 1.31464060e-05,
  3.34382327e-03,-3.11524281e-06, 2.01740455e-05, 3.06478103e-04,
  5.46725203e-05, 5.39246390e-06,-4.90481689e+00, 9.88714409e-05,
  3.41496907e-03,-1.41296699e-04]


--- 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,
  1.39623869, 0.00771199, 1.35847989, 0.04394645,-0.08546491,-0.04626499,
  0.09299015, 0.70981767,-0.07823562,-0.69725262,-0.06226425]

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,
  6.11600861e-03, 4.74809142e-02, 6.57650483e+00,-2.15035525e+01,
 -4.08866047e+00, 8.60784202e-01,-2.99800378e+00,-2.56480889e+00,
 -1.34752730e+02,-5.98376332e+00]

qfrc_actuator:
[ 1.51517860e-04, 9.06994234e-04, 1.14628233e-04,-4.83922027e-05,
  1.00334155e-04, 3.49503537e-02, 1.08970655e-02, 1.67604335e-03,
 -1.50161762e-04, 9.57057019e-04, 2.52491317e-04, 1.14791973e-04,
  0.00000000e+00,-1.57266533e-03, 0.00000000e+00,-8.21651341e-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, -4.50317885,  7.36940683, -4.50317885, 55.69239772,
       28.75424607,  7.36940683, 28.75424607, 26.20704682,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004363174858612741
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.95165691e-15, -2.54453021e-14,  1.00000000e+00,  2.02332312e-28,
        1.00000000e+00,  2.54453021e-14, -1.00000000e+00,  0.00000000e+00,
        7.95165691e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00774298, -0.06508202,  0.06178034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.88592130e-05,-5.49406031e-07, 5.84206565e-06,-9.59862383e-05,
 -8.51008316e-07, 2.07421909e-05, 3.74611717e-05,-9.55617688e-06,
  3.36803494e-03, 7.63976220e-06, 4.12043061e-05,-9.20021116e-05,
  3.06130791e-06, 2.31919326e-06,-4.90499147e+00, 8.59837044e-05,
  3.41653803e-03,-1.41458645e-04]


--- 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,
  1.39623893, 0.0077126 , 1.35857195, 0.04394573,-0.08549062,-0.04625941,
  0.09300387, 0.70951867,-0.07827505,-0.6975522 ,-0.06226717]

qacc:
[ 9.48079186e-01, 6.67584654e-01,-3.42056729e+00, 6.53626918e+00,
  6.88181241e-02,-1.05280032e+00, 2.46094794e+00, 1.03895147e+00,
  9.04802861e+00,-4.39358099e+00, 1.86340077e+01,-3.39705133e+01,
 -6.86779296e-03, 2.21424978e-02, 6.30859026e+00,-2.14420603e+01,
 -3.63515709e+00, 7.59303587e-01,-3.77696322e+00,-2.41493815e+00,
 -1.19488628e+02,-5.05378408e+00]

qfrc_actuator:
[ 1.55208591e-04, 8.98116671e-04, 1.04526053e-04,-4.02626913e-05,
  9.72309917e-05, 3.49304657e-02, 1.09185179e-02, 1.69124614e-03,
 -9.57373674e-05, 9.27606377e-04, 2.88166796e-04, 7.20757723e-05,
  0.00000000e+00,-1.57892636e-03, 0.00000000e+00,-9.23264534e-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, -4.39479362,  7.43455216, -4.39479362, 59.66301748,
       30.16343257,  7.43455216, 30.16343257, 26.46690113,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004294849821112001
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61563132e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.61563132e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00790989, -0.06511996,  0.06178356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.98612783e-05,-2.19420068e-05, 1.91919207e-05, 1.31304312e-05,
  5.44129773e-05,-1.06125435e-05, 4.42055057e-05,-4.07262055e-05,
  3.35605870e-03, 2.09542973e-06, 4.57454464e-06,-1.02418225e-04,
  1.10201698e-05,-7.62656203e-06,-4.90495871e+00, 8.69867684e-05,
  3.41159215e-03,-1.41550791e-04]


--- 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,
  1.396239  , 0.00771287, 1.35866398, 0.04394415,-0.08549743,-0.04625702,
  0.09303348, 0.70943721,-0.07831279,-0.69763048,-0.06227089]

qacc:
[-2.69365663e+00, 7.37731119e-01,-2.98132806e+00, 4.59441133e+00,
  3.15050778e-02, 9.30840608e-01,-5.53420878e+00, 1.87804336e+01,
  5.63003993e+00,-2.27726282e+00, 7.88843219e+00,-1.06266491e+01,
 -9.34803341e-03,-2.35230975e-01, 2.58412899e+00,-9.09838457e+00,
  4.72622255e+00,-7.96141498e-01, 3.97371763e+00, 1.94765347e+00,
  1.54459042e+02, 1.45598294e+01]

qfrc_actuator:
[ 1.38918885e-04, 9.10562124e-04, 9.87367057e-05,-3.55292081e-05,
  9.45876379e-05, 3.49538559e-02, 1.09489822e-02, 1.75402731e-03,
 -6.35135242e-05, 8.91641620e-04, 3.08340505e-04, 6.46030999e-05,
  0.00000000e+00,-1.61840012e-03, 0.00000000e+00,-9.65027324e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004313231841915323
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.86099008e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.86099008e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13854387, -0.03653664,  0.06178282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.09300710e-06, 1.53941148e-05, 2.87385496e-05, 6.29878244e-05,
  3.38209379e-05,-3.45797833e-05, 2.19727501e-05,-7.20123253e-06,
  3.34738152e-03,-3.48626357e-05,-1.16732363e-05,-4.74397044e-05,
  5.97072159e-05,-2.24907923e-05,-4.90478336e+00, 9.69001739e-05,
  3.40090867e-03,-1.41653520e-04]


--- 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,
  1.39623865, 0.00771263, 1.35875582, 0.04394307,-0.08548747,-0.04625742,
  0.09307263, 0.70954816,-0.07834877,-0.69751315,-0.06227584]

qacc:
[-4.73032054e+00,-2.85407304e-01, 2.38533228e+00,-7.55778930e+00,
  7.19428793e-02,-1.05987500e+00, 4.42666316e+00,-1.05901318e+01,
  3.44842041e-01, 2.09101092e+00,-1.06193961e+01, 2.25508249e+01,
  7.11372948e-03,-4.26104176e-01,-1.80769985e+00, 5.88174728e+00,
  4.19103120e+00,-6.99384469e-01, 2.38454130e+00, 1.63541471e+00,
  1.36606781e+02, 1.26046821e+01]

qfrc_actuator:
[ 1.11020699e-04, 9.17951384e-04, 9.56205482e-05,-5.05680923e-05,
  1.09995918e-04, 3.49142950e-02, 1.09314347e-02, 1.72003772e-03,
 -6.23856270e-05, 8.69765722e-04, 2.83683063e-04, 9.56638643e-05,
  0.00000000e+00,-1.65974577e-03, 0.00000000e+00,-9.35674177e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0042975403802703455
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58339172e-14, -6.45847931e-15,  1.00000000e+00,  1.66847820e-28,
        1.00000000e+00,  6.45847931e-15, -1.00000000e+00,  0.00000000e+00,
        2.58339172e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13856936, -0.03652869,  0.06178368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.07821522e-05,-2.35359950e-05,-9.42004185e-06,-3.12226017e-05,
  2.11236807e-06,-3.70463248e-05,-2.93874947e-05, 3.01892396e-05,
  3.35573317e-03,-5.95301696e-05,-1.24588687e-05, 2.48103855e-05,
  3.49754109e-06,-5.18358644e-06,-4.90498395e+00, 8.23489158e-05,
  3.39978890e-03,-1.41745421e-04]


--- 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,
  1.39623794, 0.00771207, 1.35884746, 0.04394333,-0.08546254,-0.0462603 ,
  0.09311594, 0.70983034,-0.07838296,-0.69722157,-0.06228229]

qacc:
[ 4.30478614e-02,-1.78133236e+00, 7.37418608e+00,-1.20505382e+01,
  7.14077913e-02, 3.04647081e-01,-5.50327279e-01,-3.73625985e+00,
 -5.78841257e+00, 9.13271295e-01,-3.38980055e+00, 4.00522196e+00,
  3.14197655e-02,-3.19149153e-01,-4.38012833e+00, 1.48421995e+01,
  3.74345818e+00,-6.18830108e-01, 1.03977067e+00, 1.39486405e+00,
  1.21657224e+02, 1.09956030e+01]

qfrc_actuator:
[ 1.12025653e-04, 9.40010409e-04, 1.29585597e-04,-5.93678355e-05,
  1.18357147e-04, 3.48903686e-02, 1.09031365e-02, 1.70030915e-03,
 -9.73150822e-05, 8.74093032e-04, 2.68335308e-04, 9.58666143e-05,
  0.00000000e+00,-1.66639963e-03, 0.00000000e+00,-8.64671051e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0042391540161525465
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30948654e-14,  1.30948654e-14,  1.00000000e+00, -1.71475500e-28,
        1.00000000e+00, -1.30948654e-14, -1.00000000e+00,  0.00000000e+00,
        1.30948654e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13865438, -0.03651047,  0.06178652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.06419247e-05,-3.97326920e-05,-3.48918022e-05,-2.14361046e-05,
 -3.48749593e-05,-2.12288084e-05,-2.56125456e-05,-1.82264150e-06,
  3.37688819e-03,-4.06755041e-05,-4.79263066e-06, 7.03992158e-05,
  8.91945886e-06, 6.28217502e-06,-4.90496872e+00, 9.42571026e-05,
  3.40454088e-03,-1.40596996e-04]


--- 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,
  1.39623729, 0.00771116, 1.35893941, 0.0439414 ,-0.08545606,-0.04625919,
  0.09315058, 0.70989958,-0.07842859,-0.69714622,-0.06227914]

qacc:
[ 5.98886678e+00,-1.57594530e+00, 3.18008253e+00, 5.05339075e+00,
 -5.26635841e-03, 1.86728258e+00,-5.41796364e+00, 1.86065434e+00,
 -3.58227633e+00, 3.31219159e+00,-1.09439936e+01, 1.18936857e+01,
  4.71842046e-02,-2.46203610e-01, 7.05402861e+00,-2.40223753e+01,
 -4.61293563e+00, 9.96702477e-01,-2.16914467e+00,-2.32329010e+00,
 -1.51718132e+02,-7.70734383e+00]

qfrc_actuator:
[ 1.47791228e-04, 9.53093468e-04, 1.85242334e-04,-2.88796310e-05,
  1.04670638e-04, 3.49114408e-02, 1.08688045e-02, 1.68915745e-03,
 -1.17671978e-04, 9.11835786e-04, 2.23198406e-04, 9.56935153e-05,
  0.00000000e+00,-1.66997245e-03, 0.00000000e+00,-9.82750908e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004173373549081108
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.31329118e-15, -1.33012659e-14,  1.00000000e+00,  1.10577296e-28,
        1.00000000e+00,  1.33012659e-14, -1.00000000e+00,  0.00000000e+00,
        8.31329118e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00822475, -0.06520719,  0.06178971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.48922162e-06,-8.38099200e-06,-4.67055095e-05,-1.38675418e-05,
 -2.13795665e-05, 2.04318831e-05,-5.27710934e-05,-2.01064696e-06,
  3.39401879e-03,-2.79932316e-05, 3.77476024e-06,-1.15176341e-04,
  5.74783385e-05, 1.34640379e-05,-4.90480306e+00, 1.23976886e-04,
  3.41463271e-03,-1.38495051e-04]


--- 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,
  1.39623692, 0.0077104 , 1.35903136, 0.04393809,-0.08546592,-0.04625458,
  0.09317297, 0.70978087,-0.07848517,-0.69726178,-0.06226728]

qacc:
[-2.32157789e+00,-1.64722680e+00, 6.08689863e+00,-6.99054712e+00,
  2.68758678e-02, 2.19979889e+00,-4.28806691e+00,-9.79915055e+00,
  8.98331994e-01, 1.66307552e+00,-5.57992340e+00, 6.12411920e+00,
  3.80788345e-02, 1.24389275e-01, 4.21413456e+00,-1.47269798e+01,
 -4.08475703e+00, 8.74420998e-01,-3.06117034e+00,-2.27515788e+00,
 -1.33953316e+02,-6.43193721e+00]

qfrc_actuator:
[ 1.32710126e-04, 9.60841370e-04, 2.17741855e-04,-2.87733107e-05,
  1.13374266e-04, 3.49237675e-02, 1.07958635e-02, 1.62990782e-03,
 -1.11523617e-04, 9.15922181e-04, 1.96485607e-04, 9.53154363e-05,
  0.00000000e+00,-1.63603842e-03, 0.00000000e+00,-1.05152065e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.3791054 ,  6.75662652, -5.3791054 , 43.41207219,
       27.6857395 ,  6.75662652, 27.6857395 , 30.6776161 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004159638929973945
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50133332e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.50133332e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00826514, -0.06522187,  0.06179051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.82339150e-06,-1.86765282e-06,-8.03035644e-05,-6.11953282e-05,
  5.53677703e-06, 4.45516194e-06,-2.90868005e-05,-1.37290501e-06,
  3.39152646e-03, 2.33675107e-05,-1.36840613e-05,-7.52981994e-05,
  2.92094894e-06, 4.66276849e-06,-4.90498661e+00, 9.26708973e-05,
  3.41664402e-03,-1.38175271e-04]


--- 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,
  1.39623667, 0.00771001, 1.35912293, 0.0439363 ,-0.08549033,-0.04624689,
  0.09318008, 0.70949511,-0.07855215,-0.69754678,-0.06224747]

qacc:
[-4.59691448e+00, 7.06877384e-01,-2.39335139e+00, 3.35404488e+00,
  3.09055418e-02, 2.49917348e-02, 6.45323811e-01,-4.85836372e+00,
  3.65733565e+00,-2.80969018e+00, 9.17725387e+00,-1.03588377e+01,
  2.29482031e-02, 2.33553347e-01,-5.16550840e+00, 1.72713532e+01,
 -3.63800217e+00, 7.71838261e-01,-3.82025331e+00,-2.20397543e+00,
 -1.19007894e+02,-5.40187941e+00]

qfrc_actuator:
[ 1.05563094e-04, 9.47477399e-04, 2.00748846e-04,-2.88219305e-05,
  1.17688040e-04, 3.49305823e-02, 1.07894282e-02, 1.61381415e-03,
 -8.98286940e-05, 8.82141556e-04, 2.34007624e-04, 9.48127134e-05,
  0.00000000e+00,-1.61546048e-03, 0.00000000e+00,-9.66354599e-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, -5.30667141,  6.81366387, -5.30667141, 46.65726329,
       29.61173679,  6.81366387, 29.61173679, 31.69880992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0041009536961727835
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35361565e-14, -6.76807827e-15,  1.00000000e+00,  9.16137671e-29,
        1.00000000e+00,  6.76807827e-15, -1.00000000e+00,  0.00000000e+00,
        1.35361565e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00840807, -0.06525591,  0.06179328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  8.93732761e-06,-1.17732455e-05,-1.77354796e-05,-1.99292446e-05,
  2.18650543e-05,-3.74163840e-05, 3.47903932e-05,-1.35056465e-06,
  3.37686182e-03, 3.66729736e-05,-1.57385469e-05, 7.89566080e-05,
  7.55484420e-06,-9.59262632e-06,-4.90496431e+00, 7.81967057e-05,
  3.41221225e-03,-1.37739302e-04]


--- 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,
  1.3962368 , 0.00770981, 1.35921476, 0.0439325 ,-0.0854959 ,-0.0462424 ,
  0.09320248, 0.7094251 ,-0.07861787,-0.69761232,-0.06222783]

qacc:
[ 3.05081334e+00, 2.54979765e+00,-1.01255365e+01, 1.70119817e+01,
  2.39823700e-02, 3.85673870e+00,-1.87319375e+01, 5.00782350e+01,
  5.19185497e+00,-4.30887204e-01, 1.26134434e+00,-1.35598256e+00,
  1.25486692e-02, 1.99149281e-01, 6.47409957e+00,-2.20940851e+01,
  4.71062230e+00,-8.00039049e-01, 3.82269187e+00, 2.03534438e+00,
  1.53143116e+02, 1.48318574e+01]

qfrc_actuator:
[ 1.24805787e-04, 9.56865919e-04, 1.72345609e-04,-1.12530607e-05,
  1.19333179e-04, 3.49520669e-02, 1.08223249e-02, 1.76531861e-03,
 -5.91661519e-05, 8.79467543e-04, 2.37977847e-04, 9.42473130e-05,
  0.00000000e+00,-1.60318456e-03, 0.00000000e+00,-1.07522848e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004140914530724772
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.68110587e-14,  6.70276467e-15,  1.00000000e+00, -1.79708217e-28,
        1.00000000e+00, -6.70276467e-15, -1.00000000e+00,  0.00000000e+00,
        2.68110587e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13880253, -0.03646985,  0.06179151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.92641734e-06, 1.08965446e-05, 2.79889092e-05, 1.50161849e-04,
  3.12929962e-05,-1.65136679e-05, 4.54345146e-07,-9.98176382e-07,
  3.37070076e-03, 3.01770564e-05, 1.10443008e-06,-1.06602293e-04,
  5.29745506e-05,-2.78120235e-05,-4.90479945e+00, 7.48958826e-05,
  3.40208103e-03,-1.37277996e-04]


--- 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,
  1.39623717, 0.00770984, 1.35930653, 0.04392776,-0.08548474,-0.04624071,
  0.09323396, 0.70954621,-0.07868219,-0.69748358,-0.06220889]

qacc:
[-1.06106143e+00, 9.31857411e-01,-3.60377157e+00, 6.62118360e+00,
  7.57099335e-02, 3.40107324e+00,-1.61243638e+01, 4.28447998e+01,
  1.56074301e-01, 4.59203287e-01, 2.43340044e+00,-1.49089981e+01,
 -8.30741497e-03, 2.05933795e-01, 2.76642444e+00,-9.75750305e+00,
  4.18303966e+00,-7.02558920e-01, 2.27032666e+00, 1.71946787e+00,
  1.35652829e+02, 1.28508198e+01]

qfrc_actuator:
[ 1.17945432e-04, 9.79753138e-04, 1.73051382e-04,-1.19521426e-06,
  1.37116972e-04, 3.49646890e-02, 1.08427962e-02, 1.88997976e-03,
 -5.89810782e-05, 9.30826034e-04, 2.22199468e-04, 5.81336677e-05,
  0.00000000e+00,-1.59585419e-03, 0.00000000e+00,-1.12006928e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004130735140182827
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.68771293e-14, -1.34385646e-14,  1.00000000e+00,  3.61190040e-28,
        1.00000000e+00,  1.34385646e-14, -1.00000000e+00,  0.00000000e+00,
        2.68771293e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13881925, -0.03646323,  0.06179209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.18768938e-05, 2.86355405e-05, 3.01932038e-05, 1.29288781e-04,
  1.09991840e-06, 4.21399076e-05,-1.91924049e-05,-3.68319588e-05,
  3.35192197e-03, 2.80410751e-05,-1.32156655e-05,-5.10809234e-05,
  9.40692354e-07,-5.94815563e-06,-4.90498496e+00, 7.83934190e-05,
  3.40115523e-03,-1.36054944e-04]


--- 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,
  1.39623694, 0.00770995, 1.35939746, 0.04392887,-0.08545861,-0.04624152,
  0.09326926, 0.70983767,-0.07874501,-0.69718146,-0.062191  ]

qacc:
[ 2.20710426e+00,-9.65221999e-01, 1.96535863e+00, 8.12726009e-01,
  1.65788326e-02,-3.18039896e+00, 1.03264749e+01,-1.15481454e+01,
 -1.09399278e-02,-3.18998753e-01, 5.39586410e+00,-1.90858050e+01,
 -7.09494571e-03,-9.38856369e-02,-1.89488795e+01, 6.44343709e+01,
  3.74160073e+00,-6.21419408e-01, 9.56380328e-01, 1.47679805e+00,
  1.21004929e+02, 1.12212048e+01]

qfrc_actuator:
[ 1.31266201e-04, 9.21890380e-04, 1.73242186e-04, 4.39523886e-06,
  1.28933736e-04, 3.49186141e-02, 1.08734369e-02, 1.87352198e-03,
 -5.89862810e-05, 9.60775690e-04, 2.12855876e-04, 1.91854193e-05,
  0.00000000e+00,-1.62710553e-03, 0.00000000e+00,-8.07218034e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004078547131941196
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.72210419e-14,  1.36105210e-14,  1.00000000e+00, -3.70492562e-28,
        1.00000000e+00, -1.36105210e-14, -1.00000000e+00,  0.00000000e+00,
        2.72210419e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13889471, -0.03644654,  0.06179461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.74565082e-06,-2.04412526e-05, 4.34743202e-05,-1.17123166e-05,
  4.89839478e-08, 4.79160192e-05,-4.29870517e-06,-3.85272699e-05,
  3.33979022e-03,-1.43371901e-05,-1.28031801e-05, 3.08066081e-04,
  9.17663536e-06, 9.70087752e-06,-4.90495944e+00, 1.06524593e-04,
  3.40605613e-03,-1.33622990e-04]


--- 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,
  1.39623663, 0.00770967, 1.35948888, 0.04392864,-0.08545109,-0.04623825,
  0.09329595, 0.7099153 ,-0.0788188 ,-0.69709653,-0.06216346]

qacc:
[ 7.19754374e+00, 1.62084438e+00,-8.71476312e+00, 1.79693204e+01,
 -7.20905683e-02,-4.34680549e+00, 1.41287458e+01,-1.79343606e+01,
 -2.96655223e+00, 1.56032483e+00,-6.55296863e+00, 1.18361140e+01,
  2.32735639e-02,-2.88978960e-01, 4.73909240e+00,-1.55454187e+01,
 -4.65162412e+00, 1.01647665e+00,-2.15529860e+00,-2.20113717e+00,
 -1.52348724e+02,-7.95049066e+00]

qfrc_actuator:
[ 1.74119060e-04, 8.69372339e-04, 1.37282375e-04, 2.49943315e-05,
  1.05238819e-04, 3.48554554e-02, 1.09095301e-02, 1.84513993e-03,
 -7.68462544e-05, 9.42190989e-04, 1.89576099e-04, 3.21408641e-05,
  0.00000000e+00,-1.64595650e-03, 0.00000000e+00,-8.89745742e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00401983947517201
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07139433e-14, -2.41662671e-14,  1.00000000e+00,  5.00578687e-28,
        1.00000000e+00,  2.41662671e-14, -1.00000000e+00,  0.00000000e+00,
        2.07139433e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00861946, -0.06532538,  0.06179744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.08911623e-05,-6.63133512e-05, 3.67022419e-05,-2.79908562e-05,
 -1.78339903e-05, 5.60272332e-06,-1.52667858e-05, 1.41076034e-05,
  3.36908884e-03,-3.76520647e-05, 2.77916747e-05,-6.71079313e-05,
  5.97829986e-05, 2.07347505e-05,-4.90478632e+00, 1.50975107e-04,
  3.41626571e-03,-1.30261930e-04]


--- 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,
  1.39623654, 0.00770895, 1.35958088, 0.04392379,-0.08546005,-0.04623142,
  0.09331046, 0.70980406,-0.07890324,-0.69720348,-0.06212715]

qacc:
[-1.64614728e+00, 8.86484007e-01,-5.20624101e+00, 1.03638483e+01,
 -9.47943824e-02,-1.60803416e+00, 6.29108224e+00,-1.33594780e+01,
 -1.81449380e+00, 5.99570567e-01,-4.54582735e+00, 1.32926759e+01,
  2.40249568e-02,-2.25360993e-01, 1.48506883e+01,-5.07042703e+01,
 -4.12123332e+00, 8.91954647e-01,-3.04257996e+00,-2.20185627e+00,
 -1.34611296e+02,-6.60774142e+00]

qfrc_actuator:
[ 1.62994271e-04, 8.38064622e-04, 1.15775826e-04, 3.64777200e-05,
  9.01836905e-05, 3.48535689e-02, 1.09129777e-02, 1.80998662e-03,
 -8.73198364e-05, 9.30174361e-04, 1.93592519e-04, 5.77272987e-05,
  0.00000000e+00,-1.65691262e-03, 0.00000000e+00,-1.13365384e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.82511625,  6.37611147, -5.82511625, 37.47445862,
       26.34603496,  6.37611147, 26.34603496, 32.70569133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00401594623219368
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20948475e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.20948475e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00863425, -0.06533554,  0.06179776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.74031871e-05,-3.22289971e-05,-6.16570328e-06,-3.67172438e-05,
 -1.09877815e-05,-1.15091684e-05, 3.76133136e-06, 2.55706492e-05,
  3.37342170e-03,-2.85334061e-05, 1.47396125e-06,-2.44952134e-04,
  2.31813045e-06, 6.99107330e-06,-4.90497904e+00, 1.01754116e-04,
  3.41866006e-03,-1.29464871e-04]


--- 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,
  1.39623637, 0.00770812, 1.35967256, 0.04391875,-0.0854837 ,-0.04622144,
  0.09330979, 0.70952483,-0.07899793,-0.69748087,-0.06208282]

qacc:
[-4.21995186e+00,-1.63510789e+00, 7.70195966e+00,-1.79682230e+01,
 -8.98089087e-02,-1.37323533e+00, 7.14451251e+00,-1.96558652e+01,
  1.36782391e+01,-1.84695929e+00, 6.03638734e+00,-7.11327838e+00,
  1.44454120e-02,-1.06670818e-01, 1.05555922e-01,-1.05350022e+00,
 -3.67244636e+00, 7.87510047e-01,-3.79796229e+00,-2.16918985e+00,
 -1.19688052e+02,-5.52590698e+00]

qfrc_actuator:
[ 1.37930853e-04, 8.37489320e-04, 1.20810643e-04, 7.02957222e-06,
  8.04340790e-05, 3.48882559e-02, 1.09151080e-02, 1.75339514e-03,
 -4.59297341e-06, 9.04545086e-04, 2.13710461e-04, 5.50477966e-05,
  0.00000000e+00,-1.66294235e-03, 0.00000000e+00,-1.13326309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.78568353,  6.41191414, -5.78568353, 40.17447566,
       28.45788817,  6.41191414, 28.45788817, 34.31486329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039667481363927365
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.09911807e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.09911807e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00875297, -0.06536527,  0.06180006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.59447539e-05, 1.45520259e-05,-5.95047220e-06,-5.85916242e-05,
  8.24057193e-05,-3.02646465e-05, 1.90673444e-05,-2.54848729e-06,
  3.36221114e-03,-1.30186878e-05,-2.94315628e-05,-1.37235513e-05,
  4.86543748e-06,-1.13746450e-05,-4.90496315e+00, 7.18956224e-05,
  3.41460138e-03,-1.28500713e-04]


--- 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,
  1.39623595, 0.00770728, 1.35976379, 0.04391605,-0.08548842,-0.04621468,
  0.09332435, 0.70946163,-0.07909181,-0.6975385 ,-0.06203806]

qacc:
[-2.68616051e+00, 3.87837417e-01, 2.16010957e-01,-6.15594775e+00,
 -1.36847569e-01,-2.81698887e+00, 1.00828769e+01,-1.62768737e+01,
  8.37207302e+00, 8.30954814e-01,-3.25660068e+00, 3.98102483e+00,
  2.21012115e-02,-9.54446969e-02,-7.76472872e+00, 2.61544160e+01,
  4.73467703e+00,-8.04685151e-01, 3.80990132e+00, 2.14761584e+00,
  1.53308487e+02, 1.52623461e+01]

qfrc_actuator:
[ 1.22634403e-04, 8.55403684e-04, 1.06068709e-04,-1.07158664e-05,
  5.61929130e-05, 3.48557901e-02, 1.09343516e-02, 1.72017935e-03,
  4.35629998e-05, 8.88761521e-04, 1.89827667e-04, 5.35037565e-05,
  0.00000000e+00,-1.66615541e-03, 0.00000000e+00,-1.00663088e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004007596162742252
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38514833e-14, -6.92574164e-15,  1.00000000e+00,  9.59317945e-29,
        1.00000000e+00,  6.92574164e-15, -1.00000000e+00,  0.00000000e+00,
        1.38514833e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13900056, -0.03641289,  0.06179821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.95727666e-05,-2.73399117e-05, 1.96953330e-05,-3.43122322e-05,
  5.05635190e-05,-2.89056973e-05,-2.78987257e-05,-2.23817129e-06,
  3.36586929e-03,-1.02451112e-05,-1.55873370e-05, 1.21987547e-04,
  4.89159594e-05,-3.31043582e-05,-4.90480230e+00, 5.52014617e-05,
  3.40482006e-03,-1.27470291e-04]


--- 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,
  1.39623546, 0.00770654, 1.35985485, 0.04391519,-0.0854763 ,-0.04621074,
  0.09334799, 0.70958993,-0.0791847 ,-0.69740141,-0.06199345]

qacc:
[ 1.30136665e+00,-4.69073033e-01, 4.21758434e+00,-1.39618639e+01,
 -7.13315038e-02,-1.50953561e-01,-3.80186061e-01, 3.93239944e+00,
 -7.00920639e+00, 3.23591731e+00,-1.31082536e+01, 2.07239872e+01,
  3.42065685e-02, 9.71032347e-03,-5.79784996e+00, 1.99270832e+01,
  4.20689739e+00,-7.06110439e-01, 2.26944928e+00, 1.82765781e+00,
  1.35904384e+02, 1.32401977e+01]

qfrc_actuator:
[ 1.30966887e-04, 8.66444719e-04, 9.76125559e-05,-3.91773928e-05,
  5.89584401e-05, 3.48544571e-02, 1.09455575e-02, 1.73646974e-03,
 -5.58762402e-08, 8.78817003e-04, 1.40189415e-04, 7.03710959e-05,
  0.00000000e+00,-1.64998620e-03, 0.00000000e+00,-9.13222241e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004004370421018075
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38626414e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.38626414e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13900651, -0.03640807,  0.06179843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.06212151e-05,-1.36347498e-05, 7.09231304e-06, 1.52491913e-05,
 -4.21423703e-05,-3.19936289e-05,-5.91393439e-05, 1.46150635e-05,
  3.37816798e-03, 6.51668378e-06, 5.56844951e-06, 9.80371066e-05,
 -1.27861834e-06,-6.72834937e-06,-4.90498051e+00, 7.64645235e-05,
  3.40387015e-03,-1.24921877e-04]


--- 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,
  1.39623512, 0.00770566, 1.35994628, 0.04391244,-0.08544913,-0.04620929,
  0.09337549, 0.70988906,-0.07927644,-0.6970904 ,-0.06194941]

qacc:
[-2.18318214e+00,-8.77874559e-01, 4.97116338e+00,-1.17473324e+01,
  2.33632977e-02, 1.32389857e+00,-5.57646106e+00, 1.44600767e+01,
 -1.63231593e+01, 1.25752971e+00,-7.47031046e+00, 1.74398317e+01,
  3.73828450e-02,-8.58991037e-02, 6.25352426e+00,-2.10997102e+01,
  3.76507173e+00,-6.24046300e-01, 9.65078591e-01, 1.58239576e+00,
  1.21326489e+02, 1.15760128e+01]

qfrc_actuator:
[ 1.17631838e-04, 8.91061341e-04, 1.10667856e-04,-5.59611789e-05,
  7.79024387e-05, 3.49072874e-02, 1.09698091e-02, 1.78176262e-03,
 -9.73325899e-05, 8.54590442e-04, 1.29049914e-04, 9.79304772e-05,
  0.00000000e+00,-1.65780750e-03, 0.00000000e+00,-1.01770744e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003959073090062368
  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([-0.13907146, -0.03639318,  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:
[-1.31031851e-05, 1.69504106e-05, 8.88697363e-06,-1.81728627e-05,
  6.75717955e-06, 4.71362622e-05, 2.28384925e-05, 4.54434667e-05,
 -9.85169287e-05,-5.37566436e-05,-2.45298385e-05, 2.44268739e-05,
  3.38166130e-03,-6.66334818e-06, 1.16908223e-05,-9.87085902e-05,
  8.77706295e-06, 1.30699022e-05,-4.90494798e+00, 1.21087114e-04,
  3.40875438e-03,-1.21175854e-04]


--- 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,
  1.39623445, 0.00770426, 1.36003761, 0.04390982,-0.08544079,-0.0462037 ,
  0.09339462, 0.70997236,-0.07937924,-0.69699867,-0.06189544]

qacc:
[-7.33294947e+00,-3.90904886e-01,-7.99135334e-01, 8.57038398e+00,
 -7.19222239e-02, 8.61827360e-01,-2.64377397e+00, 4.37809964e+00,
 -1.87500473e+01, 7.76741027e-03,-1.70816830e+00, 6.66509661e+00,
  4.11219191e-02,-4.42457760e-01,-5.68444846e-01, 1.73516597e+00,
 -4.70925451e+00, 1.03875876e+00,-2.09288964e+00,-2.22471622e+00,
 -1.53792694e+02,-7.99618764e+00]

qfrc_actuator:
[ 7.38897987e-05, 8.88217159e-04, 1.36386336e-04,-3.02066482e-05,
  5.31391614e-05, 3.49212052e-02, 1.09662912e-02, 1.79053419e-03,
 -2.07629904e-04, 8.57662761e-04, 1.40685687e-04, 1.13823410e-04,
  0.00000000e+00,-1.71531733e-03, 0.00000000e+00,-1.00715271e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003922737897931315
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.84445263e-15, -2.83022484e-14,  1.00000000e+00,  2.50317895e-28,
        1.00000000e+00,  2.83022484e-14, -1.00000000e+00,  0.00000000e+00,
        8.84445263e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00886813, -0.06541727,  0.06180238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.07686268e-05, 4.58293981e-05, 9.63471008e-06, 1.19123050e-05,
 -1.13199408e-04,-3.10682775e-05,-1.64134778e-06, 1.32184073e-05,
  3.37367110e-03,-5.68131235e-05,-8.34165077e-06, 5.92616359e-06,
  6.12854207e-05, 2.79393501e-05,-4.90476782e+00, 1.80897540e-04,
  3.41895910e-03,-1.16510334e-04]


--- 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,
  1.3962334 , 0.00770268, 1.36012854, 0.04391001,-0.08544914,-0.04619445,
  0.0934018 , 0.70986501,-0.07949283,-0.69710065,-0.06183242]

qacc:
[-7.46713017e+00, 4.99404459e-01,-2.35098655e+00, 6.63323899e+00,
 -1.56817998e-01, 7.59349814e-01,-2.70783914e+00, 3.94450612e+00,
 -2.28205525e+00,-2.52500313e+00, 1.09380560e+01,-2.08682527e+01,
  6.22125789e-02,-2.70705414e-01,-9.09664580e+00, 3.09373734e+01,
 -4.17178184e+00, 9.11443008e-01,-2.98573174e+00,-2.24946751e+00,
 -1.35899639e+02,-6.61687105e+00]

qfrc_actuator:
[ 3.03600684e-05, 9.22308448e-04, 1.51538516e-04,-1.51518796e-05,
  2.01072359e-05, 3.48938411e-02, 1.09462433e-02, 1.79545373e-03,
 -2.18173686e-04, 8.59403737e-04, 1.65761253e-04, 8.72495146e-05,
  0.00000000e+00,-1.71345085e-03, 0.00000000e+00,-8.57830878e-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, -6.10481117,  6.10885075, -6.10481117, 33.92206844,
       25.26898419,  6.10885075, 25.26898419, 33.88863828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003927412254869367
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76678521e-15, -2.82685634e-14,  1.00000000e+00,  4.99444799e-29,
        1.00000000e+00,  2.82685634e-14, -1.00000000e+00,  0.00000000e+00,
        1.76678521e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00886054, -0.06542332,  0.06180226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.53038120e-05, 2.30614464e-07,-9.63685009e-06, 6.85722036e-06,
 -1.38691929e-05,-1.54682145e-05, 1.89163141e-05,-2.77023448e-05,
  3.39068283e-03,-2.91896208e-05,-5.15729197e-06, 1.48158388e-04,
  1.24795323e-06, 9.27591144e-06,-4.90496845e+00, 1.12885760e-04,
  3.42172071e-03,-1.15219210e-04]


--- 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,
  1.39623235, 0.00770131, 1.36021932, 0.04391263,-0.08547236,-0.04618199,
  0.09339401, 0.70958807,-0.07961685,-0.69737472,-0.06176112]

qacc:
[-1.48102163e+00, 2.18434935e-02, 1.74233627e+00,-5.62491807e+00,
 -1.61793105e-01,-1.04604335e+00, 5.56256591e+00,-1.62946723e+01,
  1.38476769e+01,-2.83788423e+00, 9.18783017e+00,-1.29142961e+01,
  7.77819059e-02, 4.00154887e-02,-7.59999713e+00, 2.62374677e+01,
 -3.71684133e+00, 8.04640185e-01,-3.74620995e+00,-2.23519047e+00,
 -1.20843719e+02,-5.50797956e+00]

qfrc_actuator:
[ 2.28194547e-05, 9.60461772e-04, 1.60459726e-04,-2.42529446e-05,
  1.35414643e-07, 3.48951487e-02, 1.09341965e-02, 1.74478440e-03,
 -1.34409399e-04, 7.53854200e-04, 1.63034840e-04, 7.14160307e-05,
  0.00000000e+00,-1.67608482e-03, 0.00000000e+00,-7.34493382e-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, -6.09257856,  6.12105084, -6.09257856, 36.18790043,
       27.4233799 ,  6.12105084, 27.4233799 , 35.93218276,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003886005826444598
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.14244313e-15,  3.57122156e-15,  1.00000000e+00, -2.55072469e-29,
        1.00000000e+00, -3.57122156e-15, -1.00000000e+00,  0.00000000e+00,
        7.14244313e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00895906, -0.06544939,  0.06180418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.67445078e-05,-2.44821076e-07,-1.28965925e-05,-5.07844518e-05,
  8.33541159e-05,-1.11505175e-04,-4.55273875e-06,-1.63819577e-05,
  3.40873011e-03, 1.73445019e-05, 1.26664122e-05, 1.30621953e-04,
  2.55547920e-06,-1.33909963e-05,-4.90495591e+00, 6.66577373e-05,
  3.41797761e-03,-1.13704080e-04]


--- 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,
  1.39623149, 0.0077    , 1.36031033, 0.04391504,-0.08547647,-0.04617276,
  0.09340168, 0.70952845,-0.07974063,-0.69742764,-0.06168873]

qacc:
[ 2.25191709e+00,-1.28055028e+00, 5.49159791e+00,-8.28989318e+00,
 -1.37107928e-01, 1.40067222e+00,-4.74576813e+00, 8.45026216e+00,
  8.66139143e+00, 2.18054337e-01,-3.07500320e+00, 7.34839370e+00,
  7.84536973e-02, 3.52541973e-03, 9.76944552e-01,-2.92669480e+00,
  4.77594825e+00,-8.06797928e-01, 3.86946580e+00, 2.28509686e+00,
  1.54206479e+02, 1.58190084e+01]

qfrc_actuator:
[ 3.65220022e-05, 9.65204410e-04, 1.83400924e-04,-2.97349865e-05,
 -1.18403052e-05, 3.49491073e-02, 1.09447953e-02, 1.76834564e-03,
 -8.46039403e-05, 7.09035118e-04, 1.43483887e-04, 7.96760341e-05,
  0.00000000e+00,-1.67099185e-03, 0.00000000e+00,-7.51763912e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003915764762357644
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41763243e-14,  7.08816216e-15,  1.00000000e+00, -1.00484086e-28,
        1.00000000e+00, -7.08816216e-15, -1.00000000e+00,  0.00000000e+00,
        1.41763243e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13913492, -0.0363669 ,  0.06180279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.95996187e-05, 4.97712276e-05, 7.59352119e-06, 2.19982958e-05,
  5.22071410e-05,-1.08772657e-04,-4.37093406e-05, 3.00223200e-06,
  3.40890104e-03, 1.22157825e-05, 1.84800575e-05,-8.80697776e-06,
  4.63285438e-05,-3.89372084e-05,-4.90479513e+00, 3.55278543e-05,
  3.40845890e-03,-1.12075950e-04]


--- 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,
  1.39623068, 0.00769881, 1.36040125, 0.0439186 ,-0.08546361,-0.04616635,
  0.09341867, 0.70966153,-0.07986393,-0.69728455,-0.0616159 ]

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,
  7.17282510e-02, 1.36764548e-02,-3.58231339e+00, 1.23329817e+01,
  4.24389612e+00,-7.07244051e-01, 2.32632010e+00, 1.96110989e+00,
  1.36732959e+02, 1.37461073e+01]

qfrc_actuator:
[ 2.71008114e-05, 9.85463686e-04, 1.61055252e-04,-3.30560157e-05,
 -1.89238214e-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,-1.66744957e-03, 0.00000000e+00,-6.91954684e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003919110620881364
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.24926647e-14, -7.08211079e-15,  1.00000000e+00,  3.00937759e-28,
        1.00000000e+00,  7.08211079e-15, -1.00000000e+00,  0.00000000e+00,
        4.24926647e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1391308 , -0.03636384,  0.06180268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.04836262e-05, 6.16116589e-05, 1.76329058e-05, 8.70958551e-05,
  3.08756870e-05, 4.64392177e-05,-2.13173025e-05,-1.92197778e-05,
  3.39958266e-03, 1.26739892e-05, 4.92500833e-06, 6.10738554e-05,
 -3.42596252e-06,-7.76873135e-06,-4.90497061e+00, 7.55604555e-05,
  3.40730950e-03,-1.08118767e-04]


--- 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,
  1.39622967, 0.00769781, 1.36049177, 0.04392619,-0.08543555,-0.04616244,
  0.09343973, 0.70996655,-0.07998653,-0.69696636,-0.06154309]

qacc:
[-3.87585716e+00, 6.63508127e-01,-1.87330843e+00, 1.64537987e+00,
 -1.51534740e-02, 6.85278289e-01,-5.42524637e-01,-7.43399666e+00,
  8.84313592e+00, 1.29236892e+00,-6.76710271e-01,-8.73804699e+00,
  7.48943064e-02,-1.48449186e-02,-1.28304080e+01, 4.39811205e+01,
  3.79831558e+00,-6.24336548e-01, 1.01915473e+00, 1.71314520e+00,
  1.22094770e+02, 1.20380763e+01]

qfrc_actuator:
[ 4.13755295e-06, 9.79165635e-04, 1.47705295e-04,-3.51028260e-05,
 -5.26436050e-06, 3.49463216e-02, 1.09017226e-02, 1.81367036e-03,
 -2.56551361e-06, 8.94778991e-04, 1.36746711e-04, 4.11582873e-05,
  0.00000000e+00,-1.66492260e-03, 0.00000000e+00,-4.80648118e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003879948188225575
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.29215664e-14, -2.14607832e-14,  1.00000000e+00,  9.21130430e-28,
        1.00000000e+00,  2.14607832e-14, -1.00000000e+00,  0.00000000e+00,
        4.29215664e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13918644, -0.03635063,  0.06180454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.35329986e-06, 5.42268436e-06,-3.28462804e-05,-3.51493267e-05,
  5.35698968e-05, 9.04380390e-05,-6.82945350e-06,-2.45316806e-05,
  3.39649783e-03, 9.12560592e-06, 7.32682219e-06, 2.14925483e-04,
  7.74909714e-06, 1.64758804e-05,-4.90493331e+00, 1.37894897e-04,
  3.41202396e-03,-1.02964425e-04]


--- 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,
  1.39622898, 0.0076967 , 1.36058289, 0.04393122,-0.08542656,-0.04615429,
  0.09345273, 0.71005349,-0.08012056,-0.69686973,-0.06145988]

qacc:
[ 6.99252185e-01,-1.40058496e+00, 4.38455968e+00,-4.63394013e+00,
  1.95986069e-02,-6.31641507e-01, 3.32614085e+00,-1.19823064e+01,
  2.35346483e+00, 8.44961484e-01,-2.48739784e+00, 3.44273363e+00,
  8.20597780e-02,-7.66001843e-02, 8.63259303e+00,-2.89095684e+01,
 -4.76639257e+00, 1.06169150e+00,-2.01609369e+00,-2.33633035e+00,
 -1.55410700e+02,-7.89664030e+00]

qfrc_actuator:
[ 8.89988070e-06, 9.39277041e-04, 1.57434211e-04,-3.63928130e-05,
  2.97422535e-06, 3.49071683e-02, 1.08726056e-02, 1.77215801e-03,
  1.01061306e-05, 9.00509408e-04, 1.29753795e-04, 4.41789214e-05,
  0.00000000e+00,-1.66312439e-03, 0.00000000e+00,-6.25612916e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003871125628383529
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.37742344e-15, -1.43397959e-14,  1.00000000e+00,  7.71111544e-29,
        1.00000000e+00,  1.43397959e-14, -1.00000000e+00,  0.00000000e+00,
        5.37742344e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00899803, -0.06548744,  0.06180504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.08993665e-06,-2.78457257e-05, 1.40408055e-05,-4.22167610e-07,
  5.66632702e-06,-4.36408093e-05,-3.28239880e-05,-4.31251803e-05,
  1.42721275e-05, 5.38798947e-05, 1.00152405e-05, 6.18476471e-06,
  3.40624596e-03, 1.31652606e-06, 2.57824101e-05,-1.32407615e-04,
  6.18884681e-05, 3.54920624e-05,-4.90474696e+00, 2.14405765e-04,
  3.42208785e-03,-9.68921502e-05]


--- 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,
  1.39622872, 0.00769571, 1.36067422, 0.04393385,-0.08543445,-0.04614241,
  0.09345405, 0.70994788,-0.08026577,-0.69696878,-0.0613672 ]

qacc:
[-2.38997301e+00,-1.62505486e+00, 8.89116298e+00,-2.15604040e+01,
 -3.28193274e-02,-1.09906147e+00, 4.75613498e+00,-1.36389081e+01,
 -7.61410566e+00,-1.52237279e+00, 5.56153143e+00,-6.15312716e+00,
  6.09360816e-02, 1.24836051e-01, 7.57202889e+00,-2.60312663e+01,
 -4.22056238e+00, 9.31349870e-01,-2.91883307e+00,-2.37264418e+00,
 -1.37293994e+02,-6.49928779e+00]

qfrc_actuator:
[-5.55782496e-06, 9.50675537e-04, 1.62808434e-04,-7.27499082e-05,
 -9.86009954e-06, 3.48834637e-02, 1.08557309e-02, 1.72985774e-03,
 -3.63682909e-05, 9.03475559e-04, 1.61726565e-04, 4.61064387e-05,
  0.00000000e+00,-1.64377270e-03, 0.00000000e+00,-7.48574022e-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, -6.31278195,  5.89368823, -6.31278195, 31.2844746 ,
       24.25859334,  5.89368823, 24.25859334, 34.619959  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038822592729882005
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60860058e-14, -2.85973436e-14,  1.00000000e+00,  4.60017035e-28,
        1.00000000e+00,  2.85973436e-14, -1.00000000e+00,  0.00000000e+00,
        1.60860058e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00897349, -0.06549039,  0.0618046 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.48706706e-06,-5.55676709e-05,-3.04111003e-05,-4.55740259e-05,
 -4.60382843e-05, 3.54400276e-05, 4.45641916e-05, 4.70631430e-06,
  3.39030990e-03, 2.68351358e-05,-6.28745599e-06,-1.27852071e-04,
 -2.73078834e-07, 1.15543745e-05,-4.90495361e+00, 1.25948682e-04,
  3.42524137e-03,-9.50704185e-05]


--- 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,
  1.3962282 , 0.007695  , 1.36076479, 0.04394101,-0.08545738,-0.04612724,
  0.09344062, 0.70967101,-0.08042182,-0.69724163,-0.06126586]

qacc:
[-4.36290835e+00,-2.42881473e-01, 4.75656196e+00,-1.80074816e+01,
  1.56494430e-02,-3.45330882e-01, 1.88326566e+00,-7.50884556e+00,
 -1.06718651e+01,-2.77946107e+00, 1.26744316e+01,-2.46913106e+01,
  4.77605175e-02, 5.20297505e-02,-1.48505419e+01, 5.02819930e+01,
 -3.75841265e+00, 8.21988519e-01,-3.68805591e+00,-2.36654795e+00,
 -1.22048017e+02,-5.37866967e+00]

qfrc_actuator:
[-3.12210779e-05, 9.74897052e-04, 1.47979856e-04,-1.11664264e-04,
  2.72499285e-07, 3.48869897e-02, 1.08462651e-02, 1.70519825e-03,
 -9.95176827e-05, 8.87162838e-04, 1.80910948e-04, 1.18826940e-05,
  0.00000000e+00,-1.64959683e-03, 0.00000000e+00,-5.02416443e-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, -6.32079302,  5.88509579, -6.32079302, 33.21023057,
       26.39316882,  5.88509579, 26.39316882, 36.98352455,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038464504930786625
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.01986639e-15,  1.44317862e-14,  1.00000000e+00, -1.30172783e-28,
        1.00000000e+00, -1.44317862e-14, -1.00000000e+00,  0.00000000e+00,
        9.01986639e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00905729, -0.06551385,  0.06180624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.52441592e-06,-3.45354658e-05,-2.51330290e-05,-2.82797496e-05,
 -6.44863453e-05, 1.28868590e-05, 3.21636220e-05,-3.10679424e-05,
  3.36902903e-03, 1.45982067e-05,-1.86392633e-05, 2.37834539e-04,
  3.12221377e-07,-1.57915355e-05,-4.90494232e+00, 6.16995757e-05,
  3.42182549e-03,-9.29613531e-05]


--- 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,
  1.39622734, 0.0076942 , 1.36085514, 0.04395169,-0.08546102,-0.04611529,
  0.09344301, 0.70961308,-0.08057834,-0.69729157,-0.06116267]

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,
  6.87184006e-02,-2.16006198e-01,-1.09705748e+01, 3.78741703e+01,
  4.82005718e+00,-8.04208071e-01, 3.95606290e+00, 2.45212042e+00,
  1.55333278e+02, 1.64932103e+01]

qfrc_actuator:
[ 2.54949555e-05, 9.17761769e-04, 1.03658268e-04,-1.16258563e-04,
  4.18543030e-05, 3.48890847e-02, 1.08591140e-02, 1.74439463e-03,
 -8.31932577e-05, 8.59349752e-04, 1.92269128e-04, 2.76399672e-05,
  0.00000000e+00,-1.67072789e-03, 0.00000000e+00,-3.24800422e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00386000356449432
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87622280e-14,  7.19055699e-15,  1.00000000e+00, -2.06816439e-28,
        1.00000000e+00, -7.19055699e-15, -1.00000000e+00,  0.00000000e+00,
        2.87622280e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13921428, -0.03633076,  0.06180556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.42544913e-05,-2.27780777e-05, 2.40356098e-06, 3.67625844e-05,
  1.44417314e-05,-1.53354455e-05, 1.69081167e-05, 1.68220353e-05,
  3.38129502e-03,-2.04404222e-05, 1.77849080e-05, 1.88438665e-04,
  4.43097626e-05,-4.55253464e-05,-4.90477958e+00, 1.45148998e-05,
  3.41257334e-03,-9.06862848e-05]


--- 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 ,
  1.39622665, 0.00769342, 1.36094582, 0.04396208,-0.08544754,-0.04610616,
  0.09345502, 0.70974928,-0.08073503,-0.69714396,-0.06105832]

qacc:
[ 5.89291330e+00, 1.40807273e+00,-8.51314169e+00, 2.02952457e+01,
  5.28294956e-02, 1.56408791e+00,-8.89296872e+00, 2.24695826e+01,
  4.60514893e+00, 1.96369403e+00,-7.76525401e+00, 1.22535244e+01,
  8.15545721e-02,-3.44583604e-02, 1.36385587e+00,-4.05680800e+00,
  4.28225487e+00,-7.04129989e-01, 2.40321738e+00, 2.12387225e+00,
  1.37721555e+02, 1.43618902e+01]

qfrc_actuator:
[ 5.92370941e-05, 9.01010864e-04, 9.52365313e-05,-8.29542880e-05,
  3.09552668e-05, 3.48016769e-02, 1.08318074e-02, 1.80311123e-03,
 -5.57215418e-05, 8.60365963e-04, 1.63397436e-04, 3.71636660e-05,
  0.00000000e+00,-1.64752856e-03, 0.00000000e+00,-3.48879456e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038686631062537433
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43489236e-14, -1.43489236e-14,  1.00000000e+00,  2.05891608e-28,
        1.00000000e+00,  1.43489236e-14, -1.00000000e+00,  0.00000000e+00,
        1.43489236e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13920207, -0.03632917,  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:
[ 3.53550250e-05,-5.37604839e-05,-2.42111391e-05, 2.95794340e-05,
  1.52526401e-05,-9.84313507e-05,-3.04098646e-05, 5.89524190e-05,
  2.78891857e-05,-3.35568045e-06,-2.93786077e-05, 9.77893111e-06,
  3.39827937e-03, 7.26517371e-06, 2.67042983e-05,-1.18705779e-05,
 -5.70109023e-06,-9.12899674e-06,-4.90495438e+00, 7.51806229e-05,
  3.41107538e-03,-8.51823284e-05]


--- 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,
  1.39622619, 0.00769277, 1.36103663, 0.04397214,-0.08541873,-0.0460995 ,
  0.09347137, 0.71005866,-0.0808916 ,-0.69681988,-0.06095332]

qacc:
[ 5.10962815e-01, 2.52180403e+00,-1.04428347e+01, 1.77771360e+01,
 -1.15024933e-01,-3.02355456e+00, 9.05978925e+00,-1.13698258e+01,
 -3.11774247e+00, 1.35260305e+00,-2.44897663e+00,-5.59233020e+00,
  7.11291451e-02, 7.24740245e-02, 1.17785986e+00,-3.85957269e+00,
  3.83173486e+00,-6.20752103e-01, 1.08740287e+00, 1.87284967e+00,
  1.22965820e+02, 1.26024996e+01]

qfrc_actuator:
[ 6.14075498e-05, 9.26488229e-04, 7.27441985e-05,-6.30740584e-05,
 -1.13398898e-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,-1.63330199e-03, 0.00000000e+00,-3.67310949e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003834256170640482
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89553691e-14,  1.44776845e-14,  1.00000000e+00, -4.19206698e-28,
        1.00000000e+00, -1.44776845e-14, -1.00000000e+00,  0.00000000e+00,
        2.89553691e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13925052, -0.03631731,  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:
[ 3.18063566e-06,-8.31864393e-06,-3.55548580e-05, 1.73168032e-05,
 -3.32850111e-05,-1.10311056e-04,-1.11765574e-06,-2.16102589e-05,
 -1.86535122e-05,-2.49333235e-05,-5.62652493e-05,-3.07079060e-05,
  3.38977879e-03, 2.09300483e-05, 7.86035010e-06,-1.64250002e-05,
  6.16591979e-06, 2.00338722e-05,-4.90491359e+00, 1.57106199e-04,
  3.41547257e-03,-7.84759428e-05]


--- 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,
  1.3962256 , 0.00769224, 1.36112711, 0.04398493,-0.08540917,-0.04608851,
  0.09347995, 0.710148  ,-0.08106015,-0.69671937,-0.06083733]

qacc:
[ 3.18189613e+00,-4.34724126e-01, 4.66230878e+00,-1.73935087e+01,
 -9.39396345e-02,-7.33182438e+00, 2.86724774e+01,-5.59650093e+01,
 -1.96826133e+00,-5.12205698e-01,-8.75505003e-01, 7.27803209e+00,
  6.54021003e-02,-3.50728301e-02,-8.75256183e+00, 2.98762373e+01,
 -4.81297205e+00, 1.08432065e+00,-1.94477769e+00,-2.51025937e+00,
 -1.56845315e+02,-7.66918134e+00]

qfrc_actuator:
[ 8.04905813e-05, 9.05993634e-04, 4.22768695e-05,-1.04491740e-04,
 -1.88676890e-05, 3.47557205e-02, 1.08993035e-02, 1.64823857e-03,
 -8.66368752e-05, 7.96757734e-04, 1.16327851e-04, 2.58123425e-05,
  0.00000000e+00,-1.64234688e-03, 0.00000000e+00,-2.22422940e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003851653414251262
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.34199735e-14, -2.88245827e-14,  1.00000000e+00,  6.75070962e-28,
        1.00000000e+00,  2.88245827e-14, -1.00000000e+00,  0.00000000e+00,
        2.34199735e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00904324, -0.06554244,  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:
[ 1.91727666e-05,-3.17552512e-05,-3.59592151e-05,-4.26650900e-05,
 -2.72016197e-05,-5.61443625e-05, 2.52951152e-05,-1.39600197e-04,
 -1.19957064e-05,-7.30914086e-05,-7.90699767e-06, 1.47785554e-05,
  3.37791076e-03, 4.80618652e-06,-2.37166710e-07, 1.44462583e-04,
  6.16618246e-05, 4.36916760e-05,-4.90472183e+00, 2.52173633e-04,
  3.42524821e-03,-7.08488058e-05]


--- 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,
  1.39622497, 0.00769166, 1.36121763, 0.04399867,-0.08541665,-0.04607372,
  0.09347709, 0.71004313,-0.08124044,-0.69681625,-0.06071133]

qacc:
[ 1.95322735e+00,-2.03248555e+00, 1.02912949e+01,-2.46283666e+01,
 -7.07300181e-02,-1.12756026e+00, 5.33991131e+00,-1.50391986e+01,
 -7.03306130e+00,-8.21481112e-01, 2.78474275e+00,-4.95179219e+00,
  7.44674998e-02,-1.21259126e-01,-2.81714177e+00, 9.94425052e+00,
 -4.25958970e+00, 9.50941714e-01,-2.85800062e+00,-2.55171621e+00,
 -1.38507073e+02,-6.26758497e+00]

qfrc_actuator:
[ 9.16331703e-05, 8.93551358e-04, 4.26390254e-05,-1.46175518e-04,
 -2.32285386e-05, 3.47603413e-02, 1.08920879e-02, 1.60478591e-03,
 -1.28755425e-04, 7.87184335e-04, 1.19884413e-04, 1.91326411e-05,
  0.00000000e+00,-1.64763049e-03, 0.00000000e+00,-1.77746128e-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, -6.48811611,  5.70009878, -6.48811611, 28.98098549,
       23.15718971,  5.70009878, 23.15718971, 34.99494818,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038670629002192577
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79435765e-15, -1.43548612e-14,  1.00000000e+00,  2.57577551e-29,
        1.00000000e+00,  1.43548612e-14, -1.00000000e+00,  0.00000000e+00,
        1.79435765e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0090074 , -0.06554339,  0.06180542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.04374058e-05,-2.56742896e-05,-1.94137169e-05,-4.76414861e-05,
 -4.24972626e-05,-5.14333545e-05,-1.19868284e-05,-9.79308325e-06,
  3.38437368e-03,-6.13537954e-06, 1.45791138e-05, 5.23386743e-05,
 -2.20988681e-06, 1.39186888e-05,-4.90493257e+00, 1.41056929e-04,
  3.42886518e-03,-6.84404335e-05]


--- 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,
  1.39622497, 0.00769093, 1.36130899, 0.04400649,-0.0854393 ,-0.04605557,
  0.09345969, 0.70976559,-0.08143212,-0.69708833,-0.06057619]

qacc:
[ 1.13788789e+00,-1.39215248e+00, 3.75992740e+00,-1.44581362e+00,
  7.27374246e-02, 1.15803948e+00,-7.41484896e+00, 2.46358427e+01,
 -4.24145240e+00, 6.09975014e-01,-3.46309673e+00, 7.95923832e+00,
  6.61164499e-02, 1.22328599e-02, 1.91353854e+01,-6.51526265e+01,
 -3.79094480e+00, 8.39019168e-01,-3.63639516e+00,-2.54847029e+00,
 -1.23073035e+02,-5.14702724e+00]

qfrc_actuator:
[ 9.80076714e-05, 9.03895366e-04, 7.89873857e-05,-1.34389248e-04,
  9.84972533e-06, 3.47641085e-02, 1.09236407e-02, 1.68699977e-03,
 -1.53087926e-04, 7.99608629e-04, 1.22523926e-04, 3.32728980e-05,
  0.00000000e+00,-1.63278086e-03, 0.00000000e+00,-4.94308527e-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, -6.51006407,  5.67501917, -6.51006407, 30.60074097,
       25.1963032 ,  5.67501917, 25.1963032 , 37.54015114,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038347689748458175
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26662799e-14,  2.89514970e-14,  1.00000000e+00,  3.66707766e-28,
        1.00000000e+00, -2.89514970e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26662799e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00908177, -0.0655653 ,  0.06180688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.09999022e-05,-1.56539869e-05, 2.29230668e-05, 7.97600672e-05,
 -2.55970852e-05,-1.92188023e-05,-9.77759040e-06, 1.13379209e-05,
  3.38606605e-03, 1.15302366e-05, 1.00420353e-05,-3.12392865e-04,
 -2.11216479e-06,-1.85906693e-05,-4.90492125e+00, 5.66287634e-05,
  3.42585182e-03,-6.56744905e-05]


--- 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,
  1.39622544, 0.00769033, 1.36140037, 0.04401083,-0.0854425 ,-0.04604061,
  0.09345846, 0.70970853,-0.08162517,-0.69713582,-0.06043827]

qacc:
[ 6.58501468e-01,-2.47130897e+00, 6.04172848e+00, 8.47841697e-01,
  1.72922433e-01,-1.24760351e+00, 1.71654908e+00, 9.83341675e+00,
  5.85277770e-01,-1.88652560e+00, 4.23649136e+00, 2.61260675e+00,
  2.88143025e-02, 1.66000751e-01, 1.05935576e+01,-3.69731275e+01,
  4.85919123e+00,-7.95534620e-01, 4.04196556e+00, 2.65376229e+00,
  1.56390152e+02, 1.72886068e+01]

qfrc_actuator:
[ 1.01527358e-04, 8.92504037e-04, 1.36414845e-04,-1.08948236e-04,
  4.73667034e-05, 3.47675661e-02, 1.09779043e-02, 1.73600121e-03,
 -1.48994180e-04, 8.07380351e-04, 1.77976451e-04, 5.95757429e-05,
  0.00000000e+00,-1.62349669e-03, 0.00000000e+00,-6.66070113e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003831693609944828
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89747338e-14, -7.24368346e-15,  1.00000000e+00,  2.09883800e-28,
        1.00000000e+00,  7.24368346e-15, -1.00000000e+00,  0.00000000e+00,
        2.89747338e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13925199, -0.0363024 ,  0.06180694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.99262046e-05, 1.69548809e-06, 5.61498620e-05, 5.10463924e-05,
  3.33390624e-06,-4.48492332e-06, 5.06941224e-05, 2.53679039e-05,
  3.35433755e-03, 2.78892910e-05,-3.31526777e-05,-1.88645050e-04,
  4.21908180e-05,-5.29261342e-05,-4.90475580e+00,-8.68782486e-06,
  3.41694640e-03,-6.26826667e-05]


--- 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,
  1.3962258 , 0.0076901 , 1.36149093, 0.04401839,-0.08542948,-0.0460334 ,
  0.09344416, 0.70983084,-0.08167165,-0.69700953,-0.06039567]

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,
  8.11980188e-03, 1.84956558e-01,-1.09675922e+01, 3.66079544e+01,
  4.05810737e+00,-1.94103876e+00,-3.26637075e+00, 2.08533880e+01,
  1.32513572e+02,-7.23969229e+01]

qfrc_actuator:
[ 8.55875238e-05, 8.68309593e-04, 1.52481010e-04,-1.28949626e-04,
  5.17362924e-05, 3.48241646e-02, 1.10095829e-02, 1.69403388e-03,
 -1.10454960e-04, 7.94795489e-04, 2.46414213e-04, 3.95993331e-05,
  0.00000000e+00,-1.61775779e-03, 0.00000000e+00,-4.84729621e-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, -7.85652746,  3.58632865, -7.85652746,  9.55037147,
        2.00230607,  3.58632865,  2.00230607, 13.02279171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038578093362834492
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.64431223e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.64431223e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1813482 , -0.01097426,  0.06180574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.38737145e-05, 7.00735282e-05, 3.98983926e-05,-3.90900143e-05,
  3.86289778e-05,-3.50102517e-06, 7.46472325e-05,-1.79181371e-05,
  3.33075830e-03, 2.75897277e-05,-3.66007753e-05, 1.66434286e-04,
 -8.26412870e-06,-1.07647666e-05,-4.90493016e+00, 7.51468616e-05,
  3.41495633e-03,-5.54458658e-05]


--- 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,
  1.39622631, 0.00768995, 1.3615816 , 0.04402532,-0.0854001 ,-0.046031  ,
  0.09343133, 0.71014218,-0.08167532,-0.69669337,-0.0603785 ]

qacc:
[ 1.28342241e+00,-3.14620506e-01, 3.93003307e+00,-1.37320755e+01,
  1.38294167e-01, 6.40798611e-01,-1.32629825e+00, 2.88431425e+00,
  9.89657149e+00,-2.69372550e+00, 1.18392435e+01,-2.22859721e+01,
  1.05873289e-02, 7.64622676e-02, 2.08170695e+00,-7.05861643e+00,
  4.08768386e+00,-1.20013405e+00, 3.67393947e-01, 8.31920612e+00,
  1.35595054e+02,-1.04888941e+01]

qfrc_actuator:
[ 9.38279679e-05, 8.89699772e-04, 1.43900524e-04,-1.57822944e-04,
  7.16907112e-05, 3.48765077e-02, 1.10278298e-02, 1.70540825e-03,
 -5.19595863e-05, 7.87911033e-04, 2.68583255e-04, 1.02877648e-05,
  0.00000000e+00,-1.61444265e-03, 0.00000000e+00,-5.22906554e-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, -7.53169543,  4.22614964, -7.53169543, 25.95587043,
       30.86621665,  4.22614964, 30.86621665, 63.64505076,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003837646840182275
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.62048611e-07,  5.78595723e-14,  1.00000000e+00, -4.98777640e-20,
        1.00000000e+00, -5.78595723e-14, -1.00000000e+00,  0.00000000e+00,
        8.62048611e-07])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14844794, -0.03075917,  0.06180659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.99748613e-05, 9.77504218e-05, 3.53477323e-05, 1.37407331e-05,
  5.96202961e-05, 5.85414685e-06, 3.00227307e-05,-2.72274409e-05,
  3.33601836e-03, 1.24579458e-05, 2.38161374e-06,-3.34681849e-05,
  1.02612408e-05, 3.72472191e-06,-4.90495827e+00, 1.29605752e-04,
  3.40617367e-03,-5.21654547e-05]


--- 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,
  1.39622708, 0.00768959, 1.36167268, 0.04402839,-0.08539169,-0.04602458,
  0.09341323, 0.71021708,-0.0817099 ,-0.69661596,-0.06034404]

qacc:
[ 6.72028399e+00,-2.96366991e-01, 3.43270973e+00,-1.02616402e+01,
  1.21181298e-01,-2.33563096e-01, 1.55270812e+00,-3.34173026e+00,
  5.82150157e-02, 2.23062725e+00,-7.81275771e+00, 9.67502463e+00,
 -8.12170732e-05,-5.14973646e-02, 1.22797799e+01,-4.20569307e+01,
 -5.24169849e+00, 1.00362998e+00,-1.31920889e+00,-7.40389904e+00,
 -1.68775715e+02, 1.77361059e-02]

qfrc_actuator:
[ 1.33993951e-04, 9.38101989e-04, 1.56538376e-04,-1.73899090e-04,
  8.30826731e-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,-1.63019535e-03, 0.00000000e+00,-7.25726380e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039016952493264104
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.33529155e-15,  1.42274441e-14,  1.00000000e+00,  7.59075626e-29,
        1.00000000e+00, -1.42274441e-14, -1.00000000e+00,  0.00000000e+00,
       -5.33529155e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00891271, -0.06553416,  0.06180361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.50186988e-05, 3.97594648e-05, 1.60182945e-05,-6.27373118e-06,
  4.96534947e-07, 4.75201802e-06,-3.68533896e-05, 1.67164984e-06,
  3.32864537e-03,-7.39546759e-06,-4.58984572e-06,-2.04866312e-04,
  6.77132743e-05,-5.97508790e-06,-4.90476313e+00, 1.51198989e-04,
  3.41502682e-03,-5.02259556e-05]


--- Step 2716 ---
qpos:
[ 0.01871425, 0.03005738,-0.00945069,-0.02527839,-0.00351642, 1.34082913,
 -0.03004829, 0.94382416, 0.0115501 , 0.02731469,-0.00833426, 0.02643882,
  1.39622798, 0.00768911, 1.36176375, 0.04402901,-0.08540173,-0.04601461,
  0.09338579, 0.71008404,-0.08177124,-0.69674865,-0.06029453]

qacc:
[ 1.09672597e+00, 4.30528291e-01,-2.97543059e+00, 1.07849384e+01,
  3.14336251e-02,-1.34536291e-02, 2.75269250e+00,-1.54474625e+01,
 -1.78889432e-01, 3.51235502e+00,-1.35559383e+01, 2.10894442e+01,
 -1.63487669e-02,-2.76701064e-02, 7.38980916e+00,-2.58762399e+01,
 -4.61134298e+00, 8.88648905e-01,-2.33374141e+00,-6.41158028e+00,
 -1.48457081e+02,-1.90974697e-01]

qfrc_actuator:
[ 1.39363756e-04, 9.66897045e-04, 1.81747519e-04,-1.46763450e-04,
  7.14942514e-05, 3.48422057e-02, 1.09795678e-02, 1.63587868e-03,
 -5.41137781e-05, 8.00187983e-04, 1.85642472e-04, 2.98566234e-05,
  0.00000000e+00,-1.63938380e-03, 0.00000000e+00,-8.46333139e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039415889788763855
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76043061e-15,  1.40834449e-14,  1.00000000e+00, -2.47929276e-29,
        1.00000000e+00, -1.40834449e-14, -1.00000000e+00,  0.00000000e+00,
        1.76043061e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00881535, -0.06551001,  0.06180171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  9.10752184e-06, 1.22951560e-05,-3.13205099e-05,-5.74468705e-05,
 -8.90439319e-07, 1.10353992e-05,-4.56170580e-05, 1.76205565e-05,
  3.31514176e-03,-6.41018954e-06,-2.71777768e-05,-1.33165342e-04,
  3.89670904e-06, 1.52669548e-06,-4.90498324e+00, 1.19434053e-04,
  3.41883060e-03,-4.96227349e-05]


--- 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,
  1.39622868, 0.00768845, 1.36185447, 0.04402982,-0.08542807,-0.04600148,
  0.09334555, 0.70976695,-0.08185586,-0.69706716,-0.06023181]

qacc:
[ 4.61416356e-01, 1.66939173e+00,-8.45736805e+00, 2.05901927e+01,
 -1.30381340e-01, 1.06395840e+00,-2.45580455e+00,-1.92323572e+00,
  2.81670317e+00, 1.57234538e-01, 8.81987446e-01,-4.28836681e+00,
 -1.99100405e-02,-1.39934528e-01,-1.08346688e+00, 3.04541274e+00,
 -4.07750101e+00, 7.90652947e-01,-3.20028646e+00,-5.58877083e+00,
 -1.31338473e+02,-3.42006950e-01]

qfrc_actuator:
[ 1.41951817e-04, 9.66076725e-04, 1.78627002e-04,-1.12180898e-04,
  2.84623470e-05, 3.48526192e-02, 1.09550625e-02, 1.61990262e-03,
 -3.70371576e-05, 8.45368973e-04, 1.96450205e-04, 2.33193672e-05,
  0.00000000e+00,-1.66237852e-03, 0.00000000e+00,-8.28712761e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003927390499616545
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23675650e-14, -4.24030800e-14,  1.00000000e+00,  5.24422849e-28,
        1.00000000e+00,  4.24030800e-14, -1.00000000e+00,  0.00000000e+00,
        1.23675650e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00884284, -0.06551252,  0.06180222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.76490855e-05, 9.36432578e-06,-2.73524209e-05,-1.78603579e-05,
  1.70527905e-05, 4.27160241e-05, 8.09080688e-06,-7.29629611e-06,
  3.30872185e-03,-2.28923322e-05,-2.82579889e-05, 6.47903477e-06,
  1.16704399e-05,-7.63210587e-06,-4.90495026e+00, 9.36462857e-05,
  3.41534627e-03,-4.88408699e-05]


--- 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 ,
  1.39622901, 0.00768763, 1.36194478, 0.0440328 ,-0.08543366,-0.0459981 ,
  0.09329954, 0.70967831,-0.08175268,-0.69716411,-0.06029421]

qacc:
[ 1.63930589e-01, 9.12686309e-01,-3.54088387e+00, 5.81271097e+00,
 -2.28537227e-01,-8.45328334e-01, 3.40355777e+00,-5.42097342e+00,
  4.63911546e+00, 8.77807920e-01,-3.52296416e+00, 7.70917928e+00,
 -6.47598075e-03,-1.85183225e-01,-7.16724382e+00, 2.41823852e+01,
  5.19062351e+00,-2.43772481e+00,-1.44186384e+00, 2.57178332e+01,
  1.69032642e+02,-9.39143097e+01]

qfrc_actuator:
[ 1.42893056e-04, 9.47425245e-04, 1.58675920e-04,-1.09053588e-04,
 -1.53303091e-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,-1.67580269e-03, 0.00000000e+00,-7.12062290e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003968369582102282
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.11992612e-15, -1.39884026e-14,  1.00000000e+00,  8.56079902e-29,
        1.00000000e+00,  1.39884026e-14, -1.00000000e+00,  0.00000000e+00,
        6.11992612e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18104179, -0.01105966,  0.06180017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.60412561e-05, 2.35033344e-05, 1.90988583e-05,-9.20278484e-06,
  2.80372151e-05, 5.23385510e-05, 1.61527205e-05, 1.62286252e-05,
  3.31866830e-03,-2.73067631e-05,-1.29779504e-05, 1.13229146e-04,
  6.82359938e-05,-2.76498161e-05,-4.90474421e+00, 7.29180772e-05,
  3.40542740e-03,-4.79226338e-05]


--- 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,
  1.39622928, 0.00768651, 1.36203533, 0.04403444,-0.08542105,-0.04600323,
  0.09324364, 0.70978966,-0.08148482,-0.69706717,-0.06046674]

qacc:
[-2.97878854e+00, 1.92998000e+00,-6.73560772e+00, 8.50684279e+00,
 -1.64116788e-01,-5.10233122e-02, 9.34026377e-01,-2.09460437e+00,
 -3.16052843e+00, 2.30145692e+00,-9.66936625e+00, 1.90032128e+01,
  9.92736116e-03,-1.99839988e-01, 4.37475940e+00,-1.48212283e+01,
  4.54678097e+00,-2.13014482e+00,-2.47255092e+00, 2.23678458e+01,
  1.47979674e+02,-8.25270280e+01]

qfrc_actuator:
[ 1.25106016e-04, 9.53632810e-04, 1.28849748e-04,-1.06734273e-04,
 -2.37186692e-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,-1.68343417e-03, 0.00000000e+00,-7.86585276e-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,  3.45346127, -7.91583111,  3.45346127, 80.0338884 ,
       31.14879325, -7.91583111, 31.14879325, 22.2257328 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004036500440554126
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57855561e-15,  1.37522966e-14,  1.00000000e+00, -3.54610615e-29,
        1.00000000e+00, -1.37522966e-14, -1.00000000e+00,  0.00000000e+00,
        2.57855561e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18086312, -0.01112018,  0.06179685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.74151503e-05, 4.89275308e-05, 1.85875344e-05,-2.58517275e-06,
 -1.89723596e-05, 4.93433558e-05,-4.23305322e-07, 2.94793598e-05,
  3.33698575e-03,-2.69953368e-05, 5.39877452e-06,-7.01499198e-05,
  2.27463351e-06, 9.27102624e-06,-4.90496428e+00, 1.32718842e-04,
  3.40585360e-03,-4.96407002e-05]


--- 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,
  1.39622978, 0.00768511, 1.36212626, 0.04403217,-0.08539021,-0.04601167,
  0.0932022 , 0.71011569,-0.08122168,-0.69675154,-0.06063024]

qacc:
[-1.93963460e+00, 2.20397763e+00,-5.49306969e+00, 6.78543257e-01,
 -5.22498023e-02, 1.17234023e+00,-5.92790071e+00, 1.72107750e+01,
 -7.96253434e+00, 6.39610993e-01,-3.75210063e+00, 9.76589408e+00,
  6.96419804e-03,-1.20780121e-01, 1.23961465e+01,-4.25346295e+01,
  4.56092540e+00,-8.23819489e-01, 3.61658349e+00, 3.61343034e+00,
  1.51919929e+02, 2.02498425e+01]

qfrc_actuator:
[ 1.14191496e-04, 9.92370490e-04, 9.35330100e-05,-1.22642472e-04,
 -1.08006960e-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,-1.68739109e-03, 0.00000000e+00,-9.90928607e-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, -7.44645022,  4.37460353, -7.44645022, 23.29600475,
       24.95364139,  4.37460353, 24.95364139, 51.11245251,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004044901202794653
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.74474695e-14,  6.86186738e-15,  1.00000000e+00, -1.88340896e-28,
        1.00000000e+00, -6.86186738e-15, -1.00000000e+00,  0.00000000e+00,
        2.74474695e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1389129 , -0.03632033,  0.06179618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.51007126e-05, 1.45042476e-05, 1.84178570e-05, 5.43211925e-05,
 -4.80546607e-05, 2.46866959e-06, 3.17178788e-06, 1.81663397e-05,
  3.33930608e-03,-1.62128327e-05,-7.93098658e-06,-2.08161146e-04,
 -1.58846707e-05,-2.98733198e-05,-4.90486306e+00, 2.86203999e-05,
  3.43437776e-03,-5.92301538e-05]


--- 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,
  1.39623026, 0.00768388, 1.36221674, 0.04403083,-0.08538271,-0.04601658,
  0.09315917, 0.71018164,-0.08101377,-0.69669645,-0.06076895]

qacc:
[-1.20375234e+00, 2.35100475e+00,-8.96407813e+00, 1.33555954e+01,
 -3.77404656e-03, 2.49031305e+00,-1.11561354e+01, 2.56329106e+01,
 -4.84119835e+00,-1.07672001e+00, 2.34591152e+00, 7.95421405e-01,
 -6.54666643e-03, 1.06441397e-01,-3.43577506e+00, 1.10607473e+01,
 -5.83766760e+00, 8.80519384e-01,-3.99692526e-01,-1.36363923e+01,
 -1.85793337e+02, 9.57887980e+00]

qfrc_actuator:
[ 1.07415821e-04, 9.79233516e-04, 5.53854126e-05,-1.13615450e-04,
 -2.96076992e-06, 3.48658645e-02, 1.09806106e-02, 1.72749493e-03,
 -1.04760730e-04, 8.28504728e-04, 1.94317319e-04, 8.83698210e-05,
  0.00000000e+00,-1.67128209e-03, 0.00000000e+00,-9.32756209e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004129536270598491
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.40154130e-15, -2.68849322e-14,  1.00000000e+00,  2.25874868e-28,
        1.00000000e+00,  2.68849322e-14, -1.00000000e+00,  0.00000000e+00,
        8.40154130e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00833911, -0.06533448,  0.06179214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.08367216e-06,-1.40623240e-05,-7.73900042e-06, 6.93557466e-05,
 -2.93287763e-05,-3.08815880e-05, 1.45996935e-05, 9.51015838e-06,
  3.32819654e-03, 1.41961412e-05,-2.89749678e-05, 4.50482751e-05,
  4.74421057e-05,-9.02331101e-05,-4.90464724e+00,-7.53711286e-05,
  3.44462033e-03,-6.76048346e-05]


--- 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,
  1.39623062, 0.0076829 , 1.3623068 , 0.04403214,-0.0853956 ,-0.04601833,
  0.09310986, 0.71002011,-0.08085166,-0.69686962,-0.06088667]

qacc:
[-3.69386571e+00, 1.03363029e+00,-8.07199380e+00, 2.28407734e+01,
 -4.73968856e-02, 4.61712023e+00,-1.88737356e+01, 3.78913681e+01,
 -2.81437021e+00,-3.46139970e-01, 5.26255981e-01, 1.07240619e+00,
 -5.53099826e-03, 1.16083803e-01,-8.68562748e+00, 2.94752865e+01,
 -5.09593408e+00, 7.89900568e-01,-1.56873413e+00,-1.12320337e+01,
 -1.62533424e+02, 7.25298656e+00]

qfrc_actuator:
[ 8.53752871e-05, 9.35136228e-04, 5.11952499e-05,-7.22749965e-05,
 -1.59855782e-05, 3.48674809e-02, 1.09539705e-02, 1.82047838e-03,
 -1.20917443e-04, 8.26249245e-04, 2.01913340e-04, 9.33870112e-05,
  0.00000000e+00,-1.66122826e-03, 0.00000000e+00,-7.91347669e-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,  8.63471974, -0.16849895,  8.63471974,  8.64640305,
        0.51446905, -0.16849895,  0.51446905, 35.00030309,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004196255217893401
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65359196e-15,  1.32287357e-14,  1.00000000e+00, -2.18749310e-29,
        1.00000000e+00, -1.32287357e-14, -1.00000000e+00,  0.00000000e+00,
        1.65359196e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00817666, -0.06528035,  0.06178891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.36659229e-05,-5.59115031e-06,-2.82393559e-05, 9.39417017e-05,
 -1.70271849e-05,-1.61164493e-05, 3.34265060e-06, 4.38370205e-06,
  3.32865476e-03, 1.57434584e-05,-8.44363925e-06, 1.40169717e-04,
 -1.07651693e-05,-1.36991933e-05,-4.90492239e+00, 6.59859651e-05,
  3.43597070e-03,-6.98025402e-05]


--- 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,
  1.39623115, 0.00768195, 1.36239714, 0.0440321 ,-0.08542636,-0.04601724,
  0.09305028, 0.70965842,-0.08072773,-0.69724358,-0.06098648]

qacc:
[-8.17514964e+00,-2.99515562e+00, 1.05256980e+01,-1.49271935e+01,
  6.82698758e-03, 3.34141237e+00,-1.38956019e+01, 2.87928149e+01,
  4.30672148e+00,-1.70263307e+00, 6.44052625e+00,-1.11314667e+01,
 -3.30308332e-03, 7.41042899e-02, 4.53232604e+00,-1.52293874e+01,
 -4.46824101e+00, 7.10589960e-01,-2.56954846e+00,-9.29337671e+00,
 -1.42913058e+02, 5.44120454e+00]

qfrc_actuator:
[ 3.67721555e-05, 9.08501269e-04, 8.47181088e-05,-8.32751403e-05,
 -5.91748465e-06, 3.48686196e-02, 1.09381157e-02, 1.89243910e-03,
 -9.45206170e-05, 7.89538882e-04, 2.06329065e-04, 7.83221472e-05,
  0.00000000e+00,-1.65494545e-03, 0.00000000e+00,-8.68400893e-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,  8.63030275, -0.32349842,  8.63030275,  8.67651357,
        1.07112139, -0.32349842,  1.07112139, 37.21177958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004199737391288254
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81744299e-14, -1.32177672e-14,  1.00000000e+00,  2.40225384e-28,
        1.00000000e+00,  1.32177672e-14, -1.00000000e+00,  0.00000000e+00,
        1.81744299e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00815937, -0.06526048,  0.06178849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.99163827e-06,-4.65127746e-06,-1.74055343e-05, 7.31442898e-05,
  2.58920908e-05,-4.48521886e-05, 1.64778326e-06,-1.55555894e-05,
  3.33500623e-03, 1.00431775e-05, 1.07996433e-05,-7.05346907e-05,
  1.20579448e-05, 2.28933152e-05,-4.90488844e+00, 1.75001175e-04,
  3.42268146e-03,-7.23722451e-05]


--- 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,
  1.39623165, 0.00768095, 1.36248745, 0.04403182,-0.08543487,-0.04601981,
  0.09301654, 0.70955447,-0.08060443,-0.69735512,-0.06108371]

qacc:
[-1.98499758e+00,-1.85342941e+00, 6.36001692e+00,-8.86823112e+00,
  8.66269699e-02,-2.66937226e+00, 1.12673774e+01,-2.43450551e+01,
  2.75544422e+00,-2.67288234e+00, 9.72567486e+00,-1.41517467e+01,
 -1.11680347e-02,-2.65677588e-02, 6.57286533e-01,-2.36808844e+00,
  5.56146000e+00,-9.15461012e-01, 6.46150051e+00, 3.07784838e+00,
  1.82846663e+02, 1.95937393e+01]

qfrc_actuator:
[ 2.61867195e-05, 8.92645280e-04, 1.04740281e-04,-8.94529155e-05,
  1.79229754e-05, 3.48694915e-02, 1.09464979e-02, 1.82718888e-03,
 -7.87981776e-05, 7.85706835e-04, 2.44190187e-04, 6.92868886e-05,
  0.00000000e+00,-1.66857189e-03, 0.00000000e+00,-8.78296931e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004255605842789445
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.60884834e-14, -6.52212085e-15,  1.00000000e+00,  1.70152242e-28,
        1.00000000e+00,  6.52212085e-15, -1.00000000e+00,  0.00000000e+00,
        2.60884834e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13858498, -0.0363546 ,  0.06178566])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.50170524e-05,-2.90092871e-06, 7.64052213e-06,-6.42014034e-05,
  1.64645368e-05,-2.92190679e-05, 2.82600226e-05,-1.12048482e-05,
  3.32578443e-03,-5.45224360e-06,-5.37517092e-06,-1.30255323e-05,
  8.90441104e-05, 3.33265252e-05,-4.90464691e+00, 2.62173533e-04,
  3.40468537e-03,-7.51675086e-05]


--- 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,
  1.39623184, 0.00767996, 1.36257736, 0.04403444,-0.08542384,-0.04602557,
  0.09300074, 0.70967661,-0.08048134,-0.69723664,-0.06117948]

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,
 -5.68386017e-03,-6.88904090e-02,-9.34891147e+00, 3.18072359e+01,
  4.88563623e+00,-7.98760931e-01, 4.48352932e+00, 2.52092659e+00,
  1.60366795e+02, 1.67705632e+01]

qfrc_actuator:
[ 5.58242464e-05, 8.83326680e-04, 1.16674892e-04,-7.49875375e-05,
  3.20793456e-05, 3.48702101e-02, 1.09690378e-02, 1.77049745e-03,
 -8.72510801e-05, 8.19485823e-04, 2.66124208e-04, 6.39229880e-05,
  0.00000000e+00,-1.67631769e-03, 0.00000000e+00,-7.24211278e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004306217404591278
  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([-0.1385094 , -0.03636401,  0.0617832 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.89405047e-05,-1.31574198e-06, 2.09611762e-05,-5.80414590e-05,
 -7.98327695e-06, 2.28218235e-05, 1.89886962e-05,-5.85771369e-06,
  3.32713474e-03,-1.06214956e-05,-5.62217311e-06, 1.52280356e-04,
  4.43876818e-06, 1.02966630e-05,-4.90494410e+00, 1.35171063e-04,
  3.40290777e-03,-8.21972525e-05]


--- 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 ,
  1.39623208, 0.00767878, 1.3626676 , 0.0440355 ,-0.08539554,-0.04603414,
  0.09299614, 0.70999809,-0.08035812,-0.69691513,-0.0612746 ]

qacc:
[ 6.02531543e+00,-3.58883178e-01, 1.37604790e+00,-3.57279851e+00,
  8.77163906e-02,-4.26106193e-01, 8.45945915e-01, 3.77471172e-03,
 -8.53225608e-01, 8.68443302e-01,-2.84633202e+00, 2.86555263e+00,
  7.56257402e-03,-1.16625377e-01, 5.18164437e+00,-1.73980276e+01,
  4.31907608e+00,-7.01159670e-01, 2.80242297e+00, 2.08458730e+00,
  1.41521807e+02, 1.44478359e+01]

qfrc_actuator:
[ 9.11342009e-05, 8.60233146e-04, 1.06035007e-04,-8.39944285e-05,
  4.03113016e-05, 3.48353801e-02, 1.09642671e-02, 1.77259040e-03,
 -9.21094996e-05, 8.04474171e-04, 2.43128382e-04, 6.07809428e-05,
  0.00000000e+00,-1.68057883e-03, 0.00000000e+00,-8.12063748e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0042999448889410805
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29097355e-14, -1.29097355e-14,  1.00000000e+00,  1.66661271e-28,
        1.00000000e+00,  1.29097355e-14, -1.00000000e+00,  0.00000000e+00,
        1.29097355e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13851414, -0.0363597 ,  0.0617834 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-3.31981195e-05,-4.34483576e-06, 1.32291282e-06,
 -5.08589691e-06, 1.43067078e-06,-1.61514590e-05,-1.62193708e-06,
  3.34275944e-03,-1.55056399e-05, 1.30452996e-05,-8.03795681e-05,
  6.91417986e-06,-1.41446707e-05,-4.90493703e+00, 6.20337342e-05,
  3.40771489e-03,-8.71359237e-05]


--- 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,
  1.39623246, 0.00767765, 1.3627579 , 0.04403553,-0.08538875,-0.04603871,
  0.09298786, 0.71007331,-0.08026694,-0.69684216,-0.06135243]

qacc:
[ 3.59652406e+00, 1.99975159e+00,-9.49544425e+00, 1.97333338e+01,
  6.31728947e-03,-1.44606113e-01, 1.18883403e+00,-4.95931518e+00,
 -3.43004232e+00, 2.26867102e+00,-9.43891273e+00, 1.60678096e+01,
  4.00278665e-04, 7.25219505e-02, 3.22501791e+00,-1.11538969e+01,
 -5.37837359e+00, 1.00146877e+00,-9.21757039e-01,-7.63105873e+00,
 -1.75722493e+02,-2.32766551e-01]

qfrc_actuator:
[ 1.11733919e-04, 8.82220122e-04, 9.98336771e-05,-5.35106879e-05,
  2.71707484e-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,-1.66478778e-03, 0.00000000e+00,-8.64273596e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004317116820259079
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.82189447e-15,  2.57167705e-14,  1.00000000e+00,  1.24003553e-28,
        1.00000000e+00, -2.57167705e-14, -1.00000000e+00,  0.00000000e+00,
       -4.82189447e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00786299, -0.06516174,  0.0617826 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.83003981e-06,-4.07288716e-06,-1.01595746e-05,-1.77242233e-05,
 -2.05975624e-05,-1.13805993e-05,-3.35210999e-05, 1.53473492e-05,
  3.34034610e-03, 1.03766872e-05,-5.83844525e-06,-5.56854719e-05,
  6.88134749e-05,-3.91027121e-05,-4.90472322e+00, 2.62959011e-05,
  3.41858274e-03,-9.04937016e-05]


--- 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,
  1.39623296, 0.00767708, 1.36284778, 0.04403794,-0.08540081,-0.04603974,
  0.09297151, 0.70993287,-0.08020317,-0.69698703,-0.06141532]

qacc:
[-8.91574435e-01, 1.33843196e+00,-7.27813253e+00, 1.85387066e+01,
 -8.58317706e-02, 1.11427712e+00,-2.28627275e+00,-1.12676138e+00,
  3.80521413e+00, 4.19061014e+00,-1.61720646e+01, 2.59669011e+01,
 -1.29159588e-02, 3.85300912e-01,-7.80659077e+00, 2.64267592e+01,
 -4.71441404e+00, 8.83009640e-01,-2.01668715e+00,-6.49578997e+00,
 -1.53922387e+02,-4.96267381e-01]

qfrc_actuator:
[ 1.05755926e-04, 9.13328172e-04, 1.14275186e-04,-1.77402842e-05,
  1.31608629e-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,-1.61938993e-03, 0.00000000e+00,-7.35214594e-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,   7.18696322,   4.78898075,   7.18696322,
        33.41417593, -37.18478627,   4.78898075, -37.18478627,
        64.44065796,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004350268547347096
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.78514866e-15, -2.55207929e-14,  1.00000000e+00,  1.22120788e-28,
        1.00000000e+00,  2.55207929e-14, -1.00000000e+00,  0.00000000e+00,
        4.78514866e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00778465, -0.0651406 ,  0.06178106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 5.78539482e-05,-4.56140850e-06,-1.05757434e-05,
  2.31875467e-05, 3.56099161e-05,-4.25984028e-05, 2.55929881e-05,
  3.33277985e-03, 5.29924380e-05,-1.04807028e-05, 1.24826364e-04,
  2.76381853e-06,-6.16657562e-06,-4.90496987e+00, 8.00000618e-05,
  3.41899797e-03,-9.17993644e-05]


--- 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,
  1.39623358, 0.00767687, 1.36293761, 0.04404151,-0.08542949,-0.04603765,
  0.09294335, 0.70960241,-0.08016298,-0.6973237 ,-0.06146516]

qacc:
[-3.60857241e+00,-9.10706581e-01, 3.40637310e+00,-3.42632149e+00,
 -1.04470845e-01, 1.99112696e+00,-6.23447081e+00, 7.88276436e+00,
  5.38196230e+00, 3.39926946e+00,-1.52870321e+01, 3.20575117e+01,
 -2.03421627e-02, 2.60877830e-01,-3.58347184e+00, 1.24488068e+01,
 -4.15223336e+00, 7.81992705e-01,-2.95222308e+00,-5.55810831e+00,
 -1.35549341e+02,-6.79483762e-01]

qfrc_actuator:
[ 8.41874435e-05, 9.32009314e-04, 1.40839185e-04,-1.46303936e-05,
 -1.42027186e-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,-1.61001708e-03, 0.00000000e+00,-6.77921272e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004325724892861545
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.02049839e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.02049839e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00783836, -0.06514757,  0.06178208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.01567098e-05, 5.03890387e-05,-8.47240831e-06, 1.35356712e-05,
  3.25910238e-05, 5.87130217e-05,-4.96962397e-07, 5.15809226e-05,
  3.32644533e-03, 3.41456729e-05, 8.60730383e-06, 6.27764618e-05,
  1.35440446e-05, 5.23185654e-06,-4.90494159e+00, 1.29706529e-04,
  3.41238290e-03,-9.31767866e-05]


--- 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,
  1.39623423, 0.00767648, 1.36302775, 0.0440434 ,-0.08543717,-0.04603892,
  0.09293733, 0.70951403,-0.08012153,-0.69741393,-0.06151574]

qacc:
[-5.17410314e+00,-2.61948046e+00, 1.06899201e+01,-1.72163335e+01,
 -9.34726783e-02,-1.26555988e-01, 2.84799210e-01, 1.42021488e+00,
  3.35853351e-01,-1.85231094e+00, 5.28051321e+00,-2.03879573e+00,
 -2.38066172e-02,-6.87832350e-02, 5.54146972e+00,-1.87101037e+01,
  5.24902564e+00,-8.42154387e-01, 5.53527737e+00, 2.32270201e+00,
  1.71906648e+02, 1.66124938e+01]

qfrc_actuator:
[ 5.36241704e-05, 9.25389223e-04, 1.74276063e-04,-3.07662610e-05,
 -2.33948919e-05, 3.49263219e-02, 1.09466056e-02, 1.76558538e-03,
 -5.59682145e-05, 8.64637800e-04, 2.05102953e-04, 1.66199201e-04,
  0.00000000e+00,-1.64002362e-03, 0.00000000e+00,-7.69939633e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0043669288257158
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54234284e-14,  6.35585711e-15,  1.00000000e+00, -1.61587678e-28,
        1.00000000e+00, -6.35585711e-15, -1.00000000e+00,  0.00000000e+00,
        2.54234284e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13841037, -0.03636657,  0.06178008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.70118012e-05, 2.02493685e-05, 1.58868184e-05, 8.77323140e-06,
  1.86791102e-06, 9.17844695e-06, 4.77419429e-05, 1.50661539e-05,
  3.32077608e-03,-1.33701973e-05, 9.13178293e-06,-8.78530555e-05,
  7.59286352e-05, 2.18322656e-06,-4.90472769e+00, 1.76124787e-04,
  3.39956096e-03,-9.46322755e-05]


--- 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 ,
  1.3962348 , 0.00767587, 1.36311793, 0.04404419,-0.08542636,-0.04604314,
  0.09294609, 0.70963851,-0.08007876,-0.69728762,-0.06156745]

qacc:
[-1.49689741e-01,-2.66979112e+00, 1.14738592e+01,-2.10816311e+01,
 -7.36185246e-02, 1.39425096e-01,-2.11565971e+00, 1.08856105e+01,
  7.33282441e-02,-2.04795109e+00, 1.14145441e+01,-2.74002414e+01,
 -2.51693646e-02,-1.31207949e-01, 3.38726722e+00,-1.17591147e+01,
  4.62269589e+00,-7.38002737e-01, 3.69395868e+00, 1.94169415e+00,
  1.51137098e+02, 1.43654128e+01]

qfrc_actuator:
[ 5.35217927e-05, 9.03683045e-04, 1.93634813e-04,-5.81106925e-05,
 -2.87181388e-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,-1.65776961e-03, 0.00000000e+00,-8.24900016e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00438757939522335
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.32594265e-15, -1.26518853e-14,  1.00000000e+00,  8.00351008e-29,
        1.00000000e+00,  1.26518853e-14, -1.00000000e+00,  0.00000000e+00,
        6.32594265e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13838084, -0.03636933,  0.06177912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.12854315e-05, 1.05416704e-05, 2.75472526e-05, 4.09809748e-05,
  4.43546480e-07, 1.79350401e-05, 1.03935607e-05,-4.49604615e-05,
  3.31875046e-03,-2.24581530e-05,-8.31917755e-06,-5.93231650e-05,
  5.69681607e-06, 1.28497490e-06,-4.90497558e+00, 1.10160849e-04,
  3.39820352e-03,-9.80467040e-05]


--- 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,
  1.39623524, 0.00767548, 1.36320769, 0.04404732,-0.08539915,-0.04604997,
  0.09296338, 0.70995121,-0.08003462,-0.69696961,-0.06162052]

qacc:
[ 2.95356859e+00, 1.64523364e+00,-6.98047908e+00, 1.35674828e+01,
 -5.37283357e-02, 2.83798324e-01,-2.90267723e+00, 1.22606154e+01,
 -5.88200397e+00, 2.41341470e+00,-1.00491344e+01, 1.86867754e+01,
 -2.38767084e-02, 1.23940520e-01,-7.69941768e+00, 2.60209724e+01,
  4.09828102e+00,-6.50905297e-01, 2.13173294e+00, 1.64457259e+00,
  1.33730360e+02, 1.25069600e+01]

qfrc_actuator:
[ 7.13520826e-05, 9.26296356e-04, 1.86696934e-04,-3.85965663e-05,
 -3.16784889e-05, 3.49020256e-02, 1.09805455e-02, 1.84605429e-03,
 -9.09900564e-05, 8.85858036e-04, 1.90569222e-04, 1.43867222e-04,
  0.00000000e+00,-1.63253127e-03, 0.00000000e+00,-6.97760026e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004356760374057599
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27413827e-14, -1.27413827e-14,  1.00000000e+00,  1.62342833e-28,
        1.00000000e+00,  1.27413827e-14, -1.00000000e+00,  0.00000000e+00,
        1.27413827e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13842348, -0.03635944,  0.06178055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.55389599e-05,-7.81833796e-06, 1.88175037e-05, 4.28441083e-05,
 -3.53870221e-05, 2.91512882e-05,-1.32145725e-05, 2.52115665e-05,
  3.32274159e-03, 1.41305051e-05,-1.23055514e-05, 1.22335804e-04,
  1.18349543e-05,-3.49511005e-06,-4.90495677e+00, 8.31907244e-05,
  3.40328069e-03,-9.98385664e-05]


--- 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,
  1.39623579, 0.00767504, 1.36329772, 0.0440489 ,-0.08539228,-0.04605264,
  0.09297527, 0.71002913,-0.08001168,-0.69688939,-0.06165993]

qacc:
[ 4.77155108e+00, 3.51354011e+00,-1.59470129e+01, 3.26231895e+01,
  2.43312860e-02, 2.04139838e+00,-7.71565331e+00, 1.25392065e+01,
 -6.67094221e-01, 2.88826155e+00,-1.40409344e+01, 3.11625611e+01,
 -2.00036361e-02, 2.39712291e-02, 5.08348367e+00,-1.71932336e+01,
 -5.08401331e+00, 1.03982272e+00,-1.34858511e+00,-4.83428890e+00,
 -1.67423185e+02,-4.51080561e+00]

qfrc_actuator:
[ 9.95848152e-05, 9.39693256e-04, 1.64501304e-04, 8.35378201e-06,
 -1.54458380e-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,-1.63511925e-03, 0.00000000e+00,-7.83903577e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004344869109496455
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11792222e-14,  1.27762540e-14,  1.00000000e+00, -1.42828582e-28,
        1.00000000e+00, -1.27762540e-14, -1.00000000e+00,  0.00000000e+00,
        1.11792222e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00779207, -0.06513696,  0.06178117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.04933209e-06,-1.14694804e-05,-2.67640498e-05, 2.46031722e-05,
 -3.96147941e-06, 2.55489201e-05,-4.41409461e-06, 5.08212682e-05,
  3.32927505e-03, 4.13288611e-07, 7.13995978e-06,-8.10981831e-05,
  7.04429266e-05,-1.08868814e-05,-4.90475555e+00, 8.30871215e-05,
  3.41420036e-03,-1.00390726e-04]


--- 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,
  1.3962367 , 0.00767447, 1.36338822, 0.04404577,-0.0854033 ,-0.04605166,
  0.09297765, 0.70990105,-0.08000756,-0.69701791,-0.0616873 ]

qacc:
[ 2.86136806e+00, 2.49368544e-01,-1.99125425e-01,-1.86189527e+00,
 -1.30143960e-02, 1.09356437e+00,-1.41656416e+00,-8.12925332e+00,
  2.66725339e+00,-4.34254732e-01, 2.71716613e+00,-5.85123049e+00,
 -3.27654240e-02, 4.45494181e-02, 1.49767247e+01,-5.13456419e+01,
 -4.47081971e+00, 9.11890122e-01,-2.37748831e+00,-4.29027681e+00,
 -1.46948437e+02,-3.86903003e+00]

qfrc_actuator:
[ 1.15955405e-04, 9.29673973e-04, 1.51221671e-04, 4.34307614e-08,
 -2.33365961e-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,-1.63647037e-03, 0.00000000e+00,-1.03057332e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004357640329554699
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59235122e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.59235122e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00776539, -0.06513334,  0.06178066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.72533912e-06, 1.73572956e-05,-3.94305547e-05,-4.10155332e-05,
  1.61049631e-05, 3.93905434e-05, 1.87351992e-05,-5.48699434e-06,
  3.32327154e-03, 1.40291433e-06,-8.20645689e-06,-2.50853107e-04,
  5.29098906e-06,-5.00057813e-07,-4.90498257e+00, 9.07650308e-05,
  3.41644557e-03,-1.00988757e-04]


--- 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,
  1.39623778, 0.00767412, 1.36347844, 0.04404172,-0.08543012,-0.04604747,
  0.09296701, 0.70959106,-0.08002021,-0.69733057,-0.06170397]

qacc:
[ 1.63256784e+00,-1.60836329e+00, 7.52363250e+00,-1.56983106e+01,
 -8.47123663e-02,-3.38623225e+00, 1.36881703e+01,-2.61734534e+01,
 -4.20478771e+00,-1.75190780e+00, 8.01421486e+00,-1.58558838e+01,
 -5.62283979e-02, 2.39544207e-01, 2.37899422e+00,-8.90264453e+00,
 -3.95174008e+00, 8.03799495e-01,-3.25526502e+00,-3.82069564e+00,
 -1.29703356e+02,-3.33901239e+00]

qfrc_actuator:
[ 1.25209426e-04, 9.23446137e-04, 1.60930751e-04,-2.29792714e-05,
 -4.56363002e-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,-1.61921359e-03, 0.00000000e+00,-1.06797757e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0043171647585742365
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.03640154e-15, -1.28582425e-14,  1.00000000e+00,  1.03334000e-28,
        1.00000000e+00,  1.28582425e-14, -1.00000000e+00,  0.00000000e+00,
        8.03640154e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0078603 , -0.06515421,  0.06178249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.45004119e-05, 1.71897481e-05, 3.05901298e-05,-6.14499667e-05,
 -2.54277310e-05, 3.84582835e-06, 1.75948926e-05,-2.08684882e-05,
  3.30505467e-03, 2.57421449e-05,-3.38085531e-05,-5.29397278e-05,
  1.14228033e-05,-2.89491542e-06,-4.90495956e+00, 1.06907207e-04,
  3.41153800e-03,-1.01533141e-04]


--- 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,
  1.39623873, 0.00767371, 1.36356843, 0.04403753,-0.08543684,-0.04604653,
  0.09297576, 0.70951229,-0.08003152,-0.69740786,-0.06172148]

qacc:
[ 8.95899441e-01,-2.69204655e-01,-1.72263335e+00, 9.46222170e+00,
 -3.36834260e-02,-2.29816411e-01, 7.92367396e-01,-7.30266199e-01,
 -2.60304904e+00,-1.84924580e+00, 9.07860811e+00,-2.00483755e+01,
 -6.16231881e-02,-1.17784139e-02, 7.35969054e-02,-7.37816119e-01,
  5.02398014e+00,-8.13278987e-01, 4.84671157e+00, 2.17325342e+00,
  1.64202602e+02, 1.57912564e+01]

qfrc_actuator:
[ 1.30204584e-04, 8.84103123e-04, 1.66385318e-04,-1.19239454e-06,
 -4.08939545e-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,-1.64436423e-03, 0.00000000e+00,-1.07049369e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004342310498809489
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27837821e-14, -1.27837821e-14,  1.00000000e+00,  1.63425085e-28,
        1.00000000e+00,  1.27837821e-14, -1.00000000e+00,  0.00000000e+00,
        1.27837821e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13844432, -0.03634552,  0.06178131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.73559893e-06, 5.55679638e-06, 6.60580049e-06, 2.46097639e-07,
 -1.57458575e-05,-8.64314462e-06, 6.43511883e-06,-3.18034620e-05,
  3.29675452e-03,-1.08611487e-05,-2.15143048e-05,-9.82598203e-06,
  6.57793055e-05,-1.40709299e-05,-4.90476655e+00, 1.28193966e-04,
  3.40038066e-03,-1.02088077e-04]


--- 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,
  1.3962395 , 0.00767331, 1.36365817, 0.04403431,-0.08542582,-0.04604844,
  0.09299697, 0.70963736,-0.08004147,-0.69727781,-0.06174014]

qacc:
[-2.52468665e+00, 7.53350670e-01,-4.42844145e+00, 9.72396747e+00,
  5.24611469e-02, 2.03292684e+00,-8.04744157e+00, 1.52196587e+01,
  4.41071441e+00,-1.37356671e+00, 6.95796253e+00,-1.48446291e+01,
 -5.61798136e-02, 2.71270835e-02,-3.31100726e+00, 1.10462777e+01,
  4.43683484e+00,-7.13564805e-01, 3.11605623e+00, 1.83694558e+00,
  1.44722141e+02, 1.36991779e+01]

qfrc_actuator:
[ 1.14902708e-04, 8.60758897e-04, 1.51419235e-04, 1.12481867e-05,
 -1.99669994e-05, 3.49214733e-02, 1.09344796e-02, 1.80486642e-03,
 -9.15839211e-05, 9.12470040e-04, 2.24811022e-04, 1.11251153e-04,
  0.00000000e+00,-1.64149431e-03, 0.00000000e+00,-1.01698975e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004346882313716473
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55406736e-14, -6.38516841e-15,  1.00000000e+00,  1.63081502e-28,
        1.00000000e+00,  6.38516841e-15, -1.00000000e+00,  0.00000000e+00,
        2.55406736e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13843908, -0.03634387,  0.06178115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.51738103e-05,-7.15974619e-07,-1.51696524e-05, 3.59621514e-05,
  2.65946555e-05, 2.21521954e-05, 1.79821717e-05,-2.02632940e-05,
  3.30321549e-03,-4.49174587e-06,-1.19738441e-05, 4.99889700e-05,
  4.14554412e-06,-2.80908626e-06,-4.90498516e+00, 9.75712716e-05,
  3.39933135e-03,-1.03217699e-04]


--- 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,
  1.39624015, 0.00767334, 1.3637475 , 0.04403442,-0.08539902,-0.04605288,
  0.09302478, 0.70994313,-0.08005   ,-0.69696372,-0.06176017]

qacc:
[ 1.29848334e+00, 7.07693213e-01, 1.39948043e-01,-9.22045955e+00,
  1.36447601e-01, 5.77231498e-01,-2.04666330e+00, 2.61863721e+00,
 -8.98774474e+00,-1.11615150e-01, 3.82700524e+00,-1.42718417e+01,
 -5.18123034e-02, 2.77211089e-01,-1.06576089e+01, 3.63947083e+01,
  3.94545067e+00,-6.30295241e-01, 1.64930926e+00, 1.57598479e+00,
  1.28400042e+02, 1.19688387e+01]

qfrc_actuator:
[ 1.23283681e-04, 8.82588719e-04, 1.24556900e-04,-1.74268492e-05,
  1.04987948e-05, 3.49181706e-02, 1.09244139e-02, 1.80769249e-03,
 -1.46508752e-04, 9.45931943e-04, 2.18791133e-04, 8.16677605e-05,
  0.00000000e+00,-1.60412275e-03, 0.00000000e+00,-8.42163099e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0043038544231979795
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.86940257e-14, -1.93470129e-14,  1.00000000e+00,  7.48613813e-28,
        1.00000000e+00,  1.93470129e-14, -1.00000000e+00,  0.00000000e+00,
        3.86940257e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13850042, -0.03633053,  0.0617832 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.94327477e-05,-5.58757223e-06,-1.08769556e-05, 3.19553648e-06,
 -5.41338815e-05, 4.86555459e-05, 4.76293461e-08,-2.84131307e-05,
  3.31159008e-03, 3.18266221e-05,-1.18304409e-06, 1.75811751e-04,
  1.19622182e-05, 3.37045768e-06,-4.90496112e+00, 9.89319062e-05,
  3.40446813e-03,-1.02922759e-04]


--- 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,
  1.39624092, 0.0076735 , 1.36383709, 0.04403392,-0.08539183,-0.04605311,
  0.09304599, 0.71002215,-0.08007459,-0.69687968,-0.06176827]

qacc:
[-2.17130364e+00,-1.23167179e+00, 7.54607514e+00,-1.99942132e+01,
  8.22275423e-02,-2.43988095e+00, 9.40955015e+00,-1.62772172e+01,
 -5.51412223e+00,-1.35873966e+00, 6.66112373e+00,-1.34042363e+01,
 -4.89014899e-02, 1.56929744e-01, 2.24659339e+00,-7.24098154e+00,
 -4.90468174e+00, 1.05101432e+00,-1.65075002e+00,-3.50968236e+00,
 -1.61653698e+02,-6.38228484e+00]

qfrc_actuator:
[ 1.10038752e-04, 8.95709442e-04, 1.26556826e-04,-5.22763532e-05,
  1.09345142e-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,-1.59971881e-03, 0.00000000e+00,-8.81321442e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004284715506153308
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.85835797e-15, -3.88668637e-14,  1.00000000e+00,  1.88829137e-28,
        1.00000000e+00,  3.88668637e-14, -1.00000000e+00,  0.00000000e+00,
        4.85835797e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0079464 , -0.06518744,  0.06178421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.37386181e-05, 1.04238959e-05, 2.73731942e-05,-3.46434687e-05,
 -3.33026592e-05, 2.73380830e-05, 2.31925379e-05,-1.60135660e-05,
  3.31741721e-03, 1.50689803e-05, 1.79474019e-05,-2.97532595e-05,
  6.78473774e-05, 5.89976852e-06,-4.90476996e+00, 1.21999436e-04,
  3.41521937e-03,-1.01535323e-04]


--- 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,
  1.3962418 , 0.00767353, 1.36392702, 0.04403097,-0.08540195,-0.04604966,
  0.09305668, 0.70990183,-0.08011391,-0.69699796,-0.0617657 ]

qacc:
[-4.36438803e+00,-9.81524411e-01, 3.83567757e+00,-5.77670333e+00,
  4.92812229e-02,-3.95448574e+00, 1.44622261e+01,-2.15836407e+01,
  8.67760918e+00,-1.99479130e+00, 7.03865920e+00,-1.00552119e+01,
 -5.61898260e-02, 1.35125730e-02, 7.89063328e+00,-2.68886221e+01,
 -4.32401787e+00, 9.20428526e-01,-2.62928958e+00,-3.25282956e+00,
 -1.42170798e+02,-5.33509851e+00]

qfrc_actuator:
[ 8.41633072e-05, 9.03625558e-04, 1.45567192e-04,-5.49483120e-05,
  1.11041853e-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,-1.61496765e-03, 0.00000000e+00,-1.01077003e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.27338761,  7.50499402, -4.27338761, 62.78685931,
       30.83360984,  7.50499402, 30.83360984, 26.19320192,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0042876704031978435
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13283561e-14, -3.88400782e-14,  1.00000000e+00,  4.39994238e-28,
        1.00000000e+00,  3.88400782e-14, -1.00000000e+00,  0.00000000e+00,
        1.13283561e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00794446, -0.06519211,  0.06178419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 1.91693773e-05, 5.69837940e-05,-3.76581407e-05,
  5.22362634e-05,-3.38901428e-05, 1.59935214e-05,-8.66859819e-06,
  3.31156732e-03,-6.47706189e-06, 2.19087078e-06,-1.29440122e-04,
  4.73175618e-06, 3.39580838e-06,-4.90498418e+00, 1.00216518e-04,
  3.41782353e-03,-1.01504881e-04]


--- 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,
  1.3962424 , 0.00767358, 1.36401654, 0.04402985,-0.08542739,-0.04604297,
  0.09305351, 0.70960507,-0.08016679,-0.69729509,-0.06175355]

qacc:
[-2.69483271e+00, 7.93215866e-01,-2.14827993e+00, 1.59908698e+00,
  9.06253846e-02,-2.47685155e+00, 8.40198348e+00,-1.17440259e+01,
  2.58639554e+00,-1.99980974e+00, 8.23680310e+00,-1.59611852e+01,
 -5.88143249e-02,-4.48007915e-03,-6.12923477e+00, 2.05839261e+01,
 -3.83258603e+00, 8.10554171e-01,-3.46331622e+00,-3.01153908e+00,
 -1.25768266e+02,-4.48698466e+00]

qfrc_actuator:
[ 6.88203292e-05, 9.26224734e-04, 1.38958545e-04,-5.64140716e-05,
  2.88672326e-05, 3.48948059e-02, 1.10197221e-02, 1.71338468e-03,
 -1.11060247e-04, 8.61906419e-04, 2.45190579e-04, 2.99877502e-05,
  0.00000000e+00,-1.62405641e-03, 0.00000000e+00,-9.08265629e-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, -4.21726813,  7.5366721 , -4.21726813, 67.37043529,
       32.8656103 ,  7.5366721 , 32.8656103 , 27.02685335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00424043735554392
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.18181395e-15, -2.61818046e-14,  1.00000000e+00,  2.14214655e-28,
        1.00000000e+00,  2.61818046e-14, -1.00000000e+00,  0.00000000e+00,
        8.18181395e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00805711, -0.0652192 ,  0.06178637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.61545292e-05,-2.73909603e-05, 2.19796409e-05,-2.07268336e-05,
  1.55160596e-05,-4.83189858e-05,-1.17466911e-06,-2.48840257e-05,
  3.30593724e-03,-9.37449310e-06,-1.58429697e-05, 9.50129135e-05,
  8.73381715e-06,-7.50192190e-06,-4.90496467e+00, 9.30499850e-05,
  3.41348612e-03,-1.01351316e-04]


--- 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,
  1.39624276, 0.00767375, 1.36410578, 0.04403128,-0.08543328,-0.04603948,
  0.09306792, 0.70953276,-0.0802188 ,-0.69736375,-0.06174149]

qacc:
[ 1.36517670e+00, 1.14865707e+00,-3.82246113e+00, 4.37719251e+00,
  2.81595567e-02,-4.97714070e-01, 1.07931962e+00, 3.41941620e-01,
 -1.45652533e+00,-4.28645879e-01, 2.70912921e+00,-7.78796009e+00,
 -4.52310212e-02, 6.35295311e-02,-8.09911806e+00, 2.77341657e+01,
  4.88819841e+00,-8.01704016e-01, 4.39407080e+00, 2.21720435e+00,
  1.59342802e+02, 1.57499570e+01]

qfrc_actuator:
[ 7.75565439e-05, 9.21845695e-04, 1.17327798e-04,-5.71715672e-05,
  2.15367431e-05, 3.48838537e-02, 1.10263959e-02, 1.71848936e-03,
 -1.20282317e-04, 8.77908705e-04, 2.47105759e-04, 1.61966613e-05,
  0.00000000e+00,-1.61178196e-03, 0.00000000e+00,-7.76404336e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004252485028592379
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30538146e-14,  6.52690731e-15,  1.00000000e+00, -8.52010380e-29,
        1.00000000e+00, -6.52690731e-15, -1.00000000e+00,  0.00000000e+00,
        1.30538146e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13857718, -0.0363054 ,  0.06178582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.27686980e-06, 1.09561703e-05,-1.61454134e-05, 3.39237129e-07,
  8.12481844e-06,-2.24319033e-05, 3.20551032e-06, 4.44689100e-06,
 -8.77918394e-06,-1.23722720e-05,-9.09710820e-06,-1.63910712e-05,
  3.31968919e-03, 2.35021695e-06, 2.29810775e-06, 1.34915644e-04,
  5.84573844e-05,-2.42790493e-05,-4.90478517e+00, 9.54191621e-05,
  3.40306167e-03,-1.01162982e-04]


--- 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,
  1.39624335, 0.00767407, 1.36419536, 0.04403125,-0.08542186,-0.04603881,
  0.0930933 , 0.70965871,-0.08026982,-0.69723072,-0.06172997]

qacc:
[ 3.84941311e+00, 1.36792926e+00,-8.50979607e+00, 2.14471661e+01,
  7.71602747e-04, 1.05062377e-01, 8.32809733e-02,-3.14397173e+00,
  4.97524583e+00, 2.17786101e+00,-6.47639358e+00, 4.63964416e+00,
 -4.09091944e-02, 1.89187352e-01, 4.91436281e+00,-1.64396346e+01,
  4.32696598e+00,-7.03412799e-01, 2.74204562e+00, 1.88689344e+00,
  1.40738185e+02, 1.36776490e+01]

qfrc_actuator:
[ 1.00391884e-04, 8.83525898e-04, 1.04656266e-04,-2.20291614e-05,
  1.69646703e-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,-1.58681253e-03, 0.00000000e+00,-8.59155533e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0042506030150362
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61191888e-14, -6.52979719e-15,  1.00000000e+00,  1.70553005e-28,
        1.00000000e+00,  6.52979719e-15, -1.00000000e+00,  0.00000000e+00,
        2.61191888e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13858153, -0.03630164,  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:
[ 2.30806187e-05,-3.55152208e-05,-1.23848225e-05, 3.50597786e-05,
  2.28557582e-07,-1.80999556e-05,-1.85187498e-05,-1.48909531e-05,
  3.02016268e-05, 1.74697207e-05,-3.90037377e-05,-8.90962678e-06,
  3.33130391e-03, 2.08508094e-05, 1.44039665e-05,-7.53102874e-05,
  1.93001841e-06,-5.11760501e-06,-4.90498578e+00, 9.04037843e-05,
  3.40210280e-03,-1.00504033e-04]


--- 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,
  1.39624398, 0.00767429, 1.3642851 , 0.04402958,-0.08539501,-0.04604062,
  0.09312405, 0.70996085,-0.08031976,-0.69691826,-0.06171928]

qacc:
[-6.55431539e-01, 1.68877546e+00,-8.36608909e+00, 1.67518765e+01,
 -9.49775152e-03,-7.44708558e-02, 2.47522676e-01,-5.05474372e+00,
  3.15795105e+00,-1.36106238e+00, 4.80572177e+00,-6.69116768e+00,
 -5.10662784e-02, 3.51735625e-03, 5.17576883e+00,-1.77692873e+01,
  3.85729808e+00,-6.21436841e-01, 1.34269325e+00, 1.63151537e+00,
  1.25152487e+02, 1.19655362e+01]

qfrc_actuator:
[ 9.58293834e-05, 8.60736805e-04, 7.95051867e-05,-1.57354980e-06,
  1.40856571e-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,-1.60755130e-03, 0.00000000e+00,-9.43425831e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00420358062234346
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.64113651e-14, -6.60284127e-15,  1.00000000e+00,  1.74390051e-28,
        1.00000000e+00,  6.60284127e-15, -1.00000000e+00,  0.00000000e+00,
        2.64113651e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13864902, -0.03628689,  0.06178823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.74448954e-06,-8.88916011e-05,-5.09072225e-05,-2.72307678e-05,
  1.89693016e-05,-1.86906725e-05, 1.34504889e-05,-4.91152034e-06,
  3.31984501e-03,-7.12513807e-06,-4.37205549e-06,-8.72342758e-05,
  1.07213186e-05, 8.28881256e-06,-4.90495821e+00, 1.13467541e-04,
  3.40714784e-03,-9.85139904e-05]


--- 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,
  1.39624442, 0.00767442, 1.36437463, 0.04402825,-0.0853874 ,-0.04603821,
  0.09314746, 0.71004102,-0.08038334,-0.69683118,-0.06169738]

qacc:
[-5.07051475e-01,-5.23165675e-01, 3.33668979e+00,-1.07289941e+01,
 -7.34959593e-02, 2.42343420e+00,-9.55905190e+00, 1.33400632e+01,
 -4.02097533e+00,-1.35905400e-01,-1.24211204e+00, 6.53137910e+00,
 -5.10472789e-02,-4.89975217e-02,-1.31160353e+00, 4.17364226e+00,
 -4.80900118e+00, 1.05744243e+00,-1.83617689e+00,-2.90148166e+00,
 -1.58221069e+02,-7.16703670e+00]

qfrc_actuator:
[ 9.29253519e-05, 8.47357002e-04, 6.49701051e-05,-2.54357473e-05,
 -5.50662953e-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,-1.62002279e-03, 0.00000000e+00,-9.21329623e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004189681332424394
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.65618656e-15, -1.32494925e-14,  1.00000000e+00, -2.19436313e-29,
        1.00000000e+00,  1.32494925e-14, -1.00000000e+00,  0.00000000e+00,
       -1.65618656e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00818991, -0.06527008,  0.06178902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-8.64763104e-05,-6.87782782e-05, 1.61182384e-05,
 -2.43282255e-05,-2.01910950e-05, 6.13443103e-06, 1.53419463e-05,
  3.31777547e-03,-1.45805500e-05,-1.37232624e-05, 1.62150095e-05,
  6.50170507e-05, 1.74516927e-05,-4.90477251e+00, 1.55247353e-04,
  3.41765388e-03,-9.55020779e-05]


--- 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,
  1.39624448, 0.00767452, 1.36446376, 0.04402985,-0.08539677,-0.04603209,
  0.09315974, 0.70992575,-0.08045982,-0.69694262,-0.0616654 ]

qacc:
[ 2.64709801e+00,-3.57979956e+00, 1.57163193e+01,-3.25522855e+01,
 -8.39937240e-02, 2.80236248e+00,-1.11390567e+01, 2.00857672e+01,
  6.29064880e+00, 1.53973856e+00,-4.60858355e+00, 2.96517449e+00,
 -3.76850391e-02,-8.31344998e-02,-9.48208142e+00, 3.22657754e+01,
 -4.24724065e+00, 9.26071446e-01,-2.78123777e+00,-2.78917504e+00,
 -1.39378293e+02,-5.93524233e+00]

qfrc_actuator:
[ 1.08782331e-04, 8.04209597e-04, 7.45856150e-05,-7.51633327e-05,
 -1.72141702e-05, 3.48141857e-02, 1.09134507e-02, 1.74745843e-03,
 -5.78285051e-05, 8.82869555e-04, 2.05029887e-04, 1.19420444e-05,
  0.00000000e+00,-1.62750157e-03, 0.00000000e+00,-7.65723187e-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, -5.42431634,  6.7203846 , -5.42431634, 44.2746991 ,
       28.76525924,  6.7203846 , 28.76525924, 31.85406246,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004189983291629486
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.65606720e-15, -1.32485376e-14,  1.00000000e+00, -2.19404686e-29,
        1.00000000e+00,  1.32485376e-14, -1.00000000e+00,  0.00000000e+00,
       -1.65606720e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0081943 , -0.06527765,  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:
[ 1.57584296e-05,-7.42762427e-05,-3.63489645e-06,-5.30454263e-05,
 -2.42488601e-05,-2.26898741e-05,-3.29794480e-05, 4.40229315e-05,
  3.80865226e-05, 7.81763923e-07,-3.37379232e-05,-8.50728448e-06,
  3.32659184e-03,-1.74228735e-05,-5.84875488e-06, 1.54454918e-04,
  3.21746756e-06, 6.33886996e-06,-4.90497969e+00, 1.10075384e-04,
  3.42040052e-03,-9.48688081e-05]


--- 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,
  1.39624392, 0.00767423, 1.36455266, 0.04403463,-0.08542124,-0.0460227 ,
  0.09315768, 0.7096372 ,-0.0805484 ,-0.69722984,-0.06162426]

qacc:
[ 1.56893985e+00, 2.69054305e-01,-1.98715632e-01,-3.53339903e+00,
 -7.34378534e-02, 5.21228339e-01,-1.78561055e+00, 3.52879340e+00,
  3.93945393e+00, 2.58740587e-01, 1.13290078e+00,-8.27492893e+00,
 -7.07675559e-03,-3.84239406e-01,-9.93252953e+00, 3.42394699e+01,
 -3.77183075e+00, 8.15749045e-01,-3.58637882e+00,-2.66313242e+00,
 -1.23518695e+02,-4.94355827e+00]

qfrc_actuator:
[ 1.17801676e-04, 8.14655602e-04, 6.27425603e-05,-8.64562134e-05,
 -2.40966137e-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,-1.66751282e-03, 0.00000000e+00,-6.03747156e-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, -5.38225381,  6.7541188 , -5.38225381, 47.44371888,
       30.92498696,  6.7541188 , 30.92498696, 33.28001206,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004141902718761255
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67529138e-15, -1.34023310e-14,  1.00000000e+00,  2.24528095e-29,
        1.00000000e+00,  1.34023310e-14, -1.00000000e+00,  0.00000000e+00,
        1.67529138e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00830933, -0.06530655,  0.06179136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.12133852e-05, 2.35103150e-05, 6.03186248e-06, 1.01421818e-05,
  2.38544050e-05,-1.27823203e-06,-2.25537053e-05,-2.34771944e-05,
  3.34609157e-03,-5.57836088e-05, 1.30966749e-05, 1.69530552e-04,
  6.04807198e-06,-1.07805187e-05,-4.90496242e+00, 8.32295264e-05,
  3.41638360e-03,-9.40567973e-05]


--- 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,
  1.39624314, 0.00767375, 1.36464167, 0.04404064,-0.08542641,-0.0460165 ,
  0.09317215, 0.70956944,-0.08063673,-0.69729229,-0.06158236]

qacc:
[ 3.82679361e+00,-1.02527173e+00, 4.65949283e+00,-8.64585670e+00,
 -5.70507963e-02, 1.35705476e+00,-4.65079900e+00, 8.98693089e+00,
 -6.66752788e-01, 9.03022646e-01,-3.55277102e+00, 5.49723404e+00,
  2.33904968e-02,-1.97962940e-01,-3.59576685e+00, 1.27964954e+01,
  4.82212133e+00,-7.96218924e-01, 4.13519264e+00, 2.32516664e+00,
  1.56700952e+02, 1.60328247e+01]

qfrc_actuator:
[ 1.40471065e-04, 8.57066239e-04, 9.18149969e-05,-9.27684624e-05,
 -2.80294552e-05, 3.48981529e-02, 1.09342220e-02, 1.78236788e-03,
 -3.97749970e-05, 8.91406081e-04, 1.76097438e-04,-4.96101325e-06,
  0.00000000e+00,-1.65566880e-03, 0.00000000e+00,-5.45878526e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004143824570348446
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.67922304e-14, -2.00941728e-14,  1.00000000e+00,  5.38367706e-28,
        1.00000000e+00,  2.00941728e-14, -1.00000000e+00,  0.00000000e+00,
        2.67922304e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13873824, -0.03625823,  0.06179126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 5.72815022e-05, 1.34244524e-05, 2.52533479e-05,
 -3.97717694e-06,-3.50655519e-06,-1.45430689e-05, 3.98066625e-06,
  3.37671770e-03,-2.47215671e-05, 2.21888898e-05, 6.84041030e-05,
  5.31476853e-05,-3.21505885e-05,-4.90479068e+00, 6.87385454e-05,
  3.40640800e-03,-9.31672785e-05]


--- 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 ,
  1.39624257, 0.0076735 , 1.36473085, 0.04404666,-0.08541449,-0.0460131 ,
  0.09319676, 0.70969702,-0.08072459,-0.69715599,-0.06154025]

qacc:
[ 2.25930921e+00,-3.15471480e+00, 1.39914300e+01,-2.74307444e+01,
 -4.10834432e-02, 9.05466505e-01,-3.34430999e+00, 9.58990816e+00,
 -6.39491754e+00, 1.96992869e+00,-1.25159588e+01, 3.25922971e+01,
  2.79302825e-02, 1.66152797e-01, 2.36949190e-01,-4.71518115e-01,
  4.27546974e+00,-6.98275489e-01, 2.53253184e+00, 1.99185046e+00,
  1.38623191e+02, 1.39376001e+01]

qfrc_actuator:
[ 1.53242845e-04, 8.29712576e-04, 1.09461212e-04,-1.31546898e-04,
 -3.01619088e-05, 3.49415624e-02, 1.09567668e-02, 1.81417973e-03,
 -7.83012818e-05, 8.57186802e-04, 1.69978624e-04, 5.19284199e-05,
  0.00000000e+00,-1.61274970e-03, 0.00000000e+00,-5.49811667e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004141421857867221
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34038872e-14, -6.70194358e-15,  1.00000000e+00,  8.98320954e-29,
        1.00000000e+00,  6.70194358e-15, -1.00000000e+00,  0.00000000e+00,
        1.34038872e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1387432 , -0.03625405,  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:
[ 1.34508791e-05,-1.46553996e-05, 2.30068669e-05,-3.76160651e-05,
 -1.18626490e-05, 7.84865348e-05, 3.60197001e-05, 3.45121134e-05,
 -3.86407386e-05,-3.90453936e-05,-8.50150718e-06, 5.63150039e-05,
  3.38765888e-03, 2.78430699e-05, 1.47700816e-05, 2.02283726e-06,
 -4.72051264e-07,-6.79060486e-06,-4.90498033e+00, 8.60650455e-05,
  3.40535067e-03,-9.08694829e-05]


--- 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,
  1.39624251, 0.00767352, 1.36482041, 0.04404991,-0.08538729,-0.04601216,
  0.09322607, 0.70999847,-0.0808118 ,-0.69684258,-0.06149833]

qacc:
[-4.70815870e+00, 5.84001715e-01,-3.52569926e+00, 8.50119988e+00,
 -2.78349010e-02,-3.92831543e-01, 1.83291133e+00,-1.39865952e+00,
 -6.86691627e+00, 2.13907955e+00,-1.45271998e+01, 3.90206797e+01,
  1.04290990e-02, 2.84065295e-01, 8.90691695e+00,-3.03191138e+01,
  3.81793486e+00,-6.16648146e-01, 1.17519930e+00, 1.73481193e+00,
  1.23479681e+02, 1.22073745e+01]

qfrc_actuator:
[ 1.24576728e-04, 8.13998798e-04, 1.02159821e-04,-1.18176395e-04,
 -3.11978896e-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,-1.58703767e-03, 0.00000000e+00,-6.96600107e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004095224123737737
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.71101896e-14,  6.77754740e-15,  1.00000000e+00, -1.83740595e-28,
        1.00000000e+00, -6.77754740e-15, -1.00000000e+00,  0.00000000e+00,
        2.71101896e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13880952, -0.03623929,  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:
[-2.82732583e-05,-2.07071182e-05,-8.77286276e-06, 1.28135982e-05,
 -8.04376499e-06, 5.95088482e-05, 3.37688704e-05, 4.79339568e-06,
 -4.15231753e-05,-5.95763556e-05,-1.06672146e-05, 6.81476420e-05,
  3.37673546e-03, 4.20120507e-05, 4.74728267e-06,-1.45338320e-04,
  9.06292634e-06, 1.23599513e-05,-4.90494954e+00, 1.28927629e-04,
  3.41019494e-03,-8.72883115e-05]


--- 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,
  1.39624285, 0.00767367, 1.36491015, 0.04405006,-0.08537917,-0.04600695,
  0.09324765, 0.71008026,-0.08091169,-0.69675231,-0.06144536]

qacc:
[-5.97281884e+00, 4.85292415e-01,-3.95712617e+00, 1.22723247e+01,
 -1.76722691e-02,-7.70076455e-01, 1.95543244e+00,-7.44096455e-01,
 -4.06444643e+00,-9.29326473e-01, 2.28081977e+00,-8.93046108e-01,
 -1.74859128e-02, 2.01602914e-01, 9.69508571e+00,-3.34894583e+01,
 -4.77051703e+00, 1.06671367e+00,-1.92996773e+00,-2.66721929e+00,
 -1.56583066e+02,-7.42751855e+00]

qfrc_actuator:
[ 8.95061033e-05, 8.23063405e-04, 1.15766357e-04,-9.19888392e-05,
 -3.15684005e-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,-1.58953259e-03, 0.00000000e+00,-8.55334173e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004093114929733653
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.20383796e-14, -1.35620798e-14,  1.00000000e+00,  2.98886263e-28,
        1.00000000e+00,  1.35620798e-14, -1.00000000e+00,  0.00000000e+00,
        2.20383796e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00843625, -0.06536053,  0.06179391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.12204491e-06,-2.68987408e-05, 5.45422851e-06, 2.80595900e-06,
 -2.46190591e-05,-3.76413056e-05, 4.53223131e-06, 2.97911386e-06,
  3.35108606e-03, 2.60983321e-05,-1.60001869e-05,-1.66734672e-04,
  6.28122497e-05, 2.68608443e-05,-4.90476529e+00, 1.88468112e-04,
  3.42041812e-03,-8.27217640e-05]


--- 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,
  1.39624329, 0.0076742 , 1.36499947, 0.04405097,-0.08538793,-0.04599801,
  0.09325782, 0.70996843,-0.08102377,-0.69685879,-0.06138239]

qacc:
[-6.99583884e-01, 1.32555547e+00,-3.69827738e+00, 2.93076346e+00,
  5.10887946e-02, 6.07355886e-01,-3.62077566e+00, 7.94235695e+00,
 -8.18416927e+00,-1.76027837e+00, 8.54113789e+00,-1.64739662e+01,
 -3.88491564e-02, 2.90177477e-01,-2.89536199e+00, 9.26684180e+00,
 -4.21784848e+00, 9.34542974e-01,-2.85600847e+00,-2.62943157e+00,
 -1.38087708e+02,-6.11164052e+00]

qfrc_actuator:
[ 8.64656812e-05, 8.64743646e-04, 1.06215261e-04,-9.39436840e-05,
 -1.37846207e-05, 3.48254504e-02, 1.09356616e-02, 1.83189288e-03,
 -1.90751815e-04, 8.82076753e-04, 2.27170583e-04, 1.09934733e-04,
  0.00000000e+00,-1.57341788e-03, 0.00000000e+00,-8.06747269e-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, -5.95091666,  6.25886313, -5.95091666, 36.14935533,
       26.15930676,  6.25886313, 26.15930676, 33.508589  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004094892653463723
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.69452401e-15, -1.35561920e-14,  1.00000000e+00, -2.29712929e-29,
        1.00000000e+00,  1.35561920e-14, -1.00000000e+00,  0.00000000e+00,
       -1.69452401e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00843637, -0.0653681 ,  0.06179394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-7.12797358e-05,-2.87956727e-05, 1.66422676e-05,
 -4.94275308e-05, 4.82795761e-05, 3.77845909e-05,-1.69872159e-05,
  3.33115073e-03, 3.55985071e-05,-2.71286994e-05, 3.69301102e-05,
  1.35629217e-06, 8.88086508e-06,-4.90496970e+00, 1.21358272e-04,
  3.42337123e-03,-8.14809339e-05]


--- 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 ,
  1.39624392, 0.00767495, 1.3650888 , 0.04405107,-0.08541169,-0.04598577,
  0.0932534 , 0.70968472,-0.08114748,-0.69713968,-0.06131031]

qacc:
[ 5.55418291e+00, 1.89075791e+00,-5.77758454e+00, 5.93130647e+00,
  6.73879450e-02, 5.22962354e-01, 5.47913374e-02,-1.00357598e+01,
  1.05095980e+00,-3.19122862e-01, 2.73408330e+00,-6.60759455e+00,
 -4.74409036e-02, 2.34942523e-01, 2.46852347e+00,-8.61672140e+00,
 -3.75008514e+00, 8.23640794e-01,-3.64487294e+00,-2.56271749e+00,
 -1.22522254e+02,-5.05604951e+00]

qfrc_actuator:
[ 1.20057434e-04, 8.90023254e-04, 8.31812117e-05,-9.46795014e-05,
 -3.00679388e-06, 3.48446953e-02, 1.09033453e-02, 1.78814730e-03,
 -1.82948101e-04, 9.05067012e-04, 2.35938520e-04, 1.00455232e-04,
  0.00000000e+00,-1.56417891e-03, 0.00000000e+00,-8.49424514e-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, -5.92662051,  6.28187441, -5.92662051, 38.60146248,
       28.2705062 ,  6.28187441, 28.2705062 , 35.30811016,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004049140234215244
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.56835464e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.56835464e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00854541, -0.06539656,  0.06179606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-2.53135848e-05,-4.90465093e-05,-4.63446964e-05,
  6.37295817e-06, 5.70303297e-05, 2.27991079e-05,-6.43522305e-06,
  3.32557862e-03, 2.64249616e-05,-8.42138566e-06,-4.41306095e-05,
  3.38933869e-06,-1.36405538e-05,-4.90495386e+00, 7.54006601e-05,
  3.41965919e-03,-8.00046862e-05]


--- 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,
  1.39624444, 0.00767536, 1.36517824, 0.0440493 ,-0.08541623,-0.0459767 ,
  0.09326505, 0.70962032,-0.08127161,-0.69719725,-0.06123661]

qacc:
[-8.44098263e+00, 4.33255715e-01,-1.55162289e+00, 2.17349699e+00,
 -6.06005804e-02,-8.39426673e-01, 5.35181099e+00,-1.90423571e+01,
  9.42423007e-01,-3.99574356e-01, 2.79577861e+00,-8.87699894e+00,
 -5.09625232e-02,-1.78863818e-01, 5.80871728e+00,-2.00657747e+01,
  4.80329692e+00,-7.91583995e-01, 4.01637749e+00, 2.46531352e+00,
  1.55609609e+02, 1.65046760e+01]

qfrc_actuator:
[ 6.84149513e-05, 8.69723948e-04, 7.00816626e-05,-9.47030658e-05,
 -3.20248454e-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,-1.61233010e-03, 0.00000000e+00,-9.45590875e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004042953057512483
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.11910431e-14, -2.05955216e-14,  1.00000000e+00,  8.48351016e-28,
        1.00000000e+00,  2.05955216e-14, -1.00000000e+00,  0.00000000e+00,
        4.11910431e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13888718, -0.03621192,  0.06179632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.74976882e-05,-1.32346160e-05,-3.07030666e-05,-6.47559237e-05,
  5.70522544e-06,-2.13874165e-05,-1.61971849e-05,-2.05139980e-05,
  3.31614844e-03,-3.31105202e-05,-1.01057399e-05,-1.00026361e-04,
  4.90714526e-05,-3.93672228e-05,-4.90478588e+00, 4.40556599e-05,
  3.41005426e-03,-7.84039450e-05]


--- 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,
  1.39624485, 0.00767529, 1.36526783, 0.04404471,-0.08540372,-0.0459704 ,
  0.09328646, 0.70975015,-0.08139587,-0.69705714,-0.06116194]

qacc:
[-8.26692085e+00, 9.28060701e-01,-4.99764152e+00, 1.15665339e+01,
 -3.35938829e-02,-1.94282177e+00, 5.71494459e+00,-5.20660009e+00,
  7.31260517e-01,-2.69138260e+00, 9.48213700e+00,-1.42857531e+01,
 -4.45379038e-02,-2.69399645e-01, 8.76055982e+00,-3.03315442e+01,
  4.26296479e+00,-6.93700045e-01, 2.44018984e+00, 2.12802483e+00,
  1.37796760e+02, 1.43702601e+01]

qfrc_actuator:
[ 2.02632367e-05, 8.57822644e-04, 6.27685369e-05,-7.65856223e-05,
 -3.14236850e-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,-1.64118334e-03, 0.00000000e+00,-1.09022927e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0040431368095820985
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05945855e-14, -1.37297237e-14,  1.00000000e+00,  2.82757969e-28,
        1.00000000e+00,  1.37297237e-14, -1.00000000e+00,  0.00000000e+00,
        2.05945855e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1388881 , -0.03620831,  0.06179637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.73941622e-06,-4.35670176e-05, 1.68222170e-05,-3.19295977e-06,
  4.23897322e-06,-6.86832289e-05, 1.00228640e-05,-1.59679017e-05,
  3.32165703e-03,-4.50756585e-05,-1.77980981e-05,-1.51961059e-04,
 -3.00135412e-06,-8.30246008e-06,-4.90496884e+00, 8.34434940e-05,
  3.40874418e-03,-7.44528538e-05]


--- 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  ,
  1.39624543, 0.00767533, 1.36535732, 0.0440384 ,-0.08537597,-0.04596655,
  0.09331229, 0.71005302,-0.08152002,-0.6967407 ,-0.06108677]

qacc:
[ 3.98488428e+00, 1.07266370e-01,-1.89600612e+00, 6.19476193e+00,
 -1.77257733e-02,-1.45592430e+00, 4.62905079e+00,-4.29464834e+00,
  9.38243640e+00,-2.35005130e-01,-3.93369115e-01, 3.26960205e+00,
 -4.84224641e-02, 1.56846245e-01, 5.05478587e+00,-1.78855504e+01,
  3.81060811e+00,-6.12137878e-01, 1.10516951e+00, 1.86840545e+00,
  1.22874782e+02, 1.26067921e+01]

qfrc_actuator:
[ 4.55899024e-05, 8.33319668e-04, 5.89579936e-05,-6.56877425e-05,
 -3.08098684e-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,-1.60492387e-03, 0.00000000e+00,-1.17348108e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00400008741685505
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38774845e-14,  2.08162268e-14,  1.00000000e+00, -2.88876865e-28,
        1.00000000e+00, -2.08162268e-14, -1.00000000e+00,  0.00000000e+00,
        1.38774845e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1389497 , -0.0361943 ,  0.06179843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.14329404e-06,-1.73649466e-06, 2.57761923e-05,-8.31726428e-07,
  5.65658201e-05,-3.25493649e-05,-3.81941847e-06, 6.50924338e-06,
  3.32700435e-03, 1.51373816e-05,-2.69656199e-05,-9.44123922e-05,
  7.22478205e-06, 1.61954591e-05,-4.90493468e+00, 1.46461002e-04,
  3.41329146e-03,-6.92426724e-05]


--- 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,
  1.39624578, 0.00767583, 1.365446  , 0.04403646,-0.08536728,-0.04595838,
  0.09333028, 0.71013689,-0.08165667,-0.69664679,-0.06100033]

qacc:
[-3.25037890e-01, 3.83182174e-01,-2.06088586e+00, 4.36502285e+00,
 -6.98507118e-02, 5.66089072e-01,-1.93315968e+00, 5.19379728e+00,
  2.86797675e+00, 1.92653170e+00,-5.12902144e+00, 1.54204868e+00,
 -5.56570954e-02, 2.80493364e-01,-1.44102676e+01, 4.86927747e+01,
 -4.76701969e+00, 1.08041525e+00,-1.96090431e+00,-2.64520757e+00,
 -1.56145257e+02,-7.40264588e+00]

qfrc_actuator:
[ 4.29510903e-05, 8.36970794e-04, 5.71817888e-05,-5.91376652e-05,
 -4.79468030e-05, 3.48947990e-02, 1.09609612e-02, 1.74442305e-03,
 -1.01070597e-04, 8.37941806e-04, 2.02177126e-04, 5.98711660e-05,
  0.00000000e+00,-1.58324323e-03, 0.00000000e+00,-9.35834236e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004012357882636236
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55644254e-14, -2.76700897e-14,  1.00000000e+00,  4.30669048e-28,
        1.00000000e+00,  2.76700897e-14, -1.00000000e+00,  0.00000000e+00,
        1.55644254e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00864033, -0.06544659,  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:
[-1.94914005e-06,-1.47116411e-05,-8.65396504e-06, 5.19574539e-06,
 -2.01765040e-05, 5.15467310e-05, 2.17165535e-05, 1.87697700e-05,
  1.74840613e-05, 1.98606755e-05,-3.70447161e-05,-1.37015151e-05,
  3.31818680e-03, 3.17722320e-05,-2.35123046e-05, 2.28791210e-04,
  6.12078833e-05, 3.57195939e-05,-4.90474896e+00, 2.24547091e-04,
  3.42318445e-03,-6.30659441e-05]


--- 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,
  1.39624549, 0.00767624, 1.36553424, 0.04403967,-0.08537547,-0.04594642,
  0.09333675, 0.71002757,-0.08180546,-0.69674921,-0.06090366]

qacc:
[ 5.67468368e+00, 2.05455152e+00,-1.03575084e+01, 2.35474823e+01,
  4.73545697e-02, 5.60675102e-02, 3.68061673e-01,-1.66146622e+00,
  1.65224042e+00, 1.52862771e-01, 1.87623943e+00,-1.00592254e+01,
 -3.08452962e-02,-1.95802784e-01,-1.62545719e+01, 5.58843886e+01,
 -4.21699275e+00, 9.46876809e-01,-2.87859985e+00,-2.64606115e+00,
 -1.37786909e+02,-6.05096834e+00]

qfrc_actuator:
[ 7.71069820e-05, 8.57456791e-04, 5.67275091e-05,-1.96687721e-05,
 -2.23364430e-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,-1.62397688e-03, 0.00000000e+00,-6.70824913e-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, -6.26755001,  5.94176689, -6.26755001, 31.56953814,
       24.19058518,  5.94176689, 24.19058518, 34.15330247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004017467021580824
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.7271813e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.7271813e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00863144, -0.06545287,  0.06179786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.36885905e-05, 2.63623991e-05, 6.60790435e-06,-4.32262269e-06,
  1.00570524e-05, 8.10119075e-06,-1.85960070e-05,-2.56698870e-05,
  3.32942750e-03,-3.24441094e-05, 1.48595452e-05, 2.74807886e-04,
 -7.02041182e-07, 1.13563269e-05,-4.90495333e+00, 1.34699024e-04,
  3.42647489e-03,-6.11906574e-05]


--- 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,
  1.39624468, 0.00767626, 1.36562259, 0.04404537,-0.08539866,-0.04593113,
  0.09332858, 0.70974665,-0.08196592,-0.69702577,-0.06079767]

qacc:
[ 6.47077098e+00, 4.43157429e-01,-3.97774187e+00, 1.23195070e+01,
  8.17048558e-02, 3.43590653e+00,-1.37478616e+01, 2.72823071e+01,
  3.94998515e+00,-6.81809568e-01, 3.09132007e+00,-7.36745081e+00,
  9.11949797e-03,-3.75619721e-01,-7.35636213e+00, 2.59500983e+01,
 -3.75138090e+00, 8.34860731e-01,-3.66043413e+00,-2.60973592e+00,
 -1.22337062e+02,-4.97011502e+00]

qfrc_actuator:
[ 1.14902348e-04, 8.34647327e-04, 5.71570111e-05, 3.36671052e-06,
 -6.79399274e-06, 3.48837034e-02, 1.09326671e-02, 1.80457976e-03,
 -6.80188803e-05, 8.10682804e-04, 1.74209303e-04, 2.04170314e-05,
  0.00000000e+00,-1.64852326e-03, 0.00000000e+00,-5.51701654e-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, -6.26069516,  5.94898924, -6.26069516, 33.55406066,
       26.22329587,  5.94898924, 26.22329587, 36.2336671 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003975265183284005
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.23655171e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.23655171e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00873122, -0.06547998,  0.06179981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 1.16208620e-05,-1.60154289e-05, 6.79848024e-05,
  2.38144573e-05,-3.28922764e-05,-1.18103701e-05,-1.52772226e-05,
  3.36182931e-03,-5.21765860e-05, 3.51294926e-05, 1.35855058e-04,
  6.46069830e-07,-1.64849128e-05,-4.90493837e+00, 6.85850375e-05,
  3.42313579e-03,-5.90166810e-05]


--- 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 ,
  1.39624398, 0.00767589, 1.36571162, 0.04404814,-0.08540272,-0.04592496,
  0.09331214, 0.70967739,-0.0819529 ,-0.69709713,-0.06080554]

qacc:
[ 8.96052844e-01,-1.43089806e+00, 3.77704979e+00,-5.54756960e-01,
  8.07580574e-02, 1.43041484e+00,-6.05435404e+00, 1.41711329e+01,
 -3.47165865e+00, 6.17340319e-01,-5.44088828e+00, 1.54220867e+01,
  3.07492846e-02,-2.37875193e-01, 9.85624742e+00,-3.30367074e+01,
  4.78106440e+00,-2.28275014e+00,-2.06853740e+00, 2.43191863e+01,
  1.56525493e+02,-8.60224724e+01]

qfrc_actuator:
[ 1.19019924e-04, 8.39342228e-04, 9.34232518e-05, 1.65092373e-05,
  2.58155930e-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,-1.64527198e-03, 0.00000000e+00,-7.14781083e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003965855411896271
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.19918117e-14, -1.39972706e-14,  1.00000000e+00,  5.87770750e-28,
        1.00000000e+00,  1.39972706e-14, -1.00000000e+00,  0.00000000e+00,
        4.19918117e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18097854, -0.01087641,  0.06180019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 2.06740325e-05, 7.35338332e-06, 4.05782641e-05,
 -2.10142639e-05,-5.84976993e-05,-1.48116102e-05, 2.51674424e-05,
  3.38687367e-03,-2.93873129e-05, 2.74397980e-05,-1.51861223e-04,
  4.55765398e-05,-4.67310951e-05,-4.90477158e+00, 1.92074598e-05,
  3.41392137e-03,-5.66642382e-05]


--- 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 ,
  1.39624355, 0.00767511, 1.36580116, 0.04404596,-0.08538996,-0.04592679,
  0.09328369, 0.70979406,-0.0817872 ,-0.69698832,-0.06091414]

qacc:
[-8.49337564e+00,-2.20981593e+00, 9.02536344e+00,-1.41907885e+01,
  6.71495290e-02,-1.36378028e+00, 5.68788442e+00,-1.16537162e+01,
  7.44398730e-01, 6.53892894e-01,-4.19158114e+00, 1.00106056e+01,
  2.37026107e-02,-2.02149080e-01, 1.56943907e+01,-5.38124630e+01,
  4.20811384e+00,-2.00024620e+00,-3.00109476e+00, 2.12071503e+01,
  1.37503030e+02,-7.59244572e+01]

qfrc_actuator:
[ 6.77756997e-05, 8.60608082e-04, 1.32903413e-04, 6.01942785e-06,
  8.18202796e-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,-1.66069341e-03, 0.00000000e+00,-9.71752390e-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,  3.85357252, -7.72895567,  3.85357252, 62.71314346,
       26.96208928, -7.72895567, 26.96208928, 22.07936562,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00400325905482235
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08331952e-14, -1.38664899e-14,  1.00000000e+00,  1.50218392e-28,
        1.00000000e+00,  1.38664899e-14, -1.00000000e+00,  0.00000000e+00,
        1.08331952e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18088161, -0.01090568,  0.06179842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.93949781e-05, 5.54354414e-06, 9.00374591e-06,-2.91207718e-05,
  4.47429208e-06,-3.85860885e-05,-1.65053918e-05, 1.35961620e-05,
  3.38153298e-03,-2.53663271e-05,-8.18187223e-06,-2.62822490e-04,
  3.35622258e-06, 7.75098811e-07,-4.90498792e+00, 1.11940111e-04,
  3.40242270e-03,-5.50302088e-05]


--- 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,
  1.39624291, 0.00767447, 1.36588997, 0.04404643,-0.08536014,-0.04593169,
  0.09326589, 0.71011005,-0.08162523,-0.69667652,-0.06101536]

qacc:
[-1.12027666e+01, 1.11467465e+00,-2.45821351e+00, 2.84956240e-01,
 -1.03116766e-02,-1.57797534e+00, 5.34528681e+00,-8.46814019e+00,
  5.31197424e-01, 3.03051195e-02, 6.40851274e-01,-3.59664088e+00,
  1.41175805e-02, 1.47590128e-02,-9.04801530e+00, 3.00781990e+01,
  4.26339195e+00,-7.64582088e-01, 2.66221041e+00, 3.21721995e+00,
  1.41085718e+02, 1.82882913e+01]

qfrc_actuator:
[ 2.12035380e-06, 8.91640915e-04, 1.20756882e-04,-5.23198387e-07,
 -6.27928104e-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,-1.65163600e-03, 0.00000000e+00,-8.20307881e-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, -7.46155158,  4.3487958 , -7.46155158, 24.83125331,
       27.78677364,  4.3487958 , 27.78677364, 56.31219254,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003997753180413698
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38855874e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.38855874e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13894453, -0.03616738,  0.06179852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.99942752e-06,-3.66371793e-05, 2.86094114e-06,-1.88560107e-05,
  3.23113341e-06,-8.40811863e-06,-1.13442026e-05,-1.02619198e-05,
  3.36825825e-03, 4.24106421e-06,-3.53418416e-05, 1.35200092e-04,
  6.28053330e-08,-1.94800985e-05,-4.90492610e+00, 6.00020981e-05,
  3.41733957e-03,-6.05004870e-05]


--- 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,
  1.39624195, 0.007674  , 1.36597823, 0.04405131,-0.08535221,-0.04593291,
  0.09324425, 0.71018095,-0.08150742,-0.69661103,-0.06109534]

qacc:
[-3.71780373e+00, 3.68073858e-01,-5.13160100e-01,-7.77667891e-01,
 -3.59491072e-02,-2.45700075e+00, 1.03546365e+01,-2.35907955e+01,
 -5.56715278e+00, 1.05618666e+00,-3.09609158e+00, 1.87703701e+00,
  3.02028733e-02,-1.09397883e-02,-1.41918397e+01, 4.84534787e+01,
 -5.47392575e+00, 9.17215323e-01,-9.61267182e-01,-1.07696757e+01,
 -1.75038089e+02, 5.39574946e+00]

qfrc_actuator:
[-1.82151769e-05, 8.92575776e-04, 1.13783419e-04,-4.71230095e-06,
 -1.49053139e-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,-1.64602795e-03, 0.00000000e+00,-5.89185203e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004074123558735009
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10948709e-15,  2.72505978e-14,  1.00000000e+00,  1.39236578e-28,
        1.00000000e+00, -2.72505978e-14, -1.00000000e+00,  0.00000000e+00,
       -5.10948709e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00849174, -0.06539101,  0.06179497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-2.64816753e-05,-6.69627609e-06,-6.59503298e-05,
 -3.35077098e-05, 2.53084042e-06,-2.19846219e-05,-5.78411094e-06,
  3.37828842e-03, 2.98978056e-06,-8.33600041e-07, 2.34212722e-04,
  5.92062347e-05,-5.50083511e-05,-4.90472259e+00, 1.21077958e-05,
  3.42735063e-03,-6.48864514e-05]


--- 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,
  1.39624147, 0.0076733 , 1.36606742, 0.04405087,-0.08536348,-0.04593086,
  0.09321445, 0.71003689,-0.0814267 ,-0.69676188,-0.06115716]

qacc:
[ 3.94739385e+00,-2.65765304e+00, 1.24854922e+01,-2.58034995e+01,
 -3.88313324e-02,-9.18933618e-01, 6.45913321e+00,-2.28646680e+01,
 -3.37983443e+00, 6.11610768e-01,-3.97532812e+00, 9.77099995e+00,
  3.97999015e-02,-5.63618130e-02, 1.74935669e+01,-5.91968828e+01,
 -4.79751836e+00, 8.18821737e-01,-2.03977592e+00,-8.99761311e+00,
 -1.53567027e+02, 3.98943977e+00]

qfrc_actuator:
[ 6.04409909e-06, 8.75488239e-04, 1.27572832e-04,-4.30017581e-05,
 -1.99598238e-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,-1.64257999e-03, 0.00000000e+00,-8.81181214e-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,  8.5871175 ,  0.92097227,  8.5871175 ,  9.08516635,
       -4.18462285,  0.92097227, -4.18462285, 47.65365989,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004119403445681992
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.18977388e-14, -2.69510632e-14,  1.00000000e+00,  5.90167342e-28,
        1.00000000e+00,  2.69510632e-14, -1.00000000e+00,  0.00000000e+00,
        2.18977388e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00838351, -0.06535511,  0.06179281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 1.42065150e-05,-2.53777015e-05,-7.57370737e-05,
 -2.04143459e-05,-3.25969795e-05,-1.28381761e-05, 1.42288738e-05,
  3.39406249e-03,-2.18944586e-06, 2.45579253e-05,-2.79306076e-04,
 -9.06957668e-07,-8.31702034e-06,-4.90496625e+00, 8.45706200e-05,
  3.42527360e-03,-6.62457179e-05]


--- 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,
  1.39624163, 0.00767288, 1.36615683, 0.04404631,-0.08539164,-0.04592587,
  0.0931728 , 0.70970307,-0.08137732,-0.69710361,-0.06120332]

qacc:
[ 8.47949459e+00, 1.32159549e-01, 2.02968621e+00,-9.78762848e+00,
 -3.29200985e-02, 7.70960286e-01,-1.23904829e+00,-4.84798077e+00,
  3.98670790e+00,-1.10192334e-02,-2.86544789e+00, 1.17843748e+01,
  5.30575127e-03, 3.28568689e-01, 1.27673022e+01,-4.41676869e+01,
 -4.22524786e+00, 7.33800053e-01,-2.96151930e+00,-7.55906235e+00,
 -1.35468575e+02, 2.89856984e+00]

qfrc_actuator:
[ 5.63420049e-05, 9.01045140e-04, 1.17897539e-04,-6.55490856e-05,
 -2.28308095e-05, 3.48773467e-02, 1.08973609e-02, 1.63200169e-03,
 -1.09937981e-04, 7.49453548e-04, 1.45837668e-04, 9.21743921e-05,
  0.00000000e+00,-1.60458390e-03, 0.00000000e+00,-1.08850916e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.60202018,  0.76943202,  8.60202018,  8.97422677,
       -3.77720896,  0.76943202, -3.77720896, 50.86443197,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004107197472137503
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.52050262e-14, -1.35155788e-14,  1.00000000e+00,  2.05504730e-28,
        1.00000000e+00,  1.35155788e-14, -1.00000000e+00,  0.00000000e+00,
        1.52050262e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00840714, -0.06534936,  0.06179321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.48950893e-06, 2.14445110e-06,-3.02767101e-05,-2.65519015e-05,
  2.39651445e-05,-3.71931277e-05, 4.16781944e-06, 2.49466143e-05,
  3.36978732e-03, 4.76008627e-05,-2.35511945e-05,-2.20635005e-04,
  1.33183681e-05, 9.49665667e-06,-4.90493633e+00, 1.41261164e-04,
  3.41713699e-03,-6.77398962e-05]


--- 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 ,
  1.39624174, 0.00767272, 1.36624563, 0.0440433 ,-0.08539869,-0.0459244 ,
  0.09315328, 0.70961281,-0.08132896,-0.69719733,-0.06124648]

qacc:
[ 2.23554730e+00,-2.09758875e-01, 2.03365064e+00,-6.42078683e+00,
 -2.47864316e-02, 1.68919964e+00,-6.33389447e+00, 1.03377881e+01,
  2.57069675e+00,-1.77336357e+00, 8.15452943e+00,-1.61593277e+01,
 -2.08235636e-02, 1.67771346e-01,-5.56596504e+00, 1.81760001e+01,
  5.28114564e+00,-8.78033362e-01, 5.53365218e+00, 3.00430992e+00,
  1.72743805e+02, 1.89619999e+01]

qfrc_actuator:
[ 6.82905518e-05, 8.98596759e-04, 1.12373076e-04,-7.86335627e-05,
 -2.43690339e-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,-1.61729200e-03, 0.00000000e+00,-9.95585806e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004121362578538484
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34691258e-14, -1.34691258e-14,  1.00000000e+00,  1.81417351e-28,
        1.00000000e+00,  1.34691258e-14, -1.00000000e+00,  0.00000000e+00,
        1.34691258e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13874986, -0.03617942,  0.06179236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.14590023e-06,-4.61821153e-06,-2.00122729e-05, 2.06955294e-05,
  1.54590838e-05, 7.33224771e-06, 1.88779833e-05,-2.11319070e-05,
  3.33805441e-03, 2.08552275e-05,-3.60573870e-05, 7.74173567e-05,
  7.77944055e-05, 8.32573345e-06,-4.90472086e+00, 1.87547555e-04,
  3.40339165e-03,-6.93089567e-05]


--- 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,
  1.39624188, 0.00767214, 1.36633474, 0.04403701,-0.0853871 ,-0.04592599,
  0.09314862, 0.70973695,-0.08128116,-0.69707291,-0.06128775]

qacc:
[ 4.19162217e+00,-1.41903083e-01, 1.19057314e+00,-3.64801601e+00,
 -1.71666673e-02, 3.44169216e+00,-1.52783352e+01, 3.63140319e+01,
 -1.41608904e+00, 7.69157028e-01,-5.70807259e-01,-4.19864938e+00,
 -1.53214252e-02,-2.31900597e-01, 1.03999149e+01,-3.57004599e+01,
  4.65741256e+00,-7.67072553e-01, 3.71205188e+00, 2.50007511e+00,
  1.52043108e+02, 1.63071969e+01]

qfrc_actuator:
[ 9.30676355e-05, 8.97168256e-04, 1.09251399e-04,-8.60615039e-05,
 -2.50957279e-05, 3.48966370e-02, 1.08897781e-02, 1.75678657e-03,
 -1.04039215e-04, 8.27353100e-04, 1.68379449e-04, 6.00779387e-05,
  0.00000000e+00,-1.66051493e-03, 0.00000000e+00,-1.17033835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004155962437629994
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00354859e-14,  1.33569906e-14,  1.00000000e+00, -2.67613797e-28,
        1.00000000e+00, -1.33569906e-14, -1.00000000e+00,  0.00000000e+00,
        2.00354859e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13869835, -0.03618446,  0.06179069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.94981267e-06, 1.25244006e-05, 6.04676882e-06, 1.02395251e-04,
 -8.42771329e-06, 5.89236343e-05, 5.12590286e-07,-1.13665786e-05,
  3.33994541e-03,-3.53988010e-05,-7.56577396e-06,-1.74967125e-04,
  5.40207241e-06, 3.00190619e-06,-4.90497479e+00, 1.17653181e-04,
  3.40170573e-03,-7.28119346e-05]


--- 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,
  1.3962421 , 0.00767147, 1.36642377, 0.044029  ,-0.08535897,-0.04593028,
  0.09315261, 0.71005086,-0.08123354,-0.69675518,-0.06132792]

qacc:
[-4.38488677e-01, 6.54623641e-01,-3.46159621e+00, 8.15930158e+00,
 -7.23265321e-02, 3.12951034e+00,-1.63611047e+01, 4.82433067e+01,
  2.05426506e+00, 2.29339286e+00,-7.94853693e+00, 1.17501646e+01,
 -2.05850759e-02,-7.06497373e-03, 5.05918246e+00,-1.78677110e+01,
  4.13454947e+00,-6.74395153e-01, 2.16550194e+00, 2.10588410e+00,
  1.34692407e+02, 1.41209910e+01]

qfrc_actuator:
[ 8.97044017e-05, 8.96373052e-04, 1.07571405e-04,-7.23514965e-05,
 -4.30827136e-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,-1.65045530e-03, 0.00000000e+00,-1.25295017e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004138779182462762
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34124457e-14, -6.70622287e-15,  1.00000000e+00,  8.99468504e-29,
        1.00000000e+00,  6.70622287e-15, -1.00000000e+00,  0.00000000e+00,
        1.34124457e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13871996, -0.03617704,  0.06179144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.09120442e-05, 2.22716202e-05, 4.72059368e-05, 1.52137486e-04,
  1.25488614e-05, 6.37245151e-05,-7.00779997e-06, 1.31125803e-05,
  3.33853053e-03,-4.08955736e-06,-2.52301265e-05,-9.38372908e-05,
  1.05231495e-05,-5.39931389e-06,-4.90495813e+00, 9.13109977e-05,
  3.40631901e-03,-7.44909467e-05]


--- 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,
  1.39624248, 0.00767122, 1.36651245, 0.0440217 ,-0.08535156,-0.04593049,
  0.09315146, 0.71012809,-0.08121308,-0.69667671,-0.06135219]

qacc:
[-3.30553116e+00,-6.37339644e-01,-7.38973930e-01, 9.55878212e+00,
 -1.40257530e-01,-2.85282866e+00, 1.06671198e+01,-1.68845030e+01,
  1.36540796e+00,-2.84806095e+00, 1.03329531e+01,-1.44315937e+01,
 -3.11406853e-02, 3.25911012e-01,-2.66223522e+00, 8.56769459e+00,
 -5.17804474e+00, 1.02113084e+00,-1.28722476e+00,-6.37993358e+00,
 -1.68876475e+02,-1.86444004e+00]

qfrc_actuator:
[ 6.98012471e-05, 8.60479697e-04, 1.24522598e-04,-4.63140382e-05,
 -7.12790896e-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,-1.60859940e-03, 0.00000000e+00,-1.20952502e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004177830462081485
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.30442255e-15,  1.32870761e-14,  1.00000000e+00, -1.10341494e-28,
        1.00000000e+00, -1.32870761e-14, -1.00000000e+00,  0.00000000e+00,
        8.30442255e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00823066, -0.06529236,  0.0617897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.05543381e-05, 1.51790176e-05, 3.85570327e-05,-3.20339474e-05,
  8.06531555e-06,-1.77673306e-05, 3.76679261e-05,-8.71644575e-06,
  3.33451527e-03, 4.18710827e-05,-2.28821477e-05, 3.47845240e-05,
  6.90979997e-05,-1.57805123e-05,-4.90475577e+00, 9.47225033e-05,
  3.41672815e-03,-7.47852437e-05]


--- 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,
  1.3962427 , 0.00767117, 1.36660078, 0.04401662,-0.08536236,-0.0459271 ,
  0.09314103, 0.70999754,-0.08121628,-0.69680847,-0.06136256]

qacc:
[ 9.10856375e-01,-9.48312974e-01, 4.43513240e+00,-1.04725473e+01,
 -1.66390090e-02,-4.24847246e+00, 2.10953101e+01,-5.58411426e+01,
  8.10640114e-01,-8.49987582e-01, 2.88926957e+00,-4.47929113e+00,
 -3.46658277e-02, 1.09177152e-01,-7.19712994e+00, 2.44370066e+01,
 -4.55239782e+00, 8.99824540e-01,-2.31848500e+00,-5.54562911e+00,
 -1.48307724e+02,-1.73524817e+00]

qfrc_actuator:
[ 7.58364543e-05, 8.39437105e-04, 1.16693265e-04,-6.65104932e-05,
 -5.21140726e-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,-1.61914325e-03, 0.00000000e+00,-1.09221306e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004203039464107369
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.95276856e-15, -3.96221485e-14,  1.00000000e+00,  1.96239331e-28,
        1.00000000e+00,  3.96221485e-14, -1.00000000e+00,  0.00000000e+00,
        4.95276856e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00817196, -0.06527851,  0.06178856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.80028811e-06, 2.62599442e-05,-1.49900848e-05,-1.64204895e-04,
  4.83342947e-06,-3.35784577e-05,-2.39744846e-06,-6.37878160e-06,
  3.32623082e-03, 1.04494413e-05,-6.79755365e-06, 1.16290127e-04,
  4.43606368e-06,-1.08944143e-06,-4.90498423e+00, 1.00088509e-04,
  3.41912345e-03,-7.51626754e-05]


--- 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,
  1.39624205, 0.00767122, 1.36668815, 0.04402033,-0.08538924,-0.04592052,
  0.09311781, 0.7096834 ,-0.08124018,-0.6971258 ,-0.06136069]

qacc:
[ 5.83757740e-01, 2.31749831e+00,-8.04750478e+00, 1.02132496e+01,
  9.28202599e-02, 4.38993820e-02, 1.32726650e+00,-7.86585857e+00,
 -2.49477078e+00, 4.80252392e+00,-2.05956329e+01, 3.82710002e+01,
 -1.14844802e-02,-1.50927556e-01,-2.80359061e+01, 9.59819103e+01,
 -4.02270714e+00, 7.96837197e-01,-3.19880557e+00,-4.84666862e+00,
 -1.30980446e+02,-1.61394801e+00]

qfrc_actuator:
[ 7.93435844e-05, 8.80570043e-04, 9.43032466e-05,-6.05046644e-05,
 -2.24446199e-05, 3.49145238e-02, 1.09210824e-02, 1.67766664e-03,
 -9.39636372e-05, 8.09995406e-04, 1.34057109e-04, 1.01964632e-04,
  0.00000000e+00,-1.64331205e-03, 0.00000000e+00,-6.30559468e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004174173304234516
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49610571e-14, -2.65974348e-14,  1.00000000e+00,  3.97925741e-28,
        1.00000000e+00,  2.65974348e-14, -1.00000000e+00,  0.00000000e+00,
        1.49610571e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00823718, -0.06529064,  0.0617898 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 1.31352798e-05,-1.40974252e-05,-2.91194582e-05,
 -1.48613012e-05, 1.56469743e-05,-4.47096948e-05, 4.76726633e-05,
  3.33376081e-03,-2.31251500e-05, 8.71471860e-06, 4.67035926e-04,
  1.17418583e-05,-2.41648848e-06,-4.90495854e+00, 1.09982769e-04,
  3.41435666e-03,-7.54729910e-05]


--- 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,
  1.39624105, 0.00767133, 1.36677561, 0.04402851,-0.08539572,-0.04591723,
  0.0931145 , 0.70960331,-0.08126382,-0.69720478,-0.06135826]

qacc:
[ 3.28393911e+00, 1.84075258e+00,-5.85230873e+00, 6.82381124e+00,
  5.56695412e-02, 2.86685016e-01,-1.71533777e+00, 5.98453181e+00,
 -7.43143749e+00, 4.16713239e+00,-1.50054184e+01, 2.05147686e+01,
  3.42605080e-02,-9.05513218e-02,-1.34135273e+01, 4.70920540e+01,
  5.10196739e+00,-8.23991080e-01, 4.97641997e+00, 2.48486864e+00,
  1.66143846e+02, 1.69723363e+01]

qfrc_actuator:
[ 9.90791531e-05, 9.23068136e-04, 8.15373423e-05,-5.68274422e-05,
 -2.22208649e-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,-1.62239636e-03, 0.00000000e+00,-4.13584878e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004177940124029493
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65734547e-14, -3.32168183e-14,  1.00000000e+00,  8.82685616e-28,
        1.00000000e+00,  3.32168183e-14, -1.00000000e+00,  0.00000000e+00,
        2.65734547e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1386583 , -0.03617533,  0.06178952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 7.27317841e-06, 1.04906335e-05, 2.04123554e-05,
 -4.45860688e-05, 2.27730822e-05,-5.74519728e-05, 1.09917419e-05,
  3.37757587e-03,-7.77023590e-06, 5.46455992e-05, 2.43861309e-04,
  6.78362215e-05,-1.44883789e-05,-4.90475977e+00, 1.22901873e-04,
  3.40330178e-03,-7.57585290e-05]


--- 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,
  1.3962405 , 0.00767147, 1.366864  , 0.0440336 ,-0.08538417,-0.04591684,
  0.09312413, 0.70972961,-0.08128702,-0.69707372,-0.06135578]

qacc:
[ 1.97311431e+00, 7.83946710e-01,-2.79674518e-01,-5.45234296e+00,
  9.53742717e-02,-9.10674456e-01, 5.22353368e+00,-1.40564667e+01,
 -4.43102277e+00,-1.14784481e+00, 5.94248172e+00,-1.50982860e+01,
  4.32128530e-02, 9.18779832e-02, 1.07302095e+01,-3.55388165e+01,
  4.50649314e+00,-7.22067002e-01, 3.23800185e+00, 2.11149492e+00,
  1.46484113e+02, 1.47289646e+01]

qfrc_actuator:
[ 1.10456531e-04, 9.66100750e-04, 7.45824802e-05,-7.22891549e-05,
 -4.15911852e-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,-1.59217534e-03, 0.00000000e+00,-5.91152474e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004195050039453599
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.61626807e-15, -1.32325361e-14,  1.00000000e+00,  8.75500063e-29,
        1.00000000e+00,  1.32325361e-14, -1.00000000e+00,  0.00000000e+00,
        6.61626807e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13863387, -0.03617686,  0.06178873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 4.42349367e-05, 9.38217524e-06,-3.93246049e-05,
 -2.67528137e-05,-3.93603711e-05,-1.67174883e-05,-3.02995045e-05,
  3.39475011e-03, 1.94890696e-05, 4.82431986e-05,-1.57887676e-04,
  3.94981724e-06,-2.94905941e-06,-4.90498435e+00, 1.01378594e-04,
  3.40179670e-03,-7.61413858e-05]


--- 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 ,
  1.39624046, 0.00767182, 1.36695276, 0.0440356 ,-0.08535659,-0.04591899,
  0.09314082, 0.71003895,-0.08130961,-0.69675617,-0.06135362]

qacc:
[ 4.07549441e+00,-4.81306972e-01, 3.35904225e+00,-7.39688778e+00,
  9.39846909e-02,-7.97007776e-01, 3.90485589e+00,-8.85030345e+00,
  3.42499717e+00,-3.97056547e+00, 1.58792460e+01,-2.84904381e+01,
  1.48883877e-02, 2.37912485e-01, 9.90193347e+00,-3.38261470e+01,
  4.00780167e+00,-6.36908880e-01, 1.76368724e+00, 1.82105192e+00,
  1.30009058e+02, 1.28722148e+01]

qfrc_actuator:
[ 1.34570686e-04, 9.91383446e-04, 8.88607414e-05,-8.11303278e-05,
  6.70624963e-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,-1.57411710e-03, 0.00000000e+00,-7.51130541e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0041636316414329355
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.66647754e-14,  6.66619384e-15,  1.00000000e+00, -1.77752561e-28,
        1.00000000e+00, -6.66619384e-15, -1.00000000e+00,  0.00000000e+00,
        2.66647754e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13867762, -0.0361665 ,  0.06179019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 2.93767822e-05, 1.22763303e-05,-2.21991871e-05,
  2.04712542e-05,-6.85693015e-05, 1.64934445e-05,-3.81784883e-05,
  3.37173406e-03, 3.61167394e-05, 1.89917257e-07,-1.63646648e-04,
  1.14094783e-05, 3.77024880e-06,-4.90496016e+00, 1.13087251e-04,
  3.40651841e-03,-7.50206974e-05]


--- 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,
  1.39624078, 0.00767244, 1.36704151, 0.04403567,-0.08534899,-0.0459169 ,
  0.09315132, 0.71011857,-0.08135156,-0.6966715 ,-0.06133801]

qacc:
[-5.43819388e-01,-2.14850298e+00, 9.17653025e+00,-1.66349109e+01,
  1.64177614e-02, 2.56815297e+00,-1.07372870e+01, 2.27836424e+01,
  2.27436080e+00,-1.72652493e+00, 7.62152344e+00,-1.54936720e+01,
 -1.34945009e-02, 2.69985892e-01, 5.83210990e+00,-2.03873009e+01,
 -4.99399005e+00, 1.06143344e+00,-1.54776965e+00,-4.37416722e+00,
 -1.63849808e+02,-4.99621375e+00]

qfrc_actuator:
[ 1.30485810e-04, 9.52675802e-04, 9.77463709e-05,-1.03755082e-04,
 -4.58570150e-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,-1.56354349e-03, 0.00000000e+00,-8.46062721e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00418667483412917
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.65737588e-15, -3.97770212e-14,  1.00000000e+00, -6.59254757e-29,
        1.00000000e+00,  3.97770212e-14, -1.00000000e+00,  0.00000000e+00,
       -1.65737588e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00820674, -0.06529191,  0.06178924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  4.75787359e-06, 2.26382511e-06,-9.13213365e-06, 5.92844190e-05,
  1.36615889e-05,-2.52729285e-05, 3.58009699e-06,-2.38040440e-05,
  3.34654962e-03, 3.64914581e-05,-1.99833362e-05,-1.04498805e-04,
  6.83154364e-05, 7.02601998e-06,-4.90476442e+00, 1.47151232e-04,
  3.41691057e-03,-7.27492397e-05]


--- 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 ,
  1.39624106, 0.0076732 , 1.3671299 , 0.04403658,-0.08535899,-0.04591108,
  0.09315167, 0.70999625,-0.08141099,-0.69679165,-0.06131043]

qacc:
[-1.52914993e+01, 2.47763582e+00,-1.28331105e+01, 2.82687319e+01,
 -7.50485341e-02, 5.59029562e+00,-2.62077174e+01, 6.37724253e+01,
 -1.49407232e+00,-2.11834418e+00, 5.61338364e+00,-3.65875035e-01,
 -2.82429155e-02, 1.08600926e-01,-3.07205929e+00, 9.99843898e+00,
 -4.40032291e+00, 9.31295779e-01,-2.53829311e+00,-3.97751316e+00,
 -1.44089320e+02,-4.18880207e+00]

qfrc_actuator:
[ 3.88211112e-05, 9.11415890e-04, 6.75871032e-05,-6.33624485e-05,
 -2.90776811e-05, 3.48989316e-02, 1.09165335e-02, 1.87112105e-03,
 -1.38806180e-04, 7.85026610e-04, 1.71171243e-04, 5.09779940e-05,
  0.00000000e+00,-1.57535830e-03, 0.00000000e+00,-7.95378954e-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, -3.28570437,  7.98692204, -3.28570437, 79.96567662,
       29.34384909,  7.98692204, 29.34384909, 20.70799931,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004199883148148668
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.65216356e-15, -1.32173085e-14,  1.00000000e+00, -2.18371555e-29,
        1.00000000e+00,  1.32173085e-14, -1.00000000e+00,  0.00000000e+00,
       -1.65216356e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00817806, -0.06528961,  0.0617887 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-4.40921616e-05,-8.05271493e-06, 1.78174565e-04,
 -9.21072727e-06, 1.08163845e-05, 5.84469489e-05, 2.21961759e-05,
  3.32814849e-03, 1.13100183e-05,-2.15345890e-05, 4.21004658e-05,
  4.02002025e-06, 3.96921983e-06,-4.90498224e+00, 1.12956752e-04,
  3.42009902e-03,-7.23403027e-05]


--- 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,
  1.39624114, 0.0076738 , 1.36721817, 0.04403806,-0.08538458,-0.04590197,
  0.09313848, 0.70969521,-0.08148626,-0.69709283,-0.06127217]

qacc:
[-9.40057861e+00, 2.49568618e+00,-1.27334525e+01, 2.77464274e+01,
 -9.42683186e-02,-2.81345828e-03,-3.74664760e+00, 1.96974705e+01,
  5.00820751e+00,-1.99609257e+00, 7.64143494e+00,-1.01927938e+01,
 -2.13210482e-02,-1.27750503e-01,-1.89255726e+00, 6.33611997e+00,
 -3.89771157e+00, 8.21547491e-01,-3.38306682e+00,-3.62461140e+00,
 -1.27449805e+02,-3.53387269e+00]

qfrc_actuator:
[-1.48858464e-05, 9.04325403e-04, 5.01331206e-05,-2.17536566e-05,
 -4.35363689e-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,-1.60059505e-03, 0.00000000e+00,-7.65841973e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004161716192522355
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.33657749e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.33657749e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00826702, -0.06531089,  0.06179042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-4.77287006e-05, 2.58076878e-05, 7.02978416e-05,
  3.01119633e-05, 3.49243372e-05, 4.83380075e-05,-7.91054417e-07,
  3.33000614e-03,-2.13893666e-05,-5.77069147e-06, 2.89871747e-05,
  8.48926598e-06,-8.77745369e-06,-4.90496027e+00, 9.28647135e-05,
  3.41617781e-03,-7.17619456e-05]


--- 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 ,
  1.39624148, 0.00767416, 1.36730696, 0.04403518,-0.08539029,-0.04589607,
  0.09314357, 0.70962178,-0.08156147,-0.69716221,-0.06123323]

qacc:
[ 5.04873085e-01,-7.07047012e-01, 1.20677707e+00, 1.15717405e+00,
  3.83064157e-02,-2.65207230e+00, 1.21745216e+01,-2.98248901e+01,
  6.09983945e+00,-1.17348531e-01, 1.02517966e+00,-1.86506825e+00,
 -1.74958292e-02,-5.79466158e-02, 1.39626650e+01,-4.77206687e+01,
  4.97135226e+00,-8.00643863e-01, 4.56748736e+00, 2.43360500e+00,
  1.61561348e+02, 1.66379662e+01]

qfrc_actuator:
[-1.02870145e-05, 8.82285864e-04, 5.82084413e-05,-1.52367798e-05,
 -1.63531333e-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,-1.59813030e-03, 0.00000000e+00,-9.97584698e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004155933149122416
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33570847e-14,  6.67854237e-15,  1.00000000e+00, -8.92058563e-29,
        1.00000000e+00, -6.67854237e-15, -1.00000000e+00,  0.00000000e+00,
        1.33570847e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13868808, -0.03615352,  0.06179062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.10641047e-05, 3.68183930e-07,-4.52961417e-06,-8.49258696e-05,
  3.68202757e-05, 3.95101464e-05, 1.78470780e-05, 1.10914480e-06,
  3.34021999e-03,-1.09246340e-05,-1.15500201e-06,-2.31257229e-04,
  5.97871672e-05,-2.81289401e-05,-4.90477423e+00, 8.23835300e-05,
  3.40602841e-03,-7.10989994e-05]


--- 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,
  1.39624191, 0.00767452, 1.36739558, 0.04403089,-0.08537839,-0.04589298,
  0.09316023, 0.70974938,-0.08163643,-0.69702697,-0.06119407]

qacc:
[ 5.87533880e-01,-4.02886459e-01,-6.81215778e-01, 7.10801959e+00,
  7.94746772e-02,-1.12327018e+00, 6.82598694e+00,-2.20846749e+01,
  7.63198604e-01,-1.51331854e+00, 4.42325044e+00,-3.89999822e+00,
 -3.31945825e-02, 5.49652808e-02, 4.00893592e+00,-1.43591440e+01,
  4.39886224e+00,-7.01914135e-01, 2.89534239e+00, 2.09277020e+00,
  1.42674125e+02, 1.44873577e+01]

qfrc_actuator:
[-6.92432728e-06, 8.87048650e-04, 8.12089361e-05, 6.09106136e-06,
  8.56384638e-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,-1.59664684e-03, 0.00000000e+00,-1.06185004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004163873755894755
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33316125e-14, -5.33264498e-14,  1.00000000e+00,  7.10927563e-28,
        1.00000000e+00,  5.33264498e-14, -1.00000000e+00,  0.00000000e+00,
        1.33316125e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13867755, -0.03615262,  0.06179029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  2.29775045e-05, 8.48773681e-06,-2.09247741e-05,-7.11314622e-05,
  4.47879255e-06,-3.88635495e-05, 1.30741217e-05, 1.26414601e-06,
  3.32637303e-03, 2.89436211e-06,-2.87654024e-05,-7.78846614e-05,
  1.16145313e-06,-6.15008004e-06,-4.90498035e+00, 9.30624488e-05,
  3.40458604e-03,-6.92421531e-05]


--- 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,
  1.39624186, 0.00767492, 1.36748343, 0.04403085,-0.08535082,-0.04589236,
  0.09318281, 0.71005559,-0.08171097,-0.69670973,-0.06115504]

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,
 -2.89642584e-02,-6.83661926e-02,-1.39848036e+01, 4.72563455e+01,
  3.91956606e+00,-6.19486111e-01, 1.47813418e+00, 1.82875913e+00,
  1.26848968e+02, 1.27055408e+01]

qfrc_actuator:
[-4.33568985e-06, 9.25659879e-04, 1.12951652e-04, 1.82441341e-05,
  9.94407233e-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,-1.61365086e-03, 0.00000000e+00,-8.31564019e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004125579193762156
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69107190e-14, -6.72767975e-15,  1.00000000e+00,  1.81046699e-28,
        1.00000000e+00,  6.72767975e-15, -1.00000000e+00,  0.00000000e+00,
        2.69107190e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1387319 , -0.03614042,  0.0617921 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 5.29576570e-06, 3.98761944e-05,-2.50530496e-05,
  1.98253493e-05,-7.46800510e-05,-5.21138293e-06,-1.73253516e-06,
  3.32212643e-03,-1.40036232e-05,-2.24666975e-05, 2.22127173e-04,
  9.87780014e-06, 1.00960212e-05,-4.90495179e+00, 1.31864175e-04,
  3.40922135e-03,-6.60141393e-05]


--- 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,
  1.39624158, 0.00767511, 1.36757137, 0.04403151,-0.08534279,-0.04588742,
  0.09319847, 0.71013688,-0.08180128,-0.69662078,-0.06110357]

qacc:
[ 3.33224614e+00,-1.37566079e+00, 6.06480192e+00,-1.04566919e+01,
  6.77826398e-03,-3.53654975e+00, 1.37777554e+01,-2.35174874e+01,
  4.94092339e+00,-8.82370378e-01, 1.97608212e+00,-1.51142696e+00,
 -2.51434029e-03,-1.84653764e-01,-1.98754106e+00, 7.12010588e+00,
 -4.88344515e+00, 1.07974940e+00,-1.73001549e+00,-3.47142475e+00,
 -1.60385636e+02,-6.29643937e+00]

qfrc_actuator:
[ 1.55293640e-05, 9.31031415e-04, 1.31985710e-04, 7.18262763e-06,
 -1.97728650e-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,-1.62404251e-03, 0.00000000e+00,-8.02439052e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0041443616964556285
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50686764e-14, -1.33943790e-14,  1.00000000e+00,  2.01835562e-28,
        1.00000000e+00,  1.33943790e-14, -1.00000000e+00,  0.00000000e+00,
        1.50686764e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00831215, -0.06534095,  0.06179137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.92954637e-06, 3.18411726e-05, 4.75027482e-05,-4.82703518e-05,
  2.97213858e-05,-7.50433295e-05,-1.58551966e-05,-3.64867474e-06,
  3.34621055e-03,-2.67165785e-05, 1.40853026e-05, 3.85804423e-05,
  6.54950362e-05, 2.20838683e-05,-4.90476067e+00, 1.89160611e-04,
  3.41938763e-03,-6.17340883e-05]


--- 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,
  1.39624121, 0.00767508, 1.36765945, 0.04403186,-0.08535199,-0.0458787 ,
  0.09320336, 0.71002023,-0.08190629,-0.69673283,-0.06104093]

qacc:
[ 5.09635549e+00,-2.19248929e+00, 8.16758230e+00,-1.13095311e+01,
 -2.08068467e-02, 5.32214648e-01,-7.53210867e-01,-1.96867487e+00,
  2.91395197e+00, 4.65128829e-01,-2.46085688e+00, 3.39419563e+00,
  9.50128922e-03,-1.64378899e-01, 1.12577427e+00,-3.66019789e+00,
 -4.30990809e+00, 9.46167322e-01,-2.68995010e+00,-3.28752180e+00,
 -1.41224171e+02,-5.18535342e+00]

qfrc_actuator:
[ 4.54041600e-05, 9.16397989e-04, 1.60977817e-04, 2.71104139e-07,
 -9.11460873e-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,-1.63022224e-03, 0.00000000e+00,-8.21149408e-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, -5.31533706,  6.80690596, -5.31533706, 47.09720596,
       30.03307842,  6.80690596, 30.03307842, 32.08841889,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0041519567778070185
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84109885e-14, -2.67397539e-14,  1.00000000e+00,  7.59702841e-28,
        1.00000000e+00,  2.67397539e-14, -1.00000000e+00,  0.00000000e+00,
        2.84109885e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0082974 , -0.06534409,  0.06179111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.99585537e-06, 3.83995772e-05,-7.13747983e-07,-9.43262377e-06,
  1.75868308e-05,-6.31625354e-05,-3.54934051e-05,-3.86677077e-06,
  3.35705501e-03,-2.20515081e-05, 8.04349087e-06,-1.53646863e-05,
  2.09385942e-06, 7.68080335e-06,-4.90497171e+00, 1.25695367e-04,
  3.42277471e-03,-6.06036997e-05]


--- 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,
  1.39624055, 0.00767479, 1.36774739, 0.04403333,-0.08537649,-0.04586665,
  0.09319423, 0.70972815,-0.08202499,-0.69702277,-0.06096822]

qacc:
[ 1.64471974e-01,-1.83009302e+00, 7.57500297e+00,-1.43153614e+01,
  3.45744546e-02, 1.23198969e+00,-4.57511990e+00, 7.06127893e+00,
  1.59811920e+00, 1.82328910e+00,-5.64238074e+00, 5.07392927e+00,
  2.06030459e-02,-2.50328822e-01,-3.61043684e+00, 1.23162921e+01,
 -3.82437240e+00, 8.33856082e-01,-3.50818678e+00,-3.10321793e+00,
 -1.25093403e+02,-4.29330629e+00]

qfrc_actuator:
[ 4.54203545e-05, 8.72183548e-04, 1.60035224e-04,-2.19029195e-05,
  4.42965819e-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,-1.65154345e-03, 0.00000000e+00,-7.61319498e-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, -5.30233247,  6.81704095, -5.30233247, 50.35822422,
       32.45149585,  6.81704095, 32.45149585, 33.8773181 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00411001427839755
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51946054e-14, -1.35063159e-14,  1.00000000e+00,  2.05223141e-28,
        1.00000000e+00,  1.35063159e-14, -1.00000000e+00,  0.00000000e+00,
        1.51946054e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00839611, -0.0653695 ,  0.06179303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-7.36990985e-06,-1.75783293e-05, 1.28766676e-05,
  9.78564487e-06, 1.90958114e-05,-2.82392553e-05,-3.91845924e-06,
  3.36191496e-03,-3.26506662e-05,-5.01358630e-07, 5.94400621e-05,
  5.03912754e-06,-1.30359083e-05,-4.90495239e+00, 8.15998527e-05,
  3.41923574e-03,-5.92314588e-05]


--- 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,
  1.39623983, 0.00767436, 1.36783537, 0.04403483,-0.08538158,-0.04586382,
  0.09317745, 0.70965141,-0.08196655,-0.69710385,-0.06101296]

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,
  3.46946629e-02,-1.37412257e-01,-1.30818035e-02, 1.38477385e-01,
  4.85428568e+00,-2.30718559e+00,-1.91130203e+00, 2.43887754e+01,
  1.59379548e+02,-8.82832945e+01]

qfrc_actuator:
[ 4.56111583e-05, 8.81466149e-04, 1.23528323e-04,-1.74251425e-05,
 -5.23366507e-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,-1.64631397e-03, 0.00000000e+00,-7.62190046e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004098810555075029
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.70864684e-14,  1.73522688e-14,  1.00000000e+00, -4.70011680e-28,
        1.00000000e+00, -1.73522688e-14, -1.00000000e+00,  0.00000000e+00,
        2.70864684e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18058505, -0.01090717,  0.06179349])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.75263978e-06,-6.52069903e-06,-3.74132407e-07, 7.79664305e-05,
 -1.26209325e-05, 9.60994168e-05, 2.98394263e-05, 1.77582018e-05,
  3.37588236e-03,-1.44577155e-05, 4.42039243e-06, 1.94008061e-06,
  5.33616621e-05,-3.80815174e-05,-4.90477477e+00, 5.09616502e-05,
  3.40960461e-03,-5.77227626e-05]


--- 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,
  1.39623938, 0.00767419, 1.3679234 , 0.04403597,-0.0853696 ,-0.04586907,
  0.09314917, 0.70976352,-0.0817525 ,-0.69700184,-0.06116135]

qacc:
[ 8.90306631e+00, 2.53860780e+00,-1.02819782e+01, 1.74690885e+01,
 -2.76499321e-02, 4.49013811e+00,-1.97375094e+01, 4.43287873e+01,
 -7.29252877e+00, 2.14331553e+00,-1.08149618e+01, 2.66100563e+01,
  3.14063802e-02, 1.89084353e-01, 1.13045099e+00,-3.86808194e+00,
  4.26495730e+00,-2.01999448e+00,-2.87409479e+00, 2.12448408e+01,
  1.39788489e+02,-7.77494280e+01]

qfrc_actuator:
[ 9.91712478e-05, 9.04820742e-04, 1.02056109e-04, 2.72193319e-06,
 -1.09891209e-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,-1.60741328e-03, 0.00000000e+00,-7.81080453e-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,  3.27762015, -7.99024299,  3.27762015, 71.57579011,
       25.81792976, -7.99024299, 25.81792976, 19.22695104,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00413593085890273
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.51656549e-15, -2.68433652e-14,  1.00000000e+00,  6.75530864e-29,
        1.00000000e+00,  2.68433652e-14, -1.00000000e+00,  0.00000000e+00,
        2.51656549e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18048923, -0.01093708,  0.06179173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.97359707e-06,-1.88538912e-05,-1.55386298e-05, 1.18505742e-04,
 -4.39683046e-05, 6.27067461e-05, 2.40398155e-05, 5.16915092e-05,
  3.37865289e-03, 3.16474532e-05, 1.04664363e-07,-1.87092467e-05,
  3.41974086e-06, 3.72137322e-06,-4.90497899e+00, 1.20415457e-04,
  3.40299291e-03,-5.80726869e-05]


--- 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,
  1.39623922, 0.00767417, 1.36801157, 0.04403554,-0.08534034,-0.04587742,
  0.09313254, 0.71007849,-0.08154184,-0.69669321,-0.06130285]

qacc:
[ 5.48839392e+00,-2.09965776e+00, 8.68666227e+00,-1.65188634e+01,
 -2.80166779e-02, 2.32647051e+00,-9.14699679e+00, 1.59937385e+01,
 -4.50807328e+00, 2.91906142e-01, 1.08862335e+00,-8.04281878e+00,
  1.66331785e-02, 1.53587779e-01, 4.99177159e+00,-1.71396617e+01,
  4.32089174e+00,-7.72734299e-01, 2.91234358e+00, 3.16534863e+00,
  1.43634462e+02, 1.82732525e+01]

qfrc_actuator:
[ 1.30457425e-04, 8.65480785e-04, 1.07474470e-04,-2.13021805e-05,
 -1.43530600e-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,-1.60191000e-03, 0.00000000e+00,-8.63669905e-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, -7.46726451,  4.33897886, -7.46726451, 24.51684284,
       27.32987241,  4.33897886, 27.32987241, 55.67033008,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004134405532320057
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34266343e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.34266343e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13871054, -0.03611919,  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:
[ 3.28513690e-05,-3.89053980e-05, 4.58394028e-06,-2.42328329e-05,
 -8.07702894e-06,-2.04267676e-05,-2.97489988e-05, 3.37967652e-05,
 -2.71160065e-05, 8.41983980e-06,-1.79770298e-05,-2.19191813e-05,
  3.36544535e-03, 2.43719053e-05,-3.52086035e-06,-8.39845819e-05,
 -5.26421426e-06,-2.36177963e-05,-4.90489656e+00, 4.22451378e-05,
  3.42274050e-03,-6.56797461e-05]


--- 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,
  1.39623923, 0.0076741 , 1.36809983, 0.04403311,-0.0853332 ,-0.04588212,
  0.09311262, 0.71014513,-0.08137712,-0.696634  ,-0.06142259]

qacc:
[ 2.00762129e-01,-3.19806147e+00, 1.45046333e+01,-3.10535522e+01,
 -2.32371069e-02,-4.29151730e-01, 6.23122877e+00,-2.65341804e+01,
 -2.66357809e+00,-5.46839294e-01, 6.78411816e+00,-2.39309347e+01,
  2.59860756e-03, 1.23747134e-02, 6.17679402e+00,-2.13948936e+01,
 -5.52902963e+00, 9.10365688e-01,-8.25590898e-01,-1.12064511e+01,
 -1.77353742e+02, 5.94958770e+00]

qfrc_actuator:
[ 1.30612494e-04, 8.24483631e-04, 1.10685462e-04,-7.11613177e-05,
 -1.62551537e-05, 3.49716017e-02, 1.09200989e-02, 1.85138780e-03,
 -9.16905479e-05, 7.77119889e-04, 1.61908927e-04, 2.98533062e-05,
  0.00000000e+00,-1.61644620e-03, 0.00000000e+00,-9.65361243e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004205525608414723
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.94984067e-15, -1.31995751e-14,  1.00000000e+00,  6.53357939e-29,
        1.00000000e+00,  1.31995751e-14, -1.00000000e+00,  0.00000000e+00,
        4.94984067e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00816597, -0.06527688,  0.06178835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.67605016e-06, 6.63174216e-05,-2.28581139e-05,-8.98318466e-05,
 -1.59534466e-05, 1.58177084e-05,-2.23376609e-05,-5.19705750e-05,
  3.35032824e-03, 2.12728051e-06,-1.25325127e-05,-1.07205077e-04,
  5.39885667e-05,-6.80518574e-05,-4.90469383e+00,-3.41872258e-05,
  3.43320489e-03,-7.22159036e-05]


--- 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,
  1.39623908, 0.00767385, 1.36818786, 0.04403081,-0.08534542,-0.04588357,
  0.09308496, 0.70999424,-0.08125084,-0.69679359,-0.06152377]

qacc:
[ 2.89723142e+00,-1.06483475e+00, 4.86642882e+00,-1.00837229e+01,
 -1.72795845e-02,-2.19918019e+00, 1.48895263e+01,-4.99313965e+01,
 -1.53989927e+00, 1.19146244e+00,-4.31123752e+00, 6.15611466e+00,
 -5.84669262e-04,-1.51994370e-01,-7.26348523e-01, 2.03402653e+00,
 -4.83945098e+00, 8.12377629e-01,-1.93138402e+00,-9.31366846e+00,
 -1.55394334e+02, 4.39986495e+00]

qfrc_actuator:
[ 1.47955275e-04, 8.53786247e-04, 1.30273370e-04,-8.25713220e-05,
 -1.72651085e-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,-1.64286362e-03, 0.00000000e+00,-9.53197995e-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,  8.60576043,  0.72640508,  8.60576043,  8.89277986,
       -3.03777694,  0.72640508, -3.03777694, 44.62507229,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004248869477849013
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.16557668e-15, -1.30649227e-14,  1.00000000e+00,  1.06682628e-28,
        1.00000000e+00,  1.30649227e-14, -1.00000000e+00,  0.00000000e+00,
        8.16557668e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00806321, -0.06524092,  0.06178629])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.95257405e-06, 6.03879894e-05,-3.71281540e-05,-1.60416272e-04,
 -9.21846015e-06, 1.18367079e-05,-1.34188588e-05, 4.48236733e-06,
  3.34158504e-03,-2.17797456e-05,-1.91164909e-05, 4.24740959e-06,
 -4.29081464e-06,-1.07412979e-05,-4.90494358e+00, 7.24161001e-05,
  3.42874805e-03,-7.42062346e-05]


--- 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,
  1.39623864, 0.0076734 , 1.36827562, 0.04402997,-0.08537466,-0.04588211,
  0.0930458 , 0.70965161,-0.0811569 ,-0.69714596,-0.06160898]

qacc:
[-1.27548100e+00, 9.16284503e-01,-5.44944725e+00, 1.46312627e+01,
 -1.17958581e-02, 4.45400580e-01,-2.45872445e-01,-5.48382245e+00,
  7.97072896e+00, 4.16485342e-01,-3.16707453e+00, 9.89965361e+00,
  1.25416699e-02,-2.11003549e-01,-4.87213144e+00, 1.64208672e+01,
 -4.25610280e+00, 7.27576279e-01,-2.87657967e+00,-7.77925046e+00,
 -1.36881272e+02, 3.19893000e+00]

qfrc_actuator:
[ 1.39781378e-04, 8.71802118e-04, 1.41936655e-04,-5.34399553e-05,
 -1.77320110e-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,-1.65850391e-03, 0.00000000e+00,-8.74044041e-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,  8.61554529,  0.5992964 ,  8.61554529,  8.82465071,
       -2.70683395,  0.5992964 , -2.70683395, 47.55008031,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0042335073272793955
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47513729e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.47513729e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00809466, -0.06523586,  0.06178683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.39095611e-06, 3.16946383e-06,-2.30846964e-05,-2.53629881e-05,
  4.80682151e-05, 1.03234931e-05, 1.19774578e-05, 2.13905197e-05,
  3.34964266e-03,-2.82376860e-05,-9.37965449e-06, 7.67096738e-05,
  1.29880103e-05, 1.50637948e-05,-4.90491239e+00, 1.57910528e-04,
  3.41863710e-03,-7.64396380e-05]


--- 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,
  1.3962386 , 0.00767287, 1.3683639 , 0.04402505,-0.08538264,-0.04588419,
  0.09302952, 0.70955493,-0.08106326,-0.6972479 ,-0.0616921 ]

qacc:
[-3.87799127e+00,-1.76286835e-01,-1.27351632e+00, 7.39394440e+00,
 -7.41015927e-03, 1.42059001e+00,-6.77518189e+00, 1.85802264e+01,
  1.97226586e+00, 1.95040290e+00,-9.32002403e+00, 2.01464835e+01,
  1.75284406e-02, 3.99898705e-02, 1.31677610e+01,-4.49222671e+01,
  5.31256281e+00,-8.84072993e-01, 5.71962282e+00, 2.89135703e+00,
  1.74493068e+02, 1.85886051e+01]

qfrc_actuator:
[ 1.16648681e-04, 8.47438603e-04, 1.48820842e-04,-3.62085831e-05,
 -1.78696786e-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,-1.63208168e-03, 0.00000000e+00,-1.09339085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004252325889393144
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30543031e-14, -2.61086063e-14,  1.00000000e+00,  3.40829661e-28,
        1.00000000e+00,  2.61086063e-14, -1.00000000e+00,  0.00000000e+00,
        1.30543031e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13852496, -0.03613071,  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:
[-2.33503420e-05,-1.37134188e-05, 1.18130286e-05, 1.86940950e-05,
 -2.14134215e-06, 2.02573603e-05, 1.80534572e-05, 5.74285761e-05,
  1.19488322e-05, 1.34093023e-05,-6.55706297e-06, 3.15828321e-05,
  3.36434702e-03, 8.25855410e-06, 2.80324273e-06,-2.16580239e-04,
  8.10528299e-05, 2.00611963e-05,-4.90469149e+00, 2.28882016e-04,
  3.40321804e-03,-7.88325449e-05]


--- 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,
  1.3962388 , 0.00767277, 1.36845182, 0.04402056,-0.08537192,-0.04588936,
  0.09302867, 0.70967448,-0.08096956,-0.69712985,-0.06177412]

qacc:
[-2.42584158e+00,-1.86669797e+00, 6.81289157e+00,-9.88042551e+00,
 -4.06027430e-03, 3.26042945e-01,-4.87960430e+00, 2.43820057e+01,
 -4.85162178e+00,-4.17517033e-01, 4.38641417e+00,-1.53603514e+01,
 -7.67013678e-03, 3.31833679e-01,-1.84717511e+00, 5.72270171e+00,
  4.67949376e+00,-7.73029221e-01, 3.85862951e+00, 2.38180681e+00,
  1.53392453e+02, 1.59535270e+01]

qfrc_actuator:
[ 1.02657246e-04, 8.33369146e-04, 1.70397775e-04,-4.39143957e-05,
 -1.78089251e-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,-1.59821363e-03, 0.00000000e+00,-1.06079843e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004284345499229292
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.47837006e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.47837006e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13847759, -0.03613529,  0.06178425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.20421527e-06, 1.21544829e-05, 5.61193302e-05, 9.05094820e-05,
 -2.92089922e-05,-7.36398519e-06,-2.07233245e-05,-3.46773314e-05,
  3.34367384e-03, 4.62384724e-05,-2.51930037e-05, 2.03243871e-05,
  5.40635744e-06, 6.29369375e-06,-4.90495796e+00, 1.26323386e-04,
  3.40183413e-03,-8.45425567e-05]


--- 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,
  1.39623878, 0.00767308, 1.3685391 , 0.04402048,-0.08534459,-0.04589726,
  0.09303693, 0.70998518,-0.08087548,-0.6968171 ,-0.06185578]

qacc:
[-1.48070556e+00,-1.22055955e+00, 5.63501222e+00,-1.25882270e+01,
 -1.71503105e-03, 2.63598411e+00,-1.65651525e+01, 5.51549459e+01,
 -6.88384042e-02,-3.48988887e+00, 1.62507094e+01,-3.52489210e+01,
 -1.38161889e-02, 2.00766097e-01,-1.42615131e+01, 4.85054978e+01,
  4.14897047e+00,-6.80250748e-01, 2.27871777e+00, 1.98281923e+00,
  1.35707165e+02, 1.37855616e+01]

qfrc_actuator:
[ 9.41634084e-05, 8.07854641e-04, 1.64988388e-04,-6.62143694e-05,
 -1.76297836e-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,-1.59587110e-03, 0.00000000e+00,-8.26681655e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004263673057556934
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30195609e-14, -1.95293414e-14,  1.00000000e+00,  2.54263451e-28,
        1.00000000e+00,  1.95293414e-14, -1.00000000e+00,  0.00000000e+00,
        1.30195609e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13850445, -0.03612707,  0.06178518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.32484154e-07,-1.82818497e-05, 5.78829899e-05, 1.79758346e-04,
 -5.15464622e-07,-5.39466736e-05,-1.07213572e-06,-5.81339775e-05,
  3.33189588e-03, 2.66665705e-05,-9.30398763e-06, 2.32014859e-04,
  8.98092478e-06,-9.83718728e-06,-4.90494767e+00, 7.09691668e-05,
  3.40677229e-03,-8.83589385e-05]


--- 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,
  1.3962389 , 0.00767322, 1.3686269 , 0.04401814,-0.08533799,-0.04590111,
  0.09304023, 0.71005831,-0.08080913,-0.69674443,-0.06192156]

qacc:
[-6.84303850e+00, 1.06455241e+00,-2.34084064e+00,-1.72446704e+00,
  6.12183090e-02, 8.74090109e-01,-4.58307514e+00, 1.23156599e+01,
 -5.84515550e+00,-1.64567309e+00, 6.93602312e+00,-1.31737541e+01,
 -3.45218169e-03,-6.78327825e-02, 7.58225754e+00,-2.54080302e+01,
 -5.18146982e+00, 1.00914772e+00,-1.24223195e+00,-6.48786349e+00,
 -1.69495194e+02,-1.76149525e+00]

qfrc_actuator:
[ 5.34650832e-05, 8.28818240e-04, 1.43629691e-04,-7.91963552e-05,
  3.71440807e-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,-1.61258452e-03, 0.00000000e+00,-9.55106200e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004287693182786184
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45649519e-14, -1.29466239e-14,  1.00000000e+00,  1.88566956e-28,
        1.00000000e+00,  1.29466239e-14, -1.00000000e+00,  0.00000000e+00,
        1.45649519e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00796118, -0.06518454,  0.06178414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-1.68185237e-05,-1.34947701e-07, 3.58024470e-05,
 -3.53391131e-05,-2.29674482e-05, 7.27248282e-06,-1.84240642e-05,
  3.34245016e-03,-1.02264784e-05, 2.10674823e-05,-1.16785659e-04,
  6.69875291e-05,-2.73230992e-05,-4.90474801e+00, 4.83575682e-05,
  3.41752361e-03,-9.07359511e-05]


--- 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,
  1.39623921, 0.00767313, 1.36871504, 0.04401231,-0.0853496 ,-0.04590141,
  0.09303439, 0.70992305,-0.08076677,-0.69688254,-0.0619735 ]

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,
 -1.28503727e-02,-6.55341789e-02, 1.10812817e+01,-3.80060588e+01,
 -4.55228177e+00, 8.88897670e-01,-2.28555295e+00,-5.59393718e+00,
 -1.48733068e+02,-1.69262593e+00]

qfrc_actuator:
[ 2.96409195e-05, 8.41881380e-04, 1.48733467e-04,-6.88057844e-05,
 -6.58664008e-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,-1.62255916e-03, 0.00000000e+00,-1.13638963e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004308325752586953
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.05288911e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.05288911e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0079147 , -0.06517253,  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:
[-2.50114405e-05, 6.80875491e-06, 1.12900235e-06, 9.11620304e-06,
  3.49242642e-06,-5.81557484e-05,-2.52980653e-05,-1.43671899e-04,
 -2.15532303e-05, 4.78594956e-05, 8.04643249e-06, 2.62992512e-05,
  3.33559996e-03,-1.13081286e-05,-6.59506985e-06,-1.85841345e-04,
  3.93492360e-06,-3.91266111e-06,-4.90497671e+00, 8.50812922e-05,
  3.41870636e-03,-9.18283244e-05]


--- 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,
  1.39623935, 0.00767326, 1.36880258, 0.04400904,-0.08537729,-0.04589856,
  0.09301584, 0.70960379,-0.08074531,-0.69720657,-0.06201328]

qacc:
[ 5.71789410e-01,-1.08635846e+00, 3.08062627e+00,-1.50855841e+00,
 -1.30028265e-01,-1.24758378e-01, 1.13086343e+00,-8.55458827e+00,
  3.84754155e+00, 2.06433360e+00,-9.90242398e+00, 2.20879729e+01,
 -2.17003489e-02, 1.03476036e-01,-8.64687648e+00, 2.89413949e+01,
 -4.01969609e+00, 7.86752052e-01,-3.17606519e+00,-4.84797534e+00,
 -1.31242101e+02,-1.61537420e+00]

qfrc_actuator:
[ 3.37023053e-05, 8.32489336e-04, 1.69422610e-04,-6.24813478e-05,
 -4.62147203e-05, 3.48617654e-02, 1.09018258e-02, 1.84564557e-03,
 -1.02697878e-04, 8.08808049e-04, 1.53374147e-04, 4.16993777e-05,
  0.00000000e+00,-1.61062569e-03, 0.00000000e+00,-9.92196178e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004274567620742055
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.1164863e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        8.1164863e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00799247, -0.06518668,  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:
[ 3.33864164e-06,-4.92039529e-06, 2.25648927e-05, 6.83712951e-06,
 -3.75656806e-05,-7.14888772e-05,-5.01281983e-05,-3.82914382e-05,
  2.32653774e-05, 3.03252557e-05, 1.96041431e-06, 3.71987824e-05,
  3.32544352e-03, 1.15864242e-05,-2.57901383e-05, 1.32519154e-04,
  1.29736704e-05, 1.88766314e-06,-4.90494961e+00, 1.22313072e-04,
  3.41287818e-03,-9.29472081e-05]


--- 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,
  1.39623923, 0.0076738 , 1.36888953, 0.04401082,-0.0853846 ,-0.04589904,
  0.09301742, 0.70951903,-0.08072269,-0.69729188,-0.06205351]

qacc:
[-2.50139251e+00, 7.32874489e-01,-2.66066155e+00, 4.12996058e+00,
 -3.50494903e-02, 1.34865580e+00,-3.16425860e+00,-2.63263639e+00,
 -3.39173973e+00, 4.60122839e-01,-3.86092197e+00, 1.16528683e+01,
 -1.11534473e-02, 1.91362458e-01,-1.61342366e+01, 5.51862917e+01,
  5.09450910e+00,-8.31573421e-01, 5.03288654e+00, 2.31746351e+00,
  1.66496050e+02, 1.63466165e+01]

qfrc_actuator:
[ 1.86334570e-05, 8.45300549e-04, 1.63537604e-04,-5.86159890e-05,
 -3.41098390e-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,-1.58589080e-03, 0.00000000e+00,-7.28382574e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004285908349787863
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29520155e-14,  6.47600773e-15,  1.00000000e+00, -8.38773523e-29,
        1.00000000e+00, -6.47600773e-15, -1.00000000e+00,  0.00000000e+00,
        1.29520155e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13846884, -0.03612128,  0.06178411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 2.58802242e-06,-3.93826719e-05,-2.42998494e-05,
 -2.05064078e-05,-1.57934634e-05, 2.37391007e-06, 2.24537006e-05,
  3.33418712e-03, 2.57309911e-05, 2.83160790e-06, 2.67894962e-04,
  7.07181846e-05,-4.24026579e-06,-4.90474879e+00, 1.59302440e-04,
  3.40088993e-03,-9.41193634e-05]


--- 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,
  1.39623927, 0.0076747 , 1.36897669, 0.04401372,-0.08537392,-0.04590244,
  0.09303211, 0.70964088,-0.08069884,-0.69716697,-0.06209463]

qacc:
[-4.44478626e+00, 5.25125291e-01,-1.77541298e+00, 2.57398849e+00,
  6.68423545e-02,-1.53901638e+00, 8.41666501e+00,-2.30634998e+01,
 -5.04314068e+00, 5.69438174e-01,-3.18507412e+00, 7.51975723e+00,
 -2.72171399e-03, 2.63128694e-01,-3.07741602e+00, 1.12183912e+01,
  4.49697771e+00,-7.29595202e-01, 3.27731667e+00, 1.94408436e+00,
  1.46686518e+02, 1.41513326e+01]

qfrc_actuator:
[-7.58381376e-06, 8.53450606e-04, 1.59840882e-04,-5.62318788e-05,
 -8.81956892e-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,-1.55376162e-03, 0.00000000e+00,-6.80350560e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004298436600182434
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.87427963e-14, -1.29142654e-14,  1.00000000e+00,  5.00334756e-28,
        1.00000000e+00,  1.29142654e-14, -1.00000000e+00,  0.00000000e+00,
        3.87427963e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13845149, -0.03612166,  0.06178356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 4.22721970e-05, 2.68895324e-06,-6.70377914e-05,
 -3.04298330e-05,-9.89919065e-06,-5.12461672e-06, 1.17796943e-05,
  3.34715433e-03, 3.71785455e-05, 3.01084160e-05, 6.31039280e-05,
  5.37152189e-06,-4.13479186e-07,-4.90497999e+00, 1.06520538e-04,
  3.39973289e-03,-9.67311580e-05]


--- 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,
  1.39623947, 0.00767576, 1.36906411, 0.0440162 ,-0.08534726,-0.04590841,
  0.09305396, 0.70994583,-0.08067368,-0.69685556,-0.06213692]

qacc:
[ 3.41245955e-01, 1.71638356e+00,-5.56614336e+00, 6.47149039e+00,
 -3.05555463e-02,-1.99139021e+00, 7.99219798e+00,-1.57243699e+01,
  2.93613918e+00,-1.14860313e+00, 6.40471577e+00,-1.60390467e+01,
 -1.14948115e-02, 1.52077028e-01, 1.62796437e+00,-5.13496004e+00,
  3.99671530e+00,-6.44392635e-01, 1.78875911e+00, 1.65318366e+00,
  1.30087026e+02, 1.23375754e+01]

qfrc_actuator:
[-4.64187456e-06, 8.76501134e-04, 1.39708377e-04,-5.47343374e-05,
 -2.90835747e-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,-1.55281542e-03, 0.00000000e+00,-7.06619882e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0042622380695111345
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.60478886e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.60478886e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13850245, -0.03611001,  0.06178526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -8.84291403e-06,-2.42603438e-06, 1.14621579e-05,-3.86425092e-05,
  1.77164773e-05,-7.04352272e-06,-3.59565151e-06,-2.89673298e-05,
  3.33877683e-03, 2.00022396e-05, 1.80804328e-05,-1.95484492e-05,
  1.17035555e-05,-8.87267718e-07,-4.90496086e+00, 8.96508642e-05,
  3.40480146e-03,-9.78037966e-05]


--- 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,
  1.39623965, 0.00767677, 1.3691516 , 0.04401838,-0.08534048,-0.04591021,
  0.09306958, 0.71002152,-0.08066776,-0.69677652,-0.06216612]

qacc:
[ 6.27970281e+00, 2.09952624e+00,-4.72393196e+00,-7.07868627e-01,
  2.22241965e-03,-3.17131487e+00, 1.08653684e+01,-1.46069484e+01,
  4.93852540e+00,-1.90580303e+00, 8.71784291e+00,-1.63614709e+01,
 -1.69493722e-02,-2.30416695e-02, 1.05057990e+00,-3.50113990e+00,
 -4.97199284e+00, 1.04474617e+00,-1.55685445e+00,-4.29801508e+00,
 -1.63492207e+02,-5.14572730e+00]

qfrc_actuator:
[ 3.31957521e-05, 9.25980533e-04, 1.10092690e-04,-7.15217586e-05,
 -2.32550781e-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,-1.57052362e-03, 0.00000000e+00,-7.23128795e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004266277125854992
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46380658e-14, -2.60232280e-14,  1.00000000e+00,  3.80929723e-28,
        1.00000000e+00,  2.60232280e-14, -1.00000000e+00,  0.00000000e+00,
        1.46380658e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00801663, -0.06519702,  0.06178519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.02736204e-07,-1.51950887e-05, 3.82581720e-05,-2.29361184e-05,
  2.97384792e-05, 2.95663600e-05, 3.22197440e-05,-1.76945475e-05,
  3.33039833e-03,-5.80956881e-06, 3.54907979e-06,-1.58922283e-05,
  6.75997523e-05,-4.35525822e-06,-4.90476943e+00, 9.74594730e-05,
  3.41553584e-03,-9.76964339e-05]


--- 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,
  1.39623961, 0.00767771, 1.36923889, 0.04402202,-0.08535123,-0.04590834,
  0.093075  , 0.70989574,-0.08067914,-0.69690178,-0.06218372]

qacc:
[ 3.93870909e+00,-7.52653350e-01, 5.64669157e+00,-1.54185829e+01,
  7.54773654e-02, 5.13422545e-01,-4.36358759e+00, 1.71039552e+01,
  3.04507105e+00,-1.57168541e+00, 7.83649278e+00,-1.70278347e+01,
 -1.20460125e-02,-8.52651514e-02,-4.72677959e+00, 1.60977025e+01,
 -4.38004119e+00, 9.16398136e-01,-2.54948900e+00,-3.87144925e+00,
 -1.43724610e+02,-4.35990507e+00]

qfrc_actuator:
[ 5.57549865e-05, 9.37588016e-04, 1.10726886e-04,-9.89131839e-05,
 -1.81942702e-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,-1.58151747e-03, 0.00000000e+00,-6.44957555e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004274378135944196
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.87010766e-15, -3.89608613e-14,  1.00000000e+00,  1.89743589e-28,
        1.00000000e+00,  3.89608613e-14, -1.00000000e+00,  0.00000000e+00,
        4.87010766e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00800151, -0.06519701,  0.06178491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-1.06646625e-05, 2.33799452e-05, 5.85267903e-05,
  1.83445872e-05, 8.60393122e-06, 1.27242951e-05,-2.52269403e-05,
  3.33148283e-03,-1.39441570e-05,-2.26521276e-06, 7.72453633e-05,
  5.01962708e-06, 9.20912646e-07,-4.90498489e+00, 9.49758159e-05,
  3.41786425e-03,-9.80823276e-05]


--- 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,
  1.39623944, 0.0076783 , 1.3693264 , 0.04402455,-0.08537749,-0.04590324,
  0.09306684, 0.70959173,-0.08070608,-0.69720756,-0.06219096]

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,
  1.90971800e-03,-2.49220934e-01, 3.67178934e+00,-1.24063599e+01,
 -3.87899561e+00, 8.08141871e-01,-3.39586217e+00,-3.49560564e+00,
 -1.27079588e+02,-3.71779678e+00]

qfrc_actuator:
[ 6.91289466e-05, 9.26534627e-04, 1.46823035e-04,-9.68228644e-05,
 -6.70006558e-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,-1.60620351e-03, 0.00000000e+00,-7.06905550e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004231303626329633
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.91968517e-15,  1.31191605e-14,  1.00000000e+00,  6.45421392e-29,
        1.00000000e+00, -1.31191605e-14, -1.00000000e+00,  0.00000000e+00,
       -4.91968517e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00810328, -0.06522046,  0.06178688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  7.99651729e-06,-4.05356458e-05,-3.77992709e-05, 8.93696313e-05,
  1.09405885e-05,-3.70208309e-05, 2.21927304e-05,-3.30066166e-05,
  3.34248818e-03,-3.53198503e-05, 5.87671692e-06,-5.83184102e-05,
  1.06628457e-05,-4.72894417e-06,-4.90496185e+00, 1.02952782e-04,
  3.41317748e-03,-9.83936960e-05]


--- 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,
  1.39623918, 0.00767854, 1.36941401, 0.04402566,-0.08538397,-0.04590139,
  0.09307688, 0.70951469,-0.08073188,-0.69728229,-0.06219867]

qacc:
[ 4.36234340e+00,-2.27473566e+00, 7.74112080e+00,-8.30226384e+00,
  6.77442459e-02, 9.36944029e-02, 2.27356420e+00,-1.77511165e+01,
 -1.85320582e+00,-8.67727612e-02,-2.72706524e+00, 1.32009035e+01,
  9.31084398e-03,-2.35544170e-01, 4.44549773e+00,-1.53395999e+01,
  4.94415318e+00,-8.12855751e-01, 4.54951015e+00, 2.22049456e+00,
  1.61153408e+02, 1.58155959e+01]

qfrc_actuator:
[ 9.47468447e-05, 9.19917973e-04, 1.85726061e-04,-9.51561462e-05,
  8.17630473e-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,-1.62103460e-03, 0.00000000e+00,-7.79923485e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004234681453016559
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31086959e-14,  6.55434793e-15,  1.00000000e+00, -8.59189536e-29,
        1.00000000e+00, -6.55434793e-15, -1.00000000e+00,  0.00000000e+00,
        1.31086959e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1385432 , -0.03609159,  0.06178669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-5.16071196e-05,-6.87848000e-05,-7.36914684e-05,
 -1.12832395e-05,-7.20591842e-06, 2.31000775e-05, 3.29138598e-05,
  3.34867045e-03,-3.22730703e-05,-6.43101926e-06,-7.61209043e-05,
  6.26882087e-05,-1.79548716e-05,-4.90477585e+00, 1.17511603e-04,
  3.40234966e-03,-9.87015072e-05]


--- 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,
  1.39623888, 0.00767874, 1.36950145, 0.04402688,-0.08537296,-0.04590239,
  0.09309841, 0.70963805,-0.08075646,-0.69715313,-0.06220723]

qacc:
[-3.49546675e-01, 4.14936758e-01,-3.09509777e+00, 9.70502122e+00,
  7.06777929e-02,-1.41404758e+00, 8.44529941e+00,-2.97063239e+01,
 -1.17117632e+00, 2.11270185e+00,-1.03298860e+01, 2.33762165e+01,
  1.25224529e-02,-5.70134139e-02,-5.93375740e-01, 1.70890557e+00,
  4.37374951e+00,-7.13647679e-01, 2.87431574e+00, 1.88164738e+00,
  1.42266934e+02, 1.37294091e+01]

qfrc_actuator:
[ 9.18644317e-05, 9.16028247e-04, 1.90463040e-04,-7.60069442e-05,
  1.70331437e-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,-1.61207430e-03, 0.00000000e+00,-7.70067687e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004237772835785941
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.61982666e-14, -6.54956665e-15,  1.00000000e+00,  1.71587293e-28,
        1.00000000e+00,  6.54956665e-15, -1.00000000e+00,  0.00000000e+00,
        2.61982666e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13854008, -0.03608934,  0.0617866 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-4.10604203e-05,-5.45710591e-05,-1.01914069e-04,
 -7.02146388e-06, 2.68912945e-05, 1.73064133e-06, 3.96042418e-05,
  3.35272001e-03,-6.28200673e-06,-1.34434602e-05, 4.32582020e-06,
  3.50925260e-06,-3.75678358e-06,-4.90498587e+00, 9.59061027e-05,
  3.40135679e-03,-9.92129440e-05]


--- 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,
  1.39623884, 0.00767884, 1.36958916, 0.04402517,-0.08534636,-0.04590592,
  0.09312576, 0.70993938,-0.08077974,-0.69684271,-0.06221692]

qacc:
[-6.25999865e+00, 2.80120624e+00,-1.16026028e+01, 2.17701991e+01,
 -1.69589908e-03, 2.70476549e-01,-2.53345676e+00, 8.85228024e+00,
  2.27256278e+00, 1.60745832e+00,-5.61209667e+00, 7.95889955e+00,
  1.06319718e-02, 1.15121050e-03, 9.27706772e+00,-3.18555197e+01,
  3.89632787e+00,-6.30845147e-01, 1.45489128e+00, 1.61891820e+00,
  1.26443766e+02, 1.20054912e+01]

qfrc_actuator:
[ 5.44737256e-05, 9.49182073e-04, 1.75010066e-04,-4.67464032e-05,
  4.45463460e-06, 3.48555422e-02, 1.08389538e-02, 1.70825588e-03,
 -8.22428884e-05, 7.98798706e-04, 2.11648922e-04, 4.59698422e-05,
  0.00000000e+00,-1.60674323e-03, 0.00000000e+00,-9.24484597e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004194822873897837
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.29330109e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.29330109e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13860144, -0.03607574,  0.06178865])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.01246588e-07,-3.44644012e-05,-1.23927415e-06, 2.73777157e-05,
  1.38172088e-05, 3.24158783e-05,-1.12247322e-05, 7.03752518e-06,
  3.35495017e-03, 1.70468024e-06,-6.86733200e-06,-1.56173452e-04,
  1.12971202e-05, 5.11655824e-06,-4.90496199e+00, 1.04725367e-04,
  3.40642522e-03,-9.83353429e-05]


--- 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 ,
  1.39623893, 0.00767899, 1.36967676, 0.04402229,-0.08533918,-0.04590521,
  0.09314606, 0.71001687,-0.08081828,-0.69675948,-0.06221479]

qacc:
[-8.77605621e-01,-9.20355532e-02, 2.21080362e+00,-8.07104988e+00,
 -2.72680861e-02, 4.49685302e-01,-2.26450086e+00, 6.29171873e+00,
  1.44541309e+00, 8.68767893e-01,-3.91215031e+00, 6.62049922e+00,
 -3.75708429e-03, 7.08647681e-02, 3.36628880e+00,-1.20219801e+01,
 -4.85320028e+00, 1.05951025e+00,-1.76477127e+00,-3.27538633e+00,
 -1.59596662e+02,-6.62848506e+00]

qfrc_actuator:
[ 5.03386492e-05, 9.50923864e-04, 1.65680417e-04,-6.50085365e-05,
 -3.12804297e-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,-1.60352923e-03, 0.00000000e+00,-9.79186930e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004194638791286134
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15796043e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.15796043e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00819944, -0.06525912,  0.0617888 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -7.88017526e-06, 8.20327223e-07, 4.15085227e-06, 1.91877651e-05,
  8.74988237e-06,-2.76781376e-05,-2.30931190e-05, 4.22723540e-06,
  3.34185910e-03, 9.54973142e-06,-2.23572661e-05,-6.47189239e-05,
  6.56721135e-05, 1.01175850e-05,-4.90477618e+00, 1.34119036e-04,
  3.41700781e-03,-9.63902013e-05]


--- 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,
  1.39623884, 0.00767912, 1.36976398, 0.04402076,-0.08534913,-0.04590078,
  0.09315546, 0.70989732,-0.08087098,-0.6968763 ,-0.06220207]

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,
 -5.76248353e-03,-5.67123191e-02,-4.61442023e+00, 1.53388179e+01,
 -4.28366036e+00, 9.28296687e-01,-2.72138070e+00,-3.07676221e+00,
 -1.40524732e+02,-5.51749444e+00]

qfrc_actuator:
[ 8.35745275e-05, 9.33821275e-04, 1.59895696e-04,-7.55981723e-05,
 -2.54038329e-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,-1.61944525e-03, 0.00000000e+00,-9.03639292e-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, -4.82158287,  7.16513193, -4.82158287, 54.2336871 ,
       30.68349277,  7.16513193, 30.68349277, 29.28399505,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0041977636914454705
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.95899323e-15, -2.64479639e-14,  1.00000000e+00,  1.31155274e-28,
        1.00000000e+00,  2.64479639e-14, -1.00000000e+00,  0.00000000e+00,
        4.95899323e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00819657, -0.06526424,  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:
[ 3.30908089e-05,-3.97818420e-06,-1.27447589e-06,-9.85861161e-06,
 -2.69326897e-05, 1.36132886e-05, 7.96870877e-06,-5.34394009e-06,
  5.16188398e-06,-2.79562500e-05,-7.63450841e-06,-4.25744688e-08,
  3.33482774e-03,-8.93652000e-06,-1.82139986e-05, 6.89000480e-05,
  4.06154148e-06, 4.38398362e-06,-4.90498399e+00, 1.04371490e-04,
  3.41960635e-03,-9.61466363e-05]


--- 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,
  1.39623879, 0.00767923, 1.36985124, 0.04401876,-0.08537429,-0.04589309,
  0.09315073, 0.70960319,-0.08093682,-0.69717016,-0.06217978]

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,
  1.42707609e-03, 1.44148134e-03, 1.44723988e+00,-4.97968608e+00,
 -3.80161346e+00, 8.17971917e-01,-3.53657223e+00,-2.88200310e+00,
 -1.24470336e+02,-4.62039787e+00]

qfrc_actuator:
[ 1.03024306e-04, 9.23328549e-04, 1.56174771e-04,-4.60930342e-05,
 -3.85611963e-05, 3.48759993e-02, 1.08961021e-02, 1.70102657e-03,
 -8.38702724e-05, 7.60744881e-04, 1.66510298e-04, 5.20786618e-05,
  0.00000000e+00,-1.61127969e-03, 0.00000000e+00,-9.29512861e-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, -4.78108293,  7.19221961, -4.78108293, 58.19032072,
       32.94137157,  7.19221961, 32.94137157, 30.53439207,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004151775676964918
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.35653759e-15, -1.33704601e-14,  1.00000000e+00,  1.11730753e-28,
        1.00000000e+00,  1.33704601e-14, -1.00000000e+00,  0.00000000e+00,
        8.35653759e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00830599, -0.06529138,  0.06179089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-1.68125947e-06, 4.35607044e-05,-2.04122670e-05,
 -1.47465236e-05,-3.43613858e-06,-2.39403889e-05,-2.95022645e-07,
  3.34404274e-03, 4.11780719e-07,-1.50840184e-06,-2.45403155e-05,
  7.97974704e-06,-8.83699172e-06,-4.90496393e+00, 9.03927072e-05,
  3.41535657e-03,-9.57629489e-05]


--- 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,
  1.39623901, 0.0076795 , 1.36993864, 0.04401513,-0.08538001,-0.04588862,
  0.09316299, 0.70953161,-0.08100195,-0.69723744,-0.0621573 ]

qacc:
[-6.92369320e+00, 9.57933450e-01,-3.51037020e+00, 4.32078066e+00,
 -8.56772141e-02, 3.04606365e-01,-2.03566618e+00, 7.25692120e+00,
 -1.52378351e+00, 4.42049557e-01, 4.19110089e-01,-6.34687147e+00,
 -6.66965674e-03, 1.72972371e-01, 5.16165151e+00,-1.77527567e+01,
  4.85967010e+00,-8.06184746e-01, 4.24949888e+00, 2.28115833e+00,
  1.57983991e+02, 1.59156035e+01]

qfrc_actuator:
[ 6.09336280e-05, 9.16911269e-04, 1.35993388e-04,-4.64879298e-05,
 -4.61418687e-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,-1.58866618e-03, 0.00000000e+00,-1.01497363e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004148564924973841
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33808081e-14, -1.33808081e-14,  1.00000000e+00,  1.79046026e-28,
        1.00000000e+00,  1.33808081e-14, -1.00000000e+00,  0.00000000e+00,
        1.33808081e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13867043, -0.03605131,  0.06179101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 9.21417907e-07, 1.02070222e-05, 2.44358610e-05,
 -9.10260124e-06, 1.96881339e-05,-1.35456445e-05,-1.79769160e-05,
  3.34184075e-03, 2.36962309e-05,-5.19820278e-06,-8.74263059e-05,
  5.66938750e-05,-2.73355686e-05,-4.90478733e+00, 8.68413281e-05,
  3.40508790e-03,-9.53307196e-05]


--- 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,
  1.3962392 , 0.00767993, 1.37002575, 0.0440125 ,-0.0853685 ,-0.04588698,
  0.09318576, 0.70965685,-0.08106624,-0.69710447,-0.0621351 ]

qacc:
[-7.28364480e+00,-3.80984805e-01, 3.40698365e+00,-1.03213823e+01,
 -3.59153033e-03,-7.63125900e-01, 1.74784095e+00, 1.81366491e+00,
 -3.80822462e+00, 4.36948286e-01,-1.43992862e+00, 3.02379956e+00,
 -1.82107497e-02, 9.92865418e-02,-3.46473053e+00, 1.15222037e+01,
  4.30630741e+00,-7.07541789e-01, 2.62842652e+00, 1.94670817e+00,
  1.39692038e+02, 1.38314857e+01]

qfrc_actuator:
[ 1.84676089e-05, 9.48398087e-04, 1.41747901e-04,-6.44874515e-05,
 -3.25640289e-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,-1.59305367e-03, 0.00000000e+00,-9.57297542e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004148824901822418
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33799696e-14, -2.00699545e-14,  1.00000000e+00,  2.68535381e-28,
        1.00000000e+00,  2.00699545e-14, -1.00000000e+00,  0.00000000e+00,
        1.33799696e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13867144, -0.03604801,  0.06179107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.05533883e-06,-1.39368737e-07, 2.36715148e-05, 1.51143687e-05,
 -2.29453322e-05, 4.14804111e-05, 1.41219379e-05, 8.00477571e-06,
  3.32785033e-03, 1.14945644e-05,-1.36247252e-05, 5.17827302e-05,
  1.18524483e-06,-5.84005695e-06,-4.90498416e+00, 8.96010636e-05,
  3.40409074e-03,-9.40977351e-05]


--- 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,
  1.39623927, 0.00768083, 1.37011236, 0.04401391,-0.08534162,-0.04588784,
  0.09321355, 0.70995718,-0.08112955,-0.69679316,-0.06211352]

qacc:
[-1.34805434e+00,-7.86539446e-01, 4.47040762e+00,-9.44748488e+00,
  8.84100974e-02,-2.51159931e+00, 1.09662207e+01,-2.37912934e+01,
 -2.26298430e+00,-8.67903371e-02, 2.10542866e-01, 1.16728612e+00,
 -1.72773005e-02, 2.73837560e-01,-1.29477287e+01, 4.42040142e+01,
  3.84313049e+00,-6.25284502e-01, 1.25525117e+00, 1.68828592e+00,
  1.24368293e+02, 1.21101960e+01]

qfrc_actuator:
[ 1.16464743e-05, 9.84673821e-04, 1.62924136e-04,-7.48910332e-05,
 -6.40399192e-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,-1.56044024e-03, 0.00000000e+00,-7.44720672e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004104648352367388
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35239724e-14,  1.35239724e-14,  1.00000000e+00, -1.82897831e-28,
        1.00000000e+00, -1.35239724e-14, -1.00000000e+00,  0.00000000e+00,
        1.35239724e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13873472, -0.03603384,  0.06179318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 2.10617749e-05, 1.59179823e-05,-6.14248686e-05,
 -1.36620804e-05, 2.93030547e-05, 1.82513228e-05, 7.30545015e-06,
  3.32958300e-03, 3.66045236e-05,-1.37312608e-06, 2.13522928e-04,
  9.95751155e-06, 9.70056323e-06,-4.90495654e+00, 1.19595500e-04,
  3.40903826e-03,-9.15462398e-05]


--- 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,
  1.39623953, 0.00768201, 1.3701992 , 0.04401549,-0.08533393,-0.04588442,
  0.09323382, 0.71003662,-0.08120635,-0.6967062 ,-0.06208059]

qacc:
[-6.17046148e-01,-1.16027525e+00, 4.61458059e+00,-6.85117340e+00,
  4.52728731e-02,-1.78383696e-01, 9.09673441e-01,-1.32872682e+00,
  7.55413693e+00, 2.03330232e+00,-8.35286121e+00, 1.57238080e+01,
 -1.49732394e-02, 2.36896580e-01,-1.65913277e-01, 1.09323190e+00,
 -4.79646330e+00, 1.07035139e+00,-1.88223332e+00,-2.82584313e+00,
 -1.57480024e+02,-7.23381454e+00]

qfrc_actuator:
[ 8.10802028e-06, 9.70361794e-04, 1.75317352e-04,-8.07232459e-05,
 -8.41396925e-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,-1.54151951e-03, 0.00000000e+00,-7.44424219e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004109407885652727
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.68853862e-15, -1.35083089e-14,  1.00000000e+00, -2.28093013e-29,
        1.00000000e+00,  1.35083089e-14, -1.00000000e+00,  0.00000000e+00,
       -1.68853862e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00841605, -0.06533956,  0.06179311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 2.26531706e-05, 1.16642445e-05,-8.96226175e-07,
  4.56713464e-05, 4.01143216e-05,-4.49368779e-06, 2.27681185e-05,
  3.33534375e-03, 3.16203700e-05, 2.23131232e-05, 1.18326247e-05,
  6.36683137e-05, 2.08215383e-05,-4.90477283e+00, 1.67655824e-04,
  3.41940216e-03,-8.79812477e-05]


--- 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,
  1.39623969, 0.00768315, 1.37028609, 0.04401742,-0.08534319,-0.04587724,
  0.09324282, 0.70992141,-0.08129596,-0.69681699,-0.06203741]

qacc:
[ 2.68189014e+00,-4.72067294e-01, 1.20933736e+00,-1.14811653e+00,
  2.28056057e-02,-6.01702798e-02, 4.08008130e-01,-3.48131759e-01,
  1.06177609e+01, 1.69881649e+00,-9.67965710e+00, 2.54563036e+01,
 -1.96207093e-02,-3.22435815e-02,-9.93246950e-01, 3.60891329e+00,
 -4.23889626e+00, 9.37729939e-01,-2.81654955e+00,-2.74241769e+00,
 -1.38824596e+02,-5.97283573e+00]

qfrc_actuator:
[ 2.42705271e-05, 9.25842695e-04, 1.64468545e-04,-8.38700145e-05,
 -9.55499422e-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,-1.56631943e-03, 0.00000000e+00,-7.27226167e-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, -5.67878707,  6.50677757, -5.67878707, 40.50722076,
       27.81527561,  6.50677757, 27.81527561, 32.91213238,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004112320952136803
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.43671249e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.43671249e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00841327, -0.06534603,  0.06179308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  6.59054945e-06, 2.06688316e-05, 1.01258081e-05, 1.36684883e-06,
  6.40546319e-05, 3.42209303e-05, 1.89261565e-05, 4.96566484e-05,
  3.32568628e-03,-7.51124448e-06, 8.98773270e-06, 2.01087247e-05,
  2.43196553e-06, 7.17599147e-06,-4.90497724e+00, 1.14718156e-04,
  3.42218414e-03,-8.71282647e-05]


--- 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,
  1.39623913, 0.00768396, 1.3703725 , 0.04402391,-0.08536752,-0.04586677,
  0.09323737, 0.70963349,-0.08139767,-0.697103  ,-0.06198492]

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,
 -2.58387633e-04,-3.91228050e-01,-1.45304829e+01, 4.97330620e+01,
 -3.76695952e+00, 8.26379681e-01,-3.61257645e+00,-2.63928230e+00,
 -1.23123245e+02,-4.95943263e+00]

qfrc_actuator:
[ 3.41451646e-05, 9.16732653e-04, 1.22095488e-04,-6.77057134e-05,
 -2.79169790e-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,-1.61713073e-03, 0.00000000e+00,-4.87112472e-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, -5.65377969,  6.52851837, -5.65377969, 43.33540636,
       30.04981099,  6.52851837, 30.04981099, 34.659881  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004067231435747887
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53544361e-14,  1.36483876e-14,  1.00000000e+00, -2.09563296e-28,
        1.00000000e+00, -1.36483876e-14, -1.00000000e+00,  0.00000000e+00,
        1.53544361e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00852044, -0.06537383,  0.06179516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-1.85283141e-05,-2.77874142e-05, 1.84556229e-06,
  2.85216664e-06, 1.44437333e-05, 5.30325270e-05,-2.25622139e-05,
  3.32999830e-03,-5.58696180e-05, 4.04851358e-06, 2.41853871e-04,
  5.27130095e-06,-1.19996783e-05,-4.90495927e+00, 8.10439049e-05,
  3.41824120e-03,-8.60768328e-05]


--- 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,
  1.39623823, 0.00768409, 1.3704593 , 0.04402987,-0.08537255,-0.0458595 ,
  0.09324828, 0.70956599,-0.08149928,-0.69716459,-0.06193143]

qacc:
[-1.91286731e+00, 1.31274875e+00,-3.85343517e+00, 1.72625115e+00,
 -6.69600124e-02, 3.32935007e+00,-1.51837110e+01, 3.40566092e+01,
 -1.17124260e+01,-3.01123870e+00, 1.24704715e+01,-2.30705946e+01,
  4.09560625e-02,-5.30259449e-01, 2.17821832e+00,-6.82593197e+00,
  4.82456870e+00,-8.02522708e-01, 4.09136736e+00, 2.39966991e+00,
  1.56421228e+02, 1.62905486e+01]

qfrc_actuator:
[ 2.24808843e-05, 9.28767710e-04, 9.71037786e-05,-7.58070138e-05,
 -3.87082301e-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,-1.64773737e-03, 0.00000000e+00,-5.25901515e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004058468911087132
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36778555e-14, -1.36778555e-14,  1.00000000e+00,  1.87083731e-28,
        1.00000000e+00,  1.36778555e-14, -1.00000000e+00,  0.00000000e+00,
        1.36778555e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13880333, -0.03600849,  0.06179553])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-5.24356045e-05,-2.62194340e-05, 8.85892610e-05,
 -7.08018223e-05,-4.15007287e-05, 1.55018287e-05,-3.10555977e-05,
  3.36639838e-03,-6.96889453e-05, 2.67717300e-05,-2.52241471e-05,
  5.20912196e-05,-3.50938308e-05,-4.90478793e+00, 6.04816085e-05,
  3.40836411e-03,-8.49311303e-05]


--- 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,
  1.39623727, 0.00768383, 1.37054634, 0.04403435,-0.08536046,-0.04585505,
  0.09326921, 0.70969363,-0.08160058,-0.6970276 ,-0.06187752]

qacc:
[-1.13763724e+00,-2.10294631e-01, 1.15638955e+00,-3.11258447e+00,
  6.35536650e-04,-8.98819149e-01, 1.62064141e+00, 2.84669544e+00,
 -4.26831793e+00,-1.87576031e+00, 5.13545720e+00,-4.85754724e+00,
  5.72767057e-02,-3.15855309e-01, 4.81535122e+00,-1.63353958e+01,
  4.27998100e+00,-7.03807412e-01, 2.50219110e+00, 2.06244660e+00,
  1.38462612e+02, 1.41741193e+01]

qfrc_actuator:
[ 1.59871117e-05, 9.35661688e-04, 1.00410515e-04,-8.03343844e-05,
 -2.71172269e-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,-1.64800435e-03, 0.00000000e+00,-6.04493621e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004059712096672212
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.73473340e-14,  6.83683349e-15,  1.00000000e+00, -1.86969169e-28,
        1.00000000e+00, -6.83683349e-15, -1.00000000e+00,  0.00000000e+00,
        2.73473340e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13880272, -0.03600526,  0.06179554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  1.59207463e-07,-3.52768958e-05, 1.35585995e-05, 1.70346323e-05,
 -2.59208438e-05,-9.20938016e-05,-4.23419693e-06,-3.57177052e-06,
  3.38328602e-03,-3.66523227e-05, 5.57682614e-06,-7.74578830e-05,
 -1.30978537e-06,-7.48219096e-06,-4.90497645e+00, 8.57000241e-05,
  3.40720228e-03,-8.20357040e-05]


--- 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 ,
  1.3962361 , 0.00768346, 1.37063304, 0.04404088,-0.08533308,-0.04585308,
  0.09329476, 0.70999506,-0.08170136,-0.69671354,-0.06182359]

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,
  6.43859618e-02,-1.80375475e-01,-6.72322594e+00, 2.27469212e+01,
  3.82406617e+00,-6.21526593e-01, 1.15606064e+00, 1.80251063e+00,
  1.23418199e+02, 1.24260102e+01]

qfrc_actuator:
[ 3.03483605e-05, 9.39548193e-04, 1.20386137e-04,-2.94454689e-05,
 -2.19311011e-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,-1.64781491e-03, 0.00000000e+00,-4.92783933e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004017315832126715
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.76359408e-14,  1.38179704e-14,  1.00000000e+00, -3.81872612e-28,
        1.00000000e+00, -1.38179704e-14, -1.00000000e+00,  0.00000000e+00,
        2.76359408e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13886333, -0.03599141,  0.06179756])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-2.26095909e-07, 9.49460284e-06,-7.90355628e-05,
  3.87903743e-05,-7.61418189e-05,-3.98042619e-07,-5.19905620e-06,
  3.38578682e-03,-1.61991327e-05,-8.65763020e-06, 1.07498617e-04,
  8.28210628e-06, 1.37222579e-05,-4.90494524e+00, 1.35946278e-04,
  3.41192371e-03,-7.78574573e-05]


--- 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,
  1.39623494, 0.00768297, 1.37071982, 0.04404734,-0.08532481,-0.04584678,
  0.09331257, 0.71007678,-0.081815  ,-0.6966227 ,-0.06175829]

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,
  7.69316843e-02,-1.57760499e-01, 3.52894581e-01,-1.06779104e+00,
 -4.77956332e+00, 1.08300659e+00,-1.93333183e+00,-2.68006529e+00,
 -1.56643628e+02,-7.39848517e+00]

qfrc_actuator:
[ 3.61020650e-06, 9.41732497e-04, 1.50061808e-04,-3.51161231e-05,
  1.27743859e-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,-1.64750012e-03, 0.00000000e+00,-5.00610721e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004031810586774438
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72103668e-15, -1.37682934e-14,  1.00000000e+00,  2.36957380e-29,
        1.00000000e+00,  1.37682934e-14, -1.00000000e+00,  0.00000000e+00,
        1.72103668e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00861171, -0.06542179,  0.06179703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 4.49517146e-05,-1.05878285e-05, 5.90492141e-05,
  2.44262305e-05,-5.57527799e-05,-5.10488213e-06, 1.37938896e-05,
  3.39658284e-03,-1.11376491e-05, 6.80192532e-06,-3.22928092e-06,
  6.20648790e-05, 3.01085367e-05,-4.90476077e+00, 2.02430325e-04,
  3.42201305e-03,-7.26936620e-05]


--- 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,
  1.39623403, 0.00768252, 1.37080675, 0.04405265,-0.08533346,-0.04583669,
  0.09331896, 0.70996476,-0.08194102,-0.69672876,-0.06168271]

qacc:
[-5.59883053e+00,-3.31680663e+00, 1.44039851e+01,-2.77041691e+01,
 -3.14508980e-02, 3.74956736e+00,-1.36614738e+01, 2.39281071e+01,
 -5.79723905e-01,-2.90420801e-01, 8.59676290e-01,-2.59817614e+00,
  7.35415883e-02, 2.10858475e-02, 3.65437681e+00,-1.24904816e+01,
 -4.22687897e+00, 9.49015672e-01,-2.85622317e+00,-2.65624889e+00,
 -1.38188320e+02,-6.06917798e+00]

qfrc_actuator:
[-2.93586751e-05, 9.07383443e-04, 1.67416886e-04,-7.40267676e-05,
 -1.38579281e-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,-1.62927852e-03, 0.00000000e+00,-5.61100437e-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, -6.10431057,  6.10935097, -6.10431057, 34.0461211 ,
       25.38879362,  6.10935097, 25.38879362, 34.00421071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004036992373541368
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.23447588e-14, -1.37506208e-14,  1.00000000e+00,  3.07254304e-28,
        1.00000000e+00,  1.37506208e-14, -1.00000000e+00,  0.00000000e+00,
        2.23447588e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0086027 , -0.06542772,  0.06179689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -9.04893915e-06, 5.19402978e-05,-1.36512660e-05, 5.58234460e-05,
 -3.52198392e-06,-5.57469417e-05,-2.35608544e-05,-1.00478019e-05,
  3.39577749e-03, 1.38985372e-05, 5.94345211e-07,-6.03209017e-05,
  5.11081651e-07, 9.72834223e-06,-4.90496466e+00, 1.26834512e-04,
  3.42506917e-03,-7.12190545e-05]


--- 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,
  1.39623351, 0.00768238, 1.3708937 , 0.04405687,-0.08535713,-0.04582325,
  0.09331078, 0.70968069,-0.08207887,-0.69700939,-0.06159774]

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,
  5.61869412e-02, 2.22648466e-01, 3.37394313e+00,-1.17329770e+01,
 -3.75901214e+00, 8.36582750e-01,-3.64252843e+00,-2.60030459e+00,
 -1.22656242e+02,-5.00442458e+00]

qfrc_actuator:
[ 5.85505753e-05, 8.69095155e-04, 1.59437955e-04,-7.89581886e-05,
 -2.97247840e-05, 3.49308867e-02, 1.08714656e-02, 1.74411830e-03,
 -3.93762181e-05, 6.40427976e-04, 2.18991452e-04, 5.96250035e-05,
  0.00000000e+00,-1.60044699e-03, 0.00000000e+00,-6.16588023e-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, -6.09513293,  6.11850728, -6.09513293, 36.25728799,
       27.51540495,  6.11850728, 27.51540495, 36.04665231,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039946031665757595
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56336043e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.56336043e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00870286, -0.06545477,  0.06179884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 4.39333233e-05,-2.06867866e-05,-7.31042977e-05,
  1.49983003e-05,-4.94722507e-05,-4.00449137e-05,-8.02252639e-06,
  3.38297792e-03, 4.01266810e-05,-8.17878303e-06,-5.92111549e-05,
  2.52011892e-06,-1.48951312e-05,-4.90494813e+00, 7.33391402e-05,
  3.42146132e-03,-6.94847304e-05]


--- 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,
  1.3962331 , 0.00768247, 1.3709804 , 0.04406204,-0.08536152,-0.045813  ,
  0.09331872, 0.70961641,-0.08221736,-0.69706619,-0.06151091]

qacc:
[ 1.20091040e+01, 5.65174156e-01,-2.51505333e+00, 2.81041686e+00,
 -7.54280402e-02,-2.52573131e+00, 1.01435544e+01,-1.93047565e+01,
  1.49146214e+00, 1.64292840e+00,-7.17786771e+00, 1.25519411e+01,
  3.93794306e-02, 1.31841571e-01,-3.29757281e+00, 1.09875715e+01,
  4.82138048e+00,-7.97631770e-01, 4.03064455e+00, 2.55208142e+00,
  1.55924933e+02, 1.68370257e+01]

qfrc_actuator:
[ 1.28142581e-04, 8.46409495e-04, 1.36567701e-04,-8.16276299e-05,
 -3.90032271e-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,-1.60102101e-03, 0.00000000e+00,-5.62142733e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003980765588286056
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39448430e-14, -1.39448430e-14,  1.00000000e+00,  1.94458647e-28,
        1.00000000e+00,  1.39448430e-14, -1.00000000e+00,  0.00000000e+00,
        1.39448430e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13891714, -0.03596819,  0.06179943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 9.56300910e-06, 2.18536540e-05,-4.53285987e-05,
  9.06015298e-06,-2.48139903e-05,-3.05980883e-05, 1.13515968e-05,
  3.36314050e-03, 2.46874228e-05,-1.13836640e-05, 4.98121826e-05,
  4.82696413e-05,-4.24974062e-05,-4.90477920e+00, 3.52338176e-05,
  3.41195604e-03,-6.76051176e-05]


--- 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,
  1.39623248, 0.0076826 , 1.37106678, 0.04406982,-0.08534991,-0.04581045,
  0.09331341, 0.70972971,-0.0822101 ,-0.69695093,-0.06151945]

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,
  4.16179889e-02,-8.31690676e-02,-8.34254014e+00, 2.84765963e+01,
  4.00173484e+00,-1.92535019e+00,-3.31310027e+00, 2.04801990e+01,
  1.31346289e+02,-7.21044233e+01]

qfrc_actuator:
[ 1.15346045e-04, 8.68680322e-04, 1.22903155e-04,-1.00697815e-04,
 -6.20069454e-05, 3.49171234e-02, 1.09000144e-02, 1.67419350e-03,
 -2.59751055e-05, 7.30999618e-04, 1.94804140e-04, 8.33530561e-05,
  0.00000000e+00,-1.61930192e-03, 0.00000000e+00,-4.25610629e-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, -7.86920037,  3.55843538, -7.86920037,  9.64367406,
        2.2275879 ,  3.55843538,  2.2275879 , 13.56249934,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003986411622973821
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.39250927e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.39250927e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18083053, -0.01062717,  0.06179921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 2.92965383e-06, 1.38191370e-05,-2.57039068e-05,
  5.00265094e-06, 5.96320058e-05,-1.74564847e-05, 6.82411680e-06,
  3.35770131e-03,-5.68392399e-06,-4.76011538e-07, 1.37636922e-04,
 -3.96633187e-06,-9.03153381e-06,-4.90496223e+00, 8.33496195e-05,
  3.41048571e-03,-6.29935401e-05]


--- 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,
  1.39623184, 0.00768251, 1.37115337, 0.04407715,-0.08532202,-0.04581066,
  0.09331587, 0.71003011,-0.08220425,-0.69664511,-0.0615247 ]

qacc:
[-1.38125243e+00, 2.96236473e-01, 7.60838705e-02,-3.86599418e+00,
 -5.81230947e-02, 1.75051639e+00,-4.42861895e+00, 2.29628713e-01,
  3.35376831e+00, 3.18095412e-01, 1.61141215e+00,-7.50665515e+00,
  5.41944510e-02,-1.81984143e-01, 1.65969360e+00,-5.36524433e+00,
  4.06890770e+00,-6.91630927e-01, 1.94226398e+00, 2.47588690e+00,
  1.32641606e+02, 1.52472365e+01]

qfrc_actuator:
[ 1.07422481e-04, 8.82218132e-04, 1.14963286e-04,-1.11465280e-04,
 -5.75539947e-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,-1.63033469e-03, 0.00000000e+00,-4.54877296e-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, -7.50283606,  4.27717523, -7.50283606, 27.94740668,
       33.87459764,  4.27717523, 33.87459764, 68.05771971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003970456938045944
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39810486e-14,  6.99052428e-15,  1.00000000e+00, -9.77348593e-29,
        1.00000000e+00, -6.99052428e-15, -1.00000000e+00,  0.00000000e+00,
        1.39810486e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13892933, -0.03595751,  0.06179991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-1.44545244e-05,
  2.03416388e-05, 9.61691099e-05, 2.32181678e-05,-1.06523348e-05,
  3.36819390e-03,-1.79807947e-05, 1.36559748e-05,-2.20037261e-05,
  9.09147684e-06,-8.74678801e-07,-4.90496849e+00, 1.08028199e-04,
  3.40620387e-03,-6.22219740e-05]


--- 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,
  1.39623136, 0.00768241, 1.3712401 , 0.04408343,-0.08531447,-0.04580682,
  0.09331227, 0.71009978,-0.08222539,-0.69657255,-0.06151396]

qacc:
[-3.82868866e+00, 1.17609170e+00,-5.64282774e+00, 1.08022777e+01,
 -2.34545345e-02, 9.86693054e-01,-3.61115123e+00, 5.50634807e+00,
 -3.88053409e+00,-2.20075331e+00, 8.41290152e+00,-1.15449038e+01,
  5.24507117e-02,-2.99799460e-02, 3.39978613e+00,-1.16018680e+01,
 -5.08588547e+00, 1.01675227e+00,-1.51493134e+00,-6.32187261e+00,
 -1.64666794e+02,-1.60525253e+00]

qfrc_actuator:
[ 8.47052697e-05, 8.54956799e-04, 9.26987827e-05,-9.95055265e-05,
 -5.44187353e-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,-1.61904772e-03, 0.00000000e+00,-5.10606852e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004013216576267048
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90191163e-14, -4.14962538e-14,  1.00000000e+00,  7.89222079e-28,
        1.00000000e+00,  4.14962538e-14, -1.00000000e+00,  0.00000000e+00,
        1.90191163e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00865837, -0.06545143,  0.06179798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -6.76693332e-06,-2.82385530e-06,-1.30314642e-05, 1.00504527e-05,
 -2.35327079e-05, 2.71505699e-05, 4.78721146e-05,-2.78111990e-06,
  3.36884374e-03, 3.47407101e-06, 1.15060737e-06,-5.58435758e-05,
  6.36566633e-05,-4.40520779e-06,-4.90477938e+00, 1.32254698e-04,
  3.41584386e-03,-6.07918603e-05]


--- 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,
  1.39623107, 0.00768235, 1.37132687, 0.04408865,-0.08532484,-0.04579937,
  0.09329865, 0.70996644,-0.08227013,-0.69670536,-0.06148921]

qacc:
[-2.33365534e+00,-3.18357525e+00, 1.26715852e+01,-2.25893681e+01,
 -5.74837597e-03,-1.43727968e+00, 4.62792573e+00,-6.21048674e+00,
  4.18439987e-01, 3.49542205e-01,-2.50178250e+00, 7.58016874e+00,
  4.27255671e-02, 3.81610087e-02, 3.22623865e+00,-1.12108308e+01,
 -4.47927185e+00, 8.97967488e-01,-2.50372708e+00,-5.52761494e+00,
 -1.44922601e+02,-1.49424373e+00]

qfrc_actuator:
[ 7.12140391e-05, 8.21191947e-04, 1.15258586e-04,-1.27573684e-04,
 -5.21010085e-05, 3.49043907e-02, 1.08632449e-02, 1.65888677e-03,
 -2.67532736e-05, 7.48097311e-04, 2.29965597e-04, 7.64288722e-05,
  0.00000000e+00,-1.61221454e-03, 0.00000000e+00,-5.63672560e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004037639803688771
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.92153838e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.92153838e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00860082, -0.06543783,  0.06179686])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.68135810e-06,-3.19768605e-05, 6.86866763e-06,-1.13166844e-05,
  2.50688151e-06, 7.13145789e-06, 8.31870999e-06, 1.60906977e-05,
  3.36068191e-03, 1.17708725e-05,-7.58814794e-06,-5.65025876e-05,
  3.35574543e-06, 1.48869985e-06,-4.90498737e+00, 1.12197792e-04,
  3.41884236e-03,-6.05242866e-05]


--- 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,
  1.39623098, 0.00768195, 1.37141395, 0.04409017,-0.08535107,-0.04578874,
  0.09327165, 0.70965328,-0.0823356 ,-0.69701988,-0.0614521 ]

qacc:
[ 1.59552605e+00,-4.28404848e+00, 1.74731744e+01,-3.07095435e+01,
  6.42600007e-02, 1.26915703e+00,-6.29721063e+00, 1.62229454e+01,
 -2.70487421e+00, 1.63779519e+00,-3.95168397e+00, 7.09890434e-01,
  3.43281045e-02,-1.90826924e-01, 1.16714682e+01,-4.01422750e+01,
 -3.96576442e+00, 7.97137673e-01,-3.34748248e+00,-4.86164354e+00,
 -1.28292740e+02,-1.39133594e+00]

qfrc_actuator:
[ 8.10184502e-05, 8.19442693e-04, 1.64038599e-04,-1.61197666e-04,
 -3.25406502e-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,-1.64362847e-03, 0.00000000e+00,-7.56745917e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004010171748890429
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55729104e-14, -2.76851740e-14,  1.00000000e+00,  4.31138732e-28,
        1.00000000e+00,  2.76851740e-14, -1.00000000e+00,  0.00000000e+00,
        1.55729104e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00866247, -0.06544946,  0.06179803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-1.58622173e-05,-2.92022638e-07, 4.65141150e-05,
 -1.61553795e-05, 4.97554284e-05,-1.68650218e-05,-9.15221943e-06,
  3.35069677e-03,-2.22316728e-05,-1.11606597e-05,-1.97549339e-04,
  1.14041869e-05,-6.96854356e-06,-4.90495457e+00, 9.91681955e-05,
  3.41473404e-03,-6.01203462e-05]


--- 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,
  1.39623104, 0.00768142, 1.37150099, 0.04408937,-0.08535715,-0.0457877 ,
  0.09323808, 0.70956283,-0.08221745,-0.6971184 ,-0.06153709]

qacc:
[ 9.77153538e-01, 2.46569508e+00,-1.10898071e+01, 2.25919679e+01,
  7.95122876e-02, 1.59852782e+00,-8.80550268e+00, 2.63142999e+01,
 -1.05445488e+01, 3.92127220e-01, 1.57366844e+00,-9.82712958e+00,
  2.22317133e-02,-6.38742602e-02, 6.97456133e+00,-2.45121726e+01,
  5.04016824e+00,-2.39528088e+00,-1.64157243e+00, 2.51314937e+01,
  1.64928898e+02,-9.15870803e+01]

qfrc_actuator:
[ 8.67004903e-05, 8.54745059e-04, 1.57013574e-04,-1.26767185e-04,
 -2.05474817e-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,-1.64436008e-03, 0.00000000e+00,-8.70978436e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0040277895535050096
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75640773e-14,  1.42127273e-14,  1.00000000e+00, -3.91760715e-28,
        1.00000000e+00, -1.42127273e-14, -1.00000000e+00,  0.00000000e+00,
        2.75640773e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18070861, -0.01064387,  0.0617971 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-6.98108143e-06, 1.97604275e-05, 8.22598712e-05,
 -6.34971898e-05, 5.02260919e-05,-3.82024532e-06,-2.23234574e-05,
  3.34105950e-03,-5.86308582e-06,-2.90451113e-05,-1.27138196e-04,
  6.60714321e-05,-2.49408201e-05,-4.90475682e+00, 9.13671734e-05,
  3.40437247e-03,-5.96295876e-05]


--- 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,
  1.39623158, 0.00768131, 1.37158789, 0.04408682,-0.08534554,-0.04579503,
  0.09319393, 0.70966745,-0.08193816,-0.69702775,-0.06172971]

qacc:
[ 5.65533273e-01, 1.58587137e+00,-9.05439777e+00, 2.26838939e+01,
  1.11508231e-02,-3.22424585e+00, 1.01595025e+01,-9.56316569e+00,
 -3.44587648e+00,-1.73494993e+00, 5.67542016e+00,-5.28428386e+00,
  2.43662098e-03, 3.75905795e-01, 5.08760057e+00,-1.80402060e+01,
  4.42032599e+00,-2.09483590e+00,-2.64379784e+00, 2.18494991e+01,
  1.44491544e+02,-8.05708738e+01]

qfrc_actuator:
[ 8.99031208e-05, 8.40801423e-04, 1.52801959e-04,-8.80811622e-05,
 -3.09439964e-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,-1.59124630e-03, 0.00000000e+00,-9.55548509e-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,  3.72635441, -7.79108848,  3.72635441, 70.42421995,
       29.55215455, -7.79108848, 29.55215455, 22.77069182,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004082487923080393
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.22360963e-15, -1.35973828e-14,  1.00000000e+00,  9.82221857e-29,
        1.00000000e+00,  1.35973828e-14, -1.00000000e+00,  0.00000000e+00,
        7.22360963e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1805658 , -0.01069131,  0.06179445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.17367569e-06,-1.49567575e-05, 5.18817282e-05,-3.14063334e-06,
 -2.09148720e-05, 6.67545706e-06, 3.78233857e-05, 5.56946352e-06,
  3.33313830e-03, 5.40649982e-05,-2.81782394e-05,-9.55508412e-05,
  2.24872110e-06, 9.47365009e-06,-4.90495514e+00, 1.33730628e-04,
  3.40532258e-03,-6.23950620e-05]


--- 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,
  1.39623242, 0.00768161, 1.3716746 , 0.04408357,-0.08531607,-0.04580565,
  0.09316325, 0.70998255,-0.08166277,-0.69672275,-0.06191428]

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,
 -2.48977213e-02, 3.51985686e-01, 1.83698907e+00,-6.82101429e+00,
  4.46509727e+00,-8.23989872e-01, 3.36823026e+00, 3.43321158e+00,
  1.48960051e+02, 1.94909721e+01]

qfrc_actuator:
[ 1.27126772e-04, 8.15244515e-04, 1.85614969e-04,-4.72389063e-05,
 -3.69349389e-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,-1.57734484e-03, 0.00000000e+00,-9.86475108e-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, -7.44359245,  4.37946438, -7.44359245, 23.86378855,
       25.88141729,  4.37946438, 25.88141729, 52.62592621,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0040984315571900715
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.70889732e-14,  1.35444866e-14,  1.00000000e+00, -3.66906234e-28,
        1.00000000e+00, -1.35444866e-14, -1.00000000e+00,  0.00000000e+00,
        2.70889732e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13872445, -0.03596156,  0.0617935 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -4.11602758e-06,-4.39165453e-05, 1.36625321e-05,-9.11322051e-05,
  2.41135013e-05,-3.50285290e-05, 4.06110672e-05,-1.35805782e-05,
  3.30949939e-03, 4.66119427e-05,-2.36068309e-05,-3.99014090e-05,
 -1.61636896e-05,-2.89122289e-05,-4.90484884e+00, 2.17560758e-05,
  3.43312170e-03,-7.27075260e-05]


--- 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,
  1.39623316, 0.00768215, 1.37176089, 0.04408229,-0.08530939,-0.04581274,
  0.09313018, 0.71004312,-0.0814397 ,-0.69667282,-0.06207508]

qacc:
[ 6.72874441e+00,-1.21354379e+00, 3.20310882e+00,-1.14885337e+00,
 -1.98714383e-02,-1.14267057e+00, 6.47026432e+00,-2.19247802e+01,
  5.52089948e+00,-1.17203890e+00, 4.13659618e+00,-6.62738603e+00,
 -3.74135692e-02, 1.53651462e-01,-6.55322070e+00, 2.20339867e+01,
 -5.69826637e+00, 8.85503055e-01,-6.00382303e-01,-1.27907918e+01,
 -1.81804032e+02, 8.37150808e+00]

qfrc_actuator:
[ 1.66324928e-04, 8.00834781e-04, 2.04461915e-04,-4.09499994e-05,
 -4.02333052e-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,-1.58712236e-03, 0.00000000e+00,-8.79043982e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004161951441836467
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50049913e-14, -1.33377700e-14,  1.00000000e+00,  2.00133123e-28,
        1.00000000e+00,  1.33377700e-14, -1.00000000e+00,  0.00000000e+00,
        1.50049913e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00828844, -0.06530496,  0.06179047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.73199521e-06,-3.35691234e-05,-3.92523305e-05,-7.44717851e-05,
  3.32323380e-05,-3.89552482e-05,-9.01955755e-07,-9.14124207e-06,
  3.29366606e-03, 1.64453868e-05,-1.55183834e-05, 1.02111165e-04,
  4.35492369e-05,-8.83416347e-05,-4.90464594e+00,-9.18607507e-05,
  3.44377793e-03,-8.18949458e-05]


--- 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,
  1.39623384, 0.0076827 , 1.3718472 , 0.04408126,-0.08532263,-0.04581665,
  0.09309014, 0.70988092,-0.08126008,-0.69684653,-0.06221572]

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,
 -3.24742807e-02, 2.22487555e-02,-7.60363213e-01, 2.69112223e+00,
 -4.97966461e+00, 7.93381436e-01,-1.73981591e+00,-1.05356591e+01,
 -1.59162157e+02, 6.27279605e+00]

qfrc_actuator:
[ 1.35349985e-04, 8.10887005e-04, 1.97162502e-04,-1.08308012e-04,
 -4.18894389e-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,-1.59334695e-03, 0.00000000e+00,-8.68507092e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364e+00,  8.63635032e+00, -1.51673651e-02,  8.63635032e+00,
        8.63644889e+00,  4.85456230e-02, -1.51673651e-02,  4.85456230e-02,
        3.62784098e+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: -0.004217734705842982
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.46775617e-14, -1.31613663e-14,  1.00000000e+00,  3.24790428e-28,
        1.00000000e+00,  1.31613663e-14, -1.00000000e+00,  0.00000000e+00,
        2.46775617e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00815403, -0.0652579 ,  0.06178778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -5.04434209e-06,-1.59354835e-05,-4.83993311e-05, 2.62050150e-05,
  2.00704038e-05,-2.19301483e-06,-8.09322259e-06, 1.09831004e-05,
  3.29877123e-03,-1.62642361e-06, 3.61238953e-06, 1.41028202e-05,
 -1.11299200e-05,-1.35304460e-05,-4.90490751e+00, 5.91195955e-05,
  3.43500313e-03,-8.44864711e-05]


--- 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,
  1.39623431, 0.00768306, 1.37193346, 0.04408071,-0.08535336,-0.04581771,
  0.09303925, 0.70952253,-0.08111672,-0.69721711,-0.06233914]

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,
 -2.64569833e-02,-1.38156756e-01,-1.48651127e+00, 5.11438036e+00,
 -4.37169757e+00, 7.13012456e-01,-2.71458189e+00,-8.71567921e+00,
 -1.40067153e+02, 4.64219293e+00]

qfrc_actuator:
[ 9.88246052e-05, 8.35336639e-04, 1.92296860e-04,-1.47438416e-04,
 -7.04183895e-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,-1.61505685e-03, 0.00000000e+00,-8.44176498e-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,  8.63503161, -0.15167727,  8.63503161,  8.64559549,
        0.52557204, -0.15167727,  0.52557204, 38.55733523,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004212414465077675
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48252376e-14,  1.31779889e-14,  1.00000000e+00, -1.95366817e-28,
        1.00000000e+00, -1.31779889e-14, -1.00000000e+00,  0.00000000e+00,
        1.48252376e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00815956, -0.065244  ,  0.06178781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-9.73107191e-06,-1.04151826e-05, 3.50662701e-05,
  1.16378904e-05, 2.81791083e-05,-3.68147754e-05, 7.62439929e-06,
  3.30159967e-03,-2.36601458e-05, 1.23324972e-06, 2.51287963e-05,
  1.17875089e-05, 2.35346703e-05,-4.90487331e+00, 1.79006589e-04,
  3.42154580e-03,-8.74703330e-05]


--- 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,
  1.3962347 , 0.00768334, 1.37201975, 0.04408011,-0.08536225,-0.04582247,
  0.09301312, 0.70941746,-0.08097314,-0.69732981,-0.06246077]

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,
 -1.80608830e-02,-4.96182725e-02, 1.61942714e-01,-5.18054957e-01,
  5.46099294e+00,-9.26378049e-01, 6.19022557e+00, 2.93704914e+00,
  1.79732184e+02, 1.89194891e+01]

qfrc_actuator:
[ 9.48530423e-05, 8.85994066e-04, 1.89013226e-04,-1.34108662e-04,
  1.39172845e-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,-1.61036497e-03, 0.00000000e+00,-8.47392608e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004271490977173151
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.59914636e-14, -1.29957318e-14,  1.00000000e+00,  3.37778091e-28,
        1.00000000e+00,  1.29957318e-14, -1.00000000e+00,  0.00000000e+00,
        2.59914636e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13845437, -0.03598632,  0.06178488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 1.63662663e-05,-3.11699786e-06, 9.32228226e-05,
 -2.89294093e-05, 4.49515107e-05,-1.92606011e-06, 2.25567875e-05,
  3.31213547e-03,-9.76773167e-06, 1.28730181e-06,-2.11779498e-06,
  8.66480705e-05, 3.57046459e-05,-4.90463998e+00, 2.77405108e-04,
  3.40342177e-03,-9.07118088e-05]


--- 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,
  1.39623482, 0.00768371, 1.37210567, 0.04408249,-0.08535193,-0.04583048,
  0.093004  , 0.70953477,-0.08082902,-0.69721633,-0.06258167]

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,
 -1.18491498e-02,-8.35200112e-03,-9.57824091e+00, 3.26858384e+01,
  4.80181927e+00,-8.09389049e-01, 4.25378603e+00, 2.38574475e+00,
  1.57751367e+02, 1.61662370e+01]

qfrc_actuator:
[ 9.23238837e-05, 9.16507214e-04, 1.69084411e-04,-1.43255325e-04,
  2.63742300e-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,-1.60761314e-03, 0.00000000e+00,-6.89284482e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004314343353493101
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92999769e-14, -3.85999537e-14,  1.00000000e+00,  7.44978213e-28,
        1.00000000e+00,  3.85999537e-14, -1.00000000e+00,  0.00000000e+00,
        1.92999769e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1383906 , -0.0359937 ,  0.06178282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 7.31230597e-06,-3.00043496e-05, 7.49092092e-05,
 -3.56788329e-07, 1.01029556e-04, 2.54840867e-05,-1.99853873e-05,
  3.31571538e-03,-2.91087253e-06,-1.63009940e-06, 1.57705755e-04,
  4.35097513e-06, 1.09580007e-05,-4.90493044e+00, 1.36314145e-04,
  3.40212922e-03,-9.88257803e-05]


--- 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,
  1.39623453, 0.00768397, 1.37219137, 0.04408808,-0.08532461,-0.04584132,
  0.09300532, 0.70984832,-0.08068407,-0.69690303,-0.06270264]

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,
  8.40086707e-03,-1.73411439e-01,-9.99043782e+00, 3.44880118e+01,
  4.24929888e+00,-7.11607477e-01, 2.60872803e+00, 1.95390691e+00,
  1.39326370e+02, 1.39060012e+01]

qfrc_actuator:
[ 7.29004676e-05, 8.99138053e-04, 1.57145050e-04,-1.65587578e-04,
  3.36308996e-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,-1.62391326e-03, 0.00000000e+00,-5.26150607e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004301870344887611
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.45197865e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.45197865e-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([-0.13840482, -0.03598753,  0.06178333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.32948050e-03,-2.35061479e-05, 1.54466607e-05, 1.71411662e-04,
  6.21855546e-06,-1.53985231e-05,-4.90492642e+00, 4.88350241e-05,
  3.40727235e-03,-1.04883628e-04]


--- 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,
  1.39623467, 0.00768393, 1.37227802, 0.04408821,-0.08531843,-0.04584817,
  0.09300234, 0.70991964,-0.08056962,-0.69683422,-0.06280695]

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,
  1.91234251e-02,-9.20241941e-02, 1.78722002e+01,-6.05025028e+01,
 -5.28648837e+00, 1.00066943e+00,-1.07357250e+00,-7.12977048e+00,
 -1.72803967e+02,-9.19565783e-01]

qfrc_actuator:
[ 4.36876237e-05, 8.88741544e-04, 1.67570624e-04,-1.42272365e-04,
  3.77106903e-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,-1.61598423e-03, 0.00000000e+00,-8.22981242e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004300526351216284
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12944913e-14, -3.87239701e-14,  1.00000000e+00,  4.37367542e-28,
        1.00000000e+00,  3.87239701e-14, -1.00000000e+00,  0.00000000e+00,
        1.12944913e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.007939  , -0.06516382,  0.06178339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-1.12296358e-05,-1.97592592e-05,-1.04947197e-04,
  2.87366619e-05, 3.35666614e-05, 2.71940610e-05, 3.32345582e-05,
  3.34911380e-03,-1.03938718e-05, 2.37937777e-05,-2.85834845e-04,
  6.56540690e-05,-4.23967584e-05,-4.90472178e+00,-1.09575009e-06,
  3.41834554e-03,-1.09382700e-04]


--- 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,
  1.39623528, 0.00768422, 1.37236467, 0.04408584,-0.08533082,-0.04585149,
  0.09299079, 0.70977869,-0.0804813 ,-0.69697988,-0.06289682]

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,
 -1.22194499e-02, 3.29569001e-01, 7.58600634e+00,-2.64890877e+01,
 -4.63868484e+00, 8.82209493e-01,-2.14404134e+00,-6.06716485e+00,
 -1.51493599e+02,-1.07585272e+00]

qfrc_actuator:
[ 2.67048289e-05, 9.18223207e-04, 1.73408279e-04,-1.27773771e-04,
  2.21004623e-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,-1.57552349e-03, 0.00000000e+00,-9.44605602e-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,   7.00773034,   5.04762244,   7.00773034,
        36.51955326, -38.71087352,   5.04762244, -38.71087352,
        62.37955976,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004327942328074756
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60327781e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.60327781e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00787539, -0.06514616,  0.06178214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -3.24133360e-06, 4.37729523e-05, 4.50083831e-06,-2.70337492e-05,
  1.70124156e-05,-3.09084734e-05, 4.80681403e-05, 3.73759911e-05,
  3.32784151e-03, 4.52763075e-05,-2.46767045e-05,-1.35402047e-04,
  2.53414541e-06,-7.26550108e-06,-4.90495966e+00, 6.88680726e-05,
  3.41813811e-03,-1.11127965e-04]


--- 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,
  1.39623593, 0.0076849 , 1.37245081, 0.04408502,-0.08535956,-0.04585168,
  0.092967  , 0.70945051,-0.08041551,-0.69731455,-0.0629741 ]

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,
 -3.49213761e-02, 2.81944563e-01,-5.39741043e+00, 1.78202572e+01,
 -4.09027669e+00, 7.81303594e-01,-3.05823883e+00,-5.18817590e+00,
 -1.33536528e+02,-1.17187911e+00]

qfrc_actuator:
[ 1.70600601e-05, 9.53586404e-04, 1.58879372e-04,-1.00806555e-04,
 -5.19449193e-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,-1.56931082e-03, 0.00000000e+00,-8.55360699e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004299212577404288
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12979427e-14, -1.29119345e-14,  1.00000000e+00,  1.45878296e-28,
        1.00000000e+00,  1.29119345e-14, -1.00000000e+00,  0.00000000e+00,
        1.12979427e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00794017, -0.065156  ,  0.06178337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01545344e-05, 5.56690127e-05,-6.36995875e-06, 2.89227663e-05,
 -2.92088547e-05, 7.60301746e-05, 5.19560392e-05, 5.89016713e-05,
 -6.15640341e-05,-2.19423966e-05,-1.37271581e-05, 2.09861159e-05,
  3.30440849e-03, 3.51594067e-05,-2.68240570e-05, 7.84088633e-05,
  1.36476846e-05, 6.86810906e-06,-4.90493162e+00, 1.33922260e-04,
  3.41106186e-03,-1.12997179e-04]


--- 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,
  1.39623641, 0.00768545, 1.37253688, 0.04408455,-0.08536757,-0.04585532,
  0.09296459, 0.7093614 ,-0.08034753,-0.69740591,-0.06305291]

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,
 -3.19258181e-02,-8.37530440e-02,-1.19469295e+00, 4.00809076e+00,
  5.18263398e+00,-8.62208538e-01, 5.34368750e+00, 2.18776344e+00,
  1.69788723e+02, 1.60011286e+01]

qfrc_actuator:
[ 2.95601810e-05, 9.56623854e-04, 1.50241893e-04,-6.67213837e-05,
 -3.77194771e-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,-1.60159506e-03, 0.00000000e+00,-8.37913943e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00434875961279757
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27648240e-14,  6.38241202e-15,  1.00000000e+00, -8.14703663e-29,
        1.00000000e+00, -6.38241202e-15, -1.00000000e+00,  0.00000000e+00,
        1.27648240e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1383316 , -0.03598845,  0.06178102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 4.91209315e-05, 3.12855437e-05, 5.76503636e-05,
 -2.87545158e-06,-2.40030190e-05,-6.77811847e-05,-2.52499712e-05,
  3.30212498e-03,-1.66954435e-05,-3.50581974e-06, 1.83917703e-05,
  7.47319677e-05, 6.76137490e-06,-4.90472355e+00, 1.94665043e-04,
  3.39792479e-03,-1.14994263e-04]


--- 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,
  1.39623663, 0.00768598, 1.37262271, 0.04408596,-0.08535731,-0.04586199,
  0.09297632, 0.70948266,-0.08027741,-0.69728333,-0.06313363]

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,
 -2.19075647e-02,-6.38562518e-02,-6.04210306e+00, 2.06152558e+01,
  4.56793342e+00,-7.56494394e-01, 3.53413492e+00, 1.80626097e+00,
  1.49383239e+02, 1.38036238e+01]

qfrc_actuator:
[ 7.27442385e-05, 9.22552543e-04, 1.27281971e-04,-8.19996128e-05,
 -2.06379846e-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,-1.60336255e-03, 0.00000000e+00,-7.38709091e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00436555567286967
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27157126e-14,  1.90735689e-14,  1.00000000e+00, -2.42534020e-28,
        1.00000000e+00, -1.90735689e-14, -1.00000000e+00,  0.00000000e+00,
        1.27157126e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13830785, -0.03599005,  0.06178026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 4.94241350e-05, 2.71743418e-06, 1.69049535e-05,
  7.02796989e-05,-7.01094458e-05,-3.31101250e-05,-3.61630864e-05,
  3.31039616e-03,-1.23488864e-05,-1.34882680e-06, 9.93824856e-05,
  6.11003580e-06, 2.39236456e-06,-4.90496719e+00, 1.10503928e-04,
  3.39694490e-03,-1.19753049e-04]


--- 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,
  1.39623723, 0.00768641, 1.37270915, 0.04408318,-0.08533084,-0.04587133,
  0.09299604, 0.70979007,-0.08020515,-0.69697122,-0.06321645]

qacc:
[ 4.45069145e+00,-8.18216803e-01, 2.46997859e+00,-4.20808280e+00,
 -2.65963062e-02,-6.45308889e-01, 2.34523763e+00,-6.96487118e-01,
  1.23443369e+00,-3.39022112e-01,-1.19585507e+00, 6.72015588e+00,
 -1.85921948e-02, 6.04499074e-02, 1.35996335e+01,-4.62469314e+01,
  4.05328099e+00,-6.68143042e-01, 1.99927864e+00, 1.50894391e+00,
  1.32282838e+02, 1.19915226e+01]

qfrc_actuator:
[ 9.81300001e-05, 8.66412887e-04, 1.13602215e-04,-9.07422526e-05,
 -1.28350959e-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,-1.58685981e-03, 0.00000000e+00,-9.64920250e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0043319526915164
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28143484e-14, -1.92215227e-14,  1.00000000e+00,  2.46311289e-28,
        1.00000000e+00,  1.92215227e-14, -1.00000000e+00,  0.00000000e+00,
        1.28143484e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13835468, -0.03597905,  0.06178183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 5.40867303e-05, 3.93914844e-05, 9.65092673e-06,
  7.34937567e-06,-7.22401298e-05,-1.31037045e-05, 1.16427370e-05,
  3.32305835e-03, 5.83813504e-06, 8.81156285e-06,-2.21208114e-04,
  1.19389554e-05,-5.92097480e-06,-4.90495038e+00, 6.60226987e-05,
  3.40230417e-03,-1.22900097e-04]


--- 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,
  1.39623779, 0.00768668, 1.37279548, 0.04407907,-0.08532449,-0.04587651,
  0.09300997, 0.70986522,-0.08015318,-0.69689433,-0.06328608]

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,
 -3.47873986e-02,-7.00363263e-02, 3.84318539e+00,-1.36649696e+01,
 -5.03099889e+00, 1.03831205e+00,-1.44763905e+00,-4.48352293e+00,
 -1.65588099e+02,-5.01892674e+00]

qfrc_actuator:
[ 1.12826272e-04, 8.68520888e-04, 1.23172362e-04,-7.78244740e-05,
  2.74560082e-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,-1.61257918e-03, 0.00000000e+00,-1.02600557e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004306066587572231
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12799596e-14, -2.57827649e-14,  1.00000000e+00,  2.90828548e-28,
        1.00000000e+00,  2.57827649e-14, -1.00000000e+00,  0.00000000e+00,
        1.12799596e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00792611, -0.06515301,  0.06178309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.30416624e-03,-1.51779263e-05,-2.33177427e-05,-7.29300352e-05,
  6.90323855e-05,-1.68481667e-05,-4.90475501e+00, 4.92155537e-05,
  3.41342598e-03,-1.24812967e-04]


--- 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,
  1.39623812, 0.00768699, 1.37288136, 0.04407691,-0.08533585,-0.04587806,
  0.09301406, 0.70973644,-0.08011925,-0.69702411,-0.06334407]

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,
 -3.17767959e-02,-8.28821385e-04,-6.56433990e+00, 2.19695803e+01,
 -4.42791668e+00, 9.10721672e-01,-2.45921155e+00,-3.97621210e+00,
 -1.45447098e+02,-4.31842203e+00]

qfrc_actuator:
[ 1.21119306e-04, 9.05603006e-04, 1.46630624e-04,-5.22059489e-05,
  3.36519066e-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,-1.61026912e-03, 0.00000000e+00,-9.18200967e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004316797559035572
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44667533e-14, -2.57186725e-14,  1.00000000e+00,  3.72065688e-28,
        1.00000000e+00,  2.57186725e-14, -1.00000000e+00,  0.00000000e+00,
        1.44667533e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00790467, -0.06515056,  0.06178269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-3.84345498e-05,-3.46079327e-05,-3.26791803e-05,
  4.71782676e-05, 1.79180908e-05,-1.18961957e-05,-3.13769021e-05,
  3.30586697e-03,-4.79577978e-06,-1.98255179e-05, 1.00534574e-04,
  5.80404146e-06,-2.26273031e-06,-4.90497695e+00, 7.66420737e-05,
  3.41508493e-03,-1.25924709e-04]


--- 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 ,
  1.39623902, 0.0076874 , 1.37296785, 0.04406965,-0.08536288,-0.04587639,
  0.09300487, 0.70942743,-0.0801014 ,-0.69733635,-0.0633917 ]

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,
 -3.43624064e-02, 2.43339867e-01, 1.63713815e+01,-5.58831751e+01,
 -3.91743958e+00, 8.02965155e-01,-3.32198411e+00,-3.53698695e+00,
 -1.28485203e+02,-3.73869254e+00]

qfrc_actuator:
[ 9.00758524e-05, 9.27925817e-04, 1.60506174e-04,-5.47865146e-05,
 -1.61626286e-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,-1.57353165e-03, 0.00000000e+00,-1.19112002e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004275250520457741
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.24607593e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.24607593e-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([ 0.00800262, -0.06517233,  0.06178458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 3.53838416e-06,-1.52420237e-05,-1.30565591e-04,
 -2.56265034e-05, 8.26329779e-05,-1.41684545e-06,-1.78318827e-05,
  3.31755740e-03, 2.96467518e-05, 1.46505387e-06,-2.69979510e-04,
  1.22376941e-05,-7.21405206e-07,-4.90495424e+00, 1.10821782e-04,
  3.40972737e-03,-1.27046680e-04]


--- 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,
  1.39623988, 0.00768797, 1.37305393, 0.04406288,-0.08536998,-0.04587808,
  0.09301459, 0.70934783,-0.08008113,-0.69741515,-0.06344114]

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,
 -6.07769416e-02, 1.41380348e-01,-2.10606286e+00, 6.47135471e+00,
  4.98472791e+00,-8.40371581e-01, 4.72801337e+00, 2.01396868e+00,
  1.62938417e+02, 1.51350226e+01]

qfrc_actuator:
[ 3.61301657e-05, 9.05690210e-04, 1.68543335e-04,-7.39564948e-05,
 -4.59159481e-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,-1.58721555e-03, 0.00000000e+00,-1.15362861e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0043096468586359266
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28806728e-14, -6.44033642e-15,  1.00000000e+00,  8.29558664e-29,
        1.00000000e+00,  6.44033642e-15, -1.00000000e+00,  0.00000000e+00,
        1.28806728e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13838721, -0.03596205,  0.06178298])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-2.14698716e-05, 1.18673217e-05, 2.85067368e-05,
 -5.31013986e-05, 3.72623665e-05, 5.07250458e-05,-2.46677627e-05,
  3.28835665e-03, 1.12314286e-05,-3.16252287e-05, 2.21008664e-05,
  6.58987755e-05,-8.27381592e-06,-4.90476478e+00, 1.48596015e-04,
  3.39823436e-03,-1.28236341e-04]


--- 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,
  1.39624027, 0.00768867, 1.37313932, 0.04406058,-0.08535945,-0.04588272,
  0.09303639, 0.70947057,-0.08005851,-0.69728819,-0.06349269]

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,
 -5.23300127e-02, 1.93632909e-02,-1.45144106e+01, 4.93136315e+01,
  4.40487719e+00,-7.38184404e-01, 3.01876125e+00, 1.67713349e+00,
  1.43694182e+02, 1.30908112e+01]

qfrc_actuator:
[ 4.65429911e-06, 8.74655379e-04, 1.90635512e-04,-6.72650987e-05,
 -2.78863873e-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,-1.59574270e-03, 0.00000000e+00,-9.15688741e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004312987725822233
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57413908e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.57413908e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13838374, -0.03595986,  0.06178289])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.29072604e-03,-4.91738132e-06,-1.21477010e-05, 2.35120438e-04,
  5.23648001e-06,-1.43380245e-06,-4.90498152e+00, 9.69785770e-05,
  3.39754090e-03,-1.30921053e-04]


--- 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,
  1.39624059, 0.00768962, 1.37322469, 0.04406043,-0.08533325,-0.04588998,
  0.09306446, 0.70977281,-0.08003358,-0.6969785 ,-0.06354649]

qacc:
[ 2.77158991e+00, 4.53348818e-01,-5.57818139e+00, 1.90608282e+01,
  7.64232783e-02, 2.28302003e+00,-8.14958042e+00, 1.05007278e+01,
 -3.24337163e+00,-4.84629663e-01,-1.46390623e+00, 1.08397028e+01,
 -3.33672732e-02, 1.60493268e-01,-6.58005406e+00, 2.29535777e+01,
  3.91958528e+00,-6.52892666e-01, 1.57033228e+00, 1.41601740e+00,
  1.27570667e+02, 1.14055887e+01]

qfrc_actuator:
[ 2.21687562e-05, 8.56412304e-04, 2.03069325e-04,-2.76571203e-05,
  9.09077388e-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,-1.56572038e-03, 0.00000000e+00,-8.10188103e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004269374527281634
  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([-0.1384459 , -0.03594593,  0.06178496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-2.54866452e-05,-4.42155972e-05, 1.28529884e-05,
 -1.96991859e-05,-4.12042542e-05, 1.29833018e-05, 2.71472638e-05,
  3.31361738e-03, 1.80406104e-05, 1.99020627e-05, 1.16926814e-04,
  1.28722625e-05, 2.73568474e-07,-4.90495916e+00, 7.84778195e-05,
  3.40298250e-03,-1.32183711e-04]


--- 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,
  1.39624101, 0.00769059, 1.37331041, 0.04405923,-0.08532656,-0.04589304,
  0.09308572, 0.70984959,-0.08002405,-0.69689754,-0.06358879]

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,
 -3.13437151e-02, 7.10428793e-02, 3.73699661e+00,-1.22933328e+01,
 -4.88034618e+00, 1.04987760e+00,-1.70525109e+00,-3.21458845e+00,
 -1.60697268e+02,-6.86343536e+00]

qfrc_actuator:
[ 8.61234507e-05, 8.28208698e-04, 1.92008039e-04, 1.32449671e-05,
  1.81750687e-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,-1.56598682e-03, 0.00000000e+00,-8.72394176e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004241371510824446
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63600238e-15, -3.92640572e-14,  1.00000000e+00,  6.42360912e-29,
        1.00000000e+00,  3.92640572e-14, -1.00000000e+00,  0.00000000e+00,
        1.63600238e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0080929 , -0.06520645,  0.06178637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 2.18115441e-07,-9.88898377e-06,-2.94121714e-05,
 -2.95004637e-05,-4.38278600e-05,-1.75361997e-05, 1.52227480e-05,
  3.31752874e-03, 5.50843616e-06, 1.98261030e-05,-5.36650376e-05,
  6.78629536e-05,-1.64903278e-06,-4.90477177e+00, 8.28135063e-05,
  3.41399708e-03,-1.32354146e-04]


--- 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,
  1.39624154, 0.00769156, 1.3733963 , 0.04405665,-0.0853371 ,-0.04589242,
  0.09309628, 0.70972804,-0.08002869,-0.69701787,-0.0636208 ]

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,
 -3.89280254e-02, 6.89507589e-02, 4.41606388e+00,-1.50693666e+01,
 -4.30507562e+00, 9.19600201e-01,-2.67321821e+00,-2.97704753e+00,
 -1.41409221e+02,-5.77506550e+00]

qfrc_actuator:
[ 1.59131229e-04, 8.29670588e-04, 2.02626752e-04, 1.90477537e-05,
 -7.12148276e-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,-1.56654410e-03, 0.00000000e+00,-9.44106283e-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, -4.04911954,  7.62832929, -4.04911954, 65.86867692,
       30.37892954,  7.62832929, 30.37892954, 24.76150881,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0042445338401323335
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.6347835e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.6347835e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00809042, -0.0652109 ,  0.06178634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-7.10689142e-06, 3.44166559e-05,-3.51113673e-05,
 -1.77972005e-05, 1.15365675e-05,-1.79250426e-05,-1.03460006e-05,
  3.31195548e-03, 4.08493743e-06, 2.43378002e-07,-7.28260934e-05,
  5.93744857e-06, 1.24749251e-06,-4.90498336e+00, 8.34031031e-05,
  3.41606931e-03,-1.32925561e-04]


--- 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,
  1.3962418 , 0.00769289, 1.37348156, 0.04405826,-0.08536291,-0.04588856,
  0.09309285, 0.70943087,-0.08004634,-0.69731623,-0.06364356]

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,
 -4.22372375e-02, 1.89985080e-01,-1.35861628e+01, 4.61906855e+01,
 -3.81821390e+00, 8.09989126e-01,-3.49816404e+00,-2.75234693e+00,
 -1.25171763e+02,-4.89025764e+00]

qfrc_actuator:
[ 1.65857130e-04, 8.84446578e-04, 2.26062777e-04, 2.19468449e-05,
 -3.99937441e-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,-1.54951565e-03, 0.00000000e+00,-7.18987871e-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, -3.98569674,  7.66165767, -3.98569674, 70.80276831,
       32.33979476,  7.66165767, 32.33979476, 25.45995719,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0041980092639311295
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.61160418e-15,  9.91740628e-15,  1.00000000e+00,  6.55699648e-29,
        1.00000000e+00, -9.91740628e-15, -1.00000000e+00,  0.00000000e+00,
       -6.61160418e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00820146, -0.06523774,  0.06178849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 5.90700870e-05, 8.65658001e-05,
 -1.02374476e-05, 2.58665089e-05, 1.31977852e-05, 3.06817267e-05,
  3.30661579e-03, 2.09763381e-05,-9.97326152e-06, 2.20637396e-04,
  1.02654641e-05,-4.93345138e-06,-4.90496395e+00, 9.65805048e-05,
  3.41128728e-03,-1.33444100e-04]


--- 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,
  1.39624163, 0.00769413, 1.37356666, 0.04406319,-0.08536925,-0.04588804,
  0.09310674, 0.70935722,-0.08006182,-0.69738718,-0.06366761]

qacc:
[-8.35018202e+00, 3.84700630e+00,-1.18762357e+01, 1.27639406e+01,
 -1.43192513e-01, 9.86595218e-02,-3.03383468e+00, 1.50287867e+01,
 -3.89397991e+00, 2.01754554e+00,-1.00898858e+01, 2.29701716e+01,
 -2.08712799e-02,-1.39090101e-01,-1.03071882e+01, 3.56712461e+01,
  4.86783058e+00,-8.35065135e-01, 4.33226557e+00, 2.02206416e+00,
  1.58721505e+02, 1.49987775e+01]

qfrc_actuator:
[ 1.15761085e-04, 9.53035820e-04, 1.86094227e-04, 2.31748672e-05,
 -5.93904395e-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,-1.57554952e-03, 0.00000000e+00,-5.51566747e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0042176804432546774
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.63230712e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.63230712e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1385228 , -0.03591956,  0.06178759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-2.57916608e-05, 2.19840259e-05, 5.35998383e-05,
 -2.34565765e-05, 1.49990694e-05,-2.04490291e-06, 3.82252945e-05,
  3.31956213e-03,-2.29398558e-05, 1.94204663e-05, 1.78320657e-04,
  5.97979292e-05,-1.75848136e-05,-4.90478613e+00, 1.17510144e-04,
  3.40049111e-03,-1.33990230e-04]


--- 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,
  1.3962413 , 0.00769504, 1.3736521 , 0.04406776,-0.08535835,-0.04589045,
  0.09313141, 0.70948109,-0.08007514,-0.69725728,-0.06369335]

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,
  2.58786086e-03,-2.46227434e-01, 1.60635347e+00,-4.87548688e+00,
  4.31065922e+00,-7.33521917e-01, 2.69280930e+00, 1.69266265e+00,
  1.40249667e+02, 1.29786706e+01]

qfrc_actuator:
[ 8.59013931e-05, 9.40360470e-04, 1.44587848e-04, 4.11365405e-05,
 -7.05458692e-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,-1.59161759e-03, 0.00000000e+00,-5.79346672e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0042161097593661975
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.63328777e-14,  6.58321941e-15,  1.00000000e+00, -1.73355111e-28,
        1.00000000e+00, -6.58321941e-15, -1.00000000e+00,  0.00000000e+00,
        2.63328777e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13852657, -0.03591564,  0.06178774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 8.61297916e-06,-4.12246838e-05,
 -3.15765752e-05, 2.53347314e-05,-3.75444993e-05, 4.51041578e-06,
  3.34075612e-03,-3.48404835e-05, 2.61805548e-05,-1.59319343e-05,
  3.68129066e-06,-3.53486547e-06,-4.90498713e+00, 8.88108982e-05,
  3.39991026e-03,-1.35102667e-04]


--- 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,
  1.39624114, 0.00769597, 1.37373779, 0.04407099,-0.08533207,-0.04589546,
  0.0931613 , 0.70978056,-0.0800863 ,-0.69694862,-0.06372099]

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,
  5.15505147e-03, 4.74256893e-02, 4.39173062e+00,-1.48464959e+01,
  3.84435477e+00,-6.48870140e-01, 1.30413289e+00, 1.43831951e+00,
  1.24775400e+02, 1.13155183e+01]

qfrc_actuator:
[ 6.82102381e-05, 9.14613418e-04, 1.37720426e-04, 6.87428396e-05,
 -7.66683336e-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,-1.56591769e-03, 0.00000000e+00,-6.50883747e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004169723052494197
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.65645542e-15,  1.33129108e-14,  1.00000000e+00,  8.86167975e-29,
        1.00000000e+00, -1.33129108e-14, -1.00000000e+00,  0.00000000e+00,
       -6.65645542e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.138593  , -0.0359006 ,  0.06178996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -2.71740526e-05, 1.17867708e-05, 2.52458249e-07,-9.28137671e-06,
 -1.83527675e-05, 1.58135191e-05,-5.97713813e-06,-1.63004829e-05,
  3.34906915e-03, 7.52881363e-06, 6.73926051e-06,-6.98764771e-05,
  1.22679079e-05, 4.67207690e-06,-4.90496155e+00, 8.95962789e-05,
  3.40531526e-03,-1.34884406e-04]


--- 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,
  1.3962412 , 0.00769705, 1.37382353, 0.04407302,-0.085325  ,-0.04589625,
  0.09318375, 0.70985849,-0.08011055,-0.69686491,-0.06373791]

qacc:
[ 1.14326818e+00,-1.08225225e-01,-1.02692655e+00, 5.85286372e+00,
 -4.74863169e-03, 5.86666886e-01,-1.58431181e+00, 2.46172313e-01,
 -1.61433665e+00,-3.49877997e+00, 1.41368227e+01,-2.43432122e+01,
 -6.79811573e-03, 1.59724049e-01, 3.74706290e+00,-1.29600154e+01,
 -4.80368239e+00, 1.05606588e+00,-1.85840472e+00,-2.61004530e+00,
 -1.57880909e+02,-7.69346975e+00]

qfrc_actuator:
[ 7.55691977e-05, 9.16873933e-04, 1.51287591e-04, 8.40522583e-05,
 -6.19709107e-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,-1.55087725e-03, 0.00000000e+00,-7.12051355e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004151625705253986
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.67136789e-15, -2.67418863e-14,  1.00000000e+00, -4.46955301e-29,
        1.00000000e+00,  2.67418863e-14, -1.00000000e+00,  0.00000000e+00,
       -1.67136789e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0083234 , -0.06528578,  0.06179093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
 -1.36087006e-06, 4.08163303e-06,-1.24236880e-05,-4.98099196e-06,
 -9.90762345e-06,-2.32490711e-05, 3.36560120e-05,-2.72586239e-05,
  3.34047749e-03, 2.18263768e-05,-6.89555759e-06,-6.47302935e-05,
  6.59848391e-05, 8.63812181e-06,-4.90477870e+00, 1.10430559e-04,
  3.41616733e-03,-1.33643893e-04]


--- 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,
  1.39624136, 0.00769815, 1.37390928, 0.04407395,-0.08533491,-0.04589333,
  0.09319501, 0.70974127,-0.08014715,-0.69697942,-0.06374515]

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,
 -1.74469080e-02, 5.13611865e-02, 3.30518720e+00,-1.15611495e+01,
 -4.24399417e+00, 9.24956144e-01,-2.79820385e+00,-2.50874114e+00,
 -1.39128226e+02,-6.42440241e+00]

qfrc_actuator:
[ 7.98567566e-05, 8.82703992e-04, 1.59141917e-04, 9.20318593e-05,
 -1.71511761e-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,-1.56013256e-03, 0.00000000e+00,-7.66591843e-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, -5.18445952,  6.90710912, -5.18445952, 47.98436067,
       29.5345121 ,  6.90710912, 29.5345121 , 30.80489751,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004153249473970333
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.67071445e-15, -2.67314312e-14,  1.00000000e+00, -4.46605883e-29,
        1.00000000e+00,  2.67314312e-14, -1.00000000e+00,  0.00000000e+00,
       -1.67071445e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00832442, -0.0652924 ,  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:
[ 4.48250979e-06,-3.24477457e-05, 9.34486892e-06, 8.58378223e-06,
  4.40156982e-05,-1.92135657e-05, 8.47261413e-06,-3.89870107e-06,
 -4.86038212e-06,-4.28089643e-05, 1.68393025e-05,-3.41765668e-05,
  3.32895308e-03, 4.75373820e-06,-1.17495296e-05,-5.93745375e-05,
  4.99588586e-06, 3.87317556e-06,-4.90498460e+00, 9.03693905e-05,
  3.41837348e-03,-1.33711449e-04]


--- 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,
  1.39624164, 0.00769896, 1.37399527, 0.04407153,-0.0853599 ,-0.04588716,
  0.09319187, 0.70945098,-0.08019533,-0.69726951,-0.06374361]

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,
 -2.22674249e-02,-1.14415977e-01, 1.05393039e+01,-3.63093867e+01,
 -3.77032166e+00, 8.14830618e-01,-3.59887874e+00,-2.39274252e+00,
 -1.23344715e+02,-5.39821102e+00]

qfrc_actuator:
[ 4.67883088e-05, 8.62461186e-04, 1.45652624e-04, 7.78483177e-05,
  9.86990130e-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,-1.58388556e-03, 0.00000000e+00,-9.41055117e-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, -5.13768402,  6.94197232, -5.13768402, 51.54638225,
       31.75727398,  6.94197232, 31.75727398, 32.13960328,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004106665637151639
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.1827663e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.1827663e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00843574, -0.06532048,  0.06179313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 1.55261314e-05, 3.79422347e-05,-3.85005910e-05,
  3.36537109e-05,-6.05436240e-05,-1.52847376e-05,-2.14963823e-05,
  3.32400840e-03,-1.97005283e-05,-1.33201945e-05,-1.79593905e-04,
  8.27220318e-06,-7.84232731e-06,-4.90496706e+00, 8.64129723e-05,
  3.41386665e-03,-1.33677058e-04]


--- 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,
  1.39624181, 0.00769959, 1.37408104, 0.04406837,-0.08536564,-0.04588432,
  0.09320519, 0.70938115,-0.08024172,-0.69733529,-0.06374276]

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,
 -2.67657181e-02,-1.11815632e-01, 1.90793969e+00,-7.16350962e+00,
  4.81323445e+00,-8.35678979e-01, 4.11283288e+00, 2.08677666e+00,
  1.56513133e+02, 1.51496893e+01]

qfrc_actuator:
[ 2.75034740e-05, 9.03860947e-04, 1.55207001e-04, 3.29801118e-05,
 -9.51125319e-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,-1.59829334e-03, 0.00000000e+00,-9.71739165e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004113558709153732
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.34946782e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.34946782e-14, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1386764 , -0.03587163,  0.06179281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 4.76815548e-05, 1.22895837e-05,-4.11839635e-06,
  3.93355586e-05,-2.48840270e-05,-3.76242456e-05, 3.86493841e-05,
  3.31770568e-03,-1.99605987e-05,-2.79058635e-05,-4.28164598e-05,
  5.56083467e-05,-2.45776853e-05,-4.90479560e+00, 9.28611042e-05,
  3.40344450e-03,-1.33633681e-04]


--- 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,
  1.39624211, 0.00769994, 1.37416702, 0.0440618 ,-0.0853543 ,-0.04588443,
  0.09322857, 0.70950641,-0.08028625,-0.69720269,-0.06374308]

qacc:
[ 3.97797303e+00,-1.58361512e+00, 1.00388644e+01,-2.60832378e+01,
 -1.57003373e-02, 4.34800110e+00,-1.52002841e+01, 2.42542249e+01,
  3.96170586e+00, 5.51179659e+00,-2.35858435e+01, 4.45263096e+01,
 -2.43157182e-02,-1.10860526e-01, 1.05982857e+01,-3.66269900e+01,
  4.26849839e+00,-7.33747031e-01, 2.51616480e+00, 1.75605795e+00,
  1.38493628e+02, 1.31140571e+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,-1.60707888e-03, 0.00000000e+00,-1.14821232e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004112210065040749
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34991040e-14,  1.34991040e-14,  1.00000000e+00, -1.82225808e-28,
        1.00000000e+00, -1.34991040e-14, -1.00000000e+00,  0.00000000e+00,
        1.34991040e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13867967, -0.03586748,  0.06179294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.32312087e-03,-1.94956024e-05,-1.83055151e-05,-1.82588695e-04,
  1.92063240e-06,-5.01308406e-06,-4.90498772e+00, 8.34141592e-05,
  3.40282047e-03,-1.33354846e-04]


--- 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,
  1.39624264, 0.00769985, 1.37425335, 0.04404947,-0.08532772,-0.04588713,
  0.09325661, 0.70980536,-0.08032885,-0.69689326,-0.06374488]

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,
 -3.38713970e-02,-1.63494868e-01, 1.79740789e+01,-6.21010962e+01,
  3.81252321e+00,-6.48831411e-01, 1.16386076e+00, 1.50144895e+00,
  1.23398860e+02, 1.14394211e+01]

qfrc_actuator:
[ 8.43223217e-05, 9.25573039e-04, 1.63914047e-04,-3.83086893e-05,
 -1.00768113e-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,-1.63007447e-03, 0.00000000e+00,-1.44470727e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0040671746228228695
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.82428914e-15,  1.36485783e-14,  1.00000000e+00, -9.31418446e-29,
        1.00000000e+00, -1.36485783e-14, -1.00000000e+00,  0.00000000e+00,
        6.82428914e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13874412, -0.03585253,  0.06179509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.31684957e-03,-2.84671851e-05,-3.02671730e-05,-3.09358797e-04,
  1.11156701e-05, 8.19868261e-06,-4.90495970e+00, 1.01115079e-04,
  3.40810406e-03,-1.31794103e-04]


--- 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  ,
  1.39624274, 0.00769972, 1.37433876, 0.04404001,-0.08532024,-0.04588557,
  0.09327691, 0.70988455,-0.08038355,-0.69680709,-0.0637362 ]

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,
 -3.99227170e-02,-9.93853541e-02,-1.00702760e+01, 3.32498172e+01,
 -4.77632925e+00, 1.06390566e+00,-1.93173009e+00,-2.34699459e+00,
 -1.56620031e+02,-8.03907250e+00]

qfrc_actuator:
[ 6.77112003e-05, 9.59073279e-04, 1.83230674e-04,-3.62248745e-05,
  1.43484477e-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,-1.64357441e-03, 0.00000000e+00,-1.27691151e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004064478819786027
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53648347e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.53648347e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.008546  , -0.0653699 ,  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:
[-1.56443750e-05, 4.22880380e-05, 2.24923939e-05, 2.50561211e-06,
  2.93549092e-05, 1.49664288e-05,-3.88236904e-05,-3.29920263e-05,
  8.63839115e-06, 5.37355381e-05, 3.01292059e-05,-1.56137624e-05,
  3.30449696e-03,-2.00818199e-05,-4.96818232e-05, 1.46387688e-04,
  6.43639386e-05, 1.67324398e-05,-4.90477827e+00, 1.36991826e-04,
  3.41877236e-03,-1.29249330e-04]


--- 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,
  1.39624273, 0.00769974, 1.37442391, 0.04403222,-0.08532965,-0.04588028,
  0.0932858 , 0.70976996,-0.08044983,-0.69691781,-0.06371802]

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,
 -2.12471395e-02, 8.89749668e-02,-5.40049495e+00, 1.83222701e+01,
 -4.22364489e+00, 9.32082152e-01,-2.85614428e+00,-2.31667208e+00,
 -1.38145683e+02,-6.68355826e+00]

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,-1.61609033e-03, 0.00000000e+00,-1.19193323e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.69812924,  6.48984591, -5.69812924, 40.07551087,
       27.603787  ,  6.48984591, 27.603787  , 32.87267802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004067926610455609
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.52878452e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.52878452e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00854188, -0.06537621,  0.06179531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.32645380e-03, 9.60951921e-06,-5.66277621e-06, 8.70226977e-05,
  3.63309142e-06, 6.05697302e-06,-4.90498197e+00, 9.82978109e-05,
  3.42110859e-03,-1.28820416e-04]


--- 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,
  1.39624269, 0.0077    , 1.37450891, 0.04402615,-0.08535409,-0.04587171,
  0.09328011, 0.70948335,-0.08052713,-0.69720311,-0.0636912 ]

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,
 -1.68184712e-02, 1.44748895e-01,-5.44825970e+00, 1.87556224e+01,
 -3.75584352e+00, 8.21431830e-01,-3.64368021e+00,-2.25732948e+00,
 -1.22597701e+02,-5.59057460e+00]

qfrc_actuator:
[ 7.00319749e-05, 8.73058838e-04, 1.72352277e-04,-2.40951491e-05,
  3.01214716e-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,-1.59970281e-03, 0.00000000e+00,-1.10331498e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.66978618,  6.51462213, -5.66978618, 42.93864298,
       29.85385578,  6.51462213, 29.85385578, 34.6186809 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004023821034479028
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17336172e-15,  2.75912625e-14,  1.00000000e+00,  1.42739581e-28,
        1.00000000e+00, -2.75912625e-14, -1.00000000e+00,  0.00000000e+00,
       -5.17336172e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00864679, -0.06540364,  0.06179735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.33135204e-03, 1.82447334e-05, 5.93316041e-06, 9.25111840e-05,
  6.31144704e-06,-1.03044178e-05,-4.90496545e+00, 7.83273726e-05,
  3.41680834e-03,-1.28241597e-04]


--- 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,
  1.39624215, 0.00770024, 1.37459352, 0.04402454,-0.08535932,-0.04586649,
  0.09329049, 0.70941608,-0.08060306,-0.69726523,-0.06366448]

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,
 -4.04947601e-03,-1.29940736e-01,-1.40953985e+01, 4.84197992e+01,
  4.80007453e+00,-8.37338821e-01, 4.01837418e+00, 2.17587452e+00,
  1.55680954e+02, 1.54524329e+01]

qfrc_actuator:
[ 5.93958597e-05, 8.38343184e-04, 1.69142301e-04,-2.83577924e-05,
  2.21675203e-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,-1.62561494e-03, 0.00000000e+00,-8.71229925e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004019943221742053
  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([-0.13881377, -0.03582515,  0.0617975 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-1.86642430e-06,
  1.41447498e-05,-9.72875376e-05, 3.07247120e-06, 2.16418518e-05,
  3.33317984e-03,-1.91351414e-05, 1.13959762e-05, 2.37652626e-04,
  5.25986801e-05,-3.07839732e-05,-4.90479677e+00, 7.08282106e-05,
  3.40664151e-03,-1.27615054e-04]


--- 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,
  1.39624136, 0.0077004 , 1.37467817, 0.04402539,-0.08534752,-0.04586421,
  0.09331065, 0.70954306,-0.08067748,-0.69712978,-0.06363842]

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,
  2.34887474e-02,-1.38756647e-01,-7.36391157e+00, 2.58461944e+01,
  4.26042740e+00,-7.34731064e-01, 2.44381534e+00, 1.84296650e+00,
  1.37878355e+02, 1.33878848e+01]

qfrc_actuator:
[-4.69249759e-08, 8.89048767e-04, 1.49010881e-04,-1.32877334e-05,
  3.21247249e-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,-1.62349815e-03, 0.00000000e+00,-7.51763975e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004021397820990862
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38039442e-14, -2.76078885e-14,  1.00000000e+00,  3.81097752e-28,
        1.00000000e+00,  2.76078885e-14, -1.00000000e+00,  0.00000000e+00,
        1.38039442e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13881269, -0.0358216 ,  0.06179748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-4.97765044e-05, 2.60431730e-05, 8.55963051e-05,
  2.75520373e-05,-6.49993995e-05,-2.18478197e-05,-1.03054366e-05,
  3.35741756e-03,-1.63529161e-05, 2.97596234e-05, 1.33770535e-04,
  5.08024760e-08,-6.32253918e-06,-4.90498416e+00, 7.96846048e-05,
  3.40585674e-03,-1.25977601e-04]


--- 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,
  1.39624075, 0.00770077, 1.37476309, 0.04402636,-0.08532048,-0.04586452,
  0.09333525, 0.70984315,-0.08075029,-0.69681807,-0.06361339]

qacc:
[-8.99493509e+00, 6.25017829e-01,-1.10572557e+00,-1.89582068e+00,
 -8.19114178e-02,-7.01534321e-01, 7.12167304e-01, 6.98590170e+00,
  2.82878626e+00,-1.17834640e+00, 4.89598873e+00,-8.34528183e+00,
  3.13217019e-02, 1.37326944e-01, 5.12212602e-02, 4.13352617e-01,
  3.80860241e+00,-6.49274195e-01, 1.11010213e+00, 1.58726038e+00,
  1.22964845e+02, 1.16893211e+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,-1.58674207e-03, 0.00000000e+00,-7.52907427e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00397959955159629
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.97446445e-15,  1.39489289e-14,  1.00000000e+00, -9.72863089e-29,
        1.00000000e+00, -1.39489289e-14, -1.00000000e+00,  0.00000000e+00,
        6.97446445e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13887228, -0.03580739,  0.06179948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 1.28033379e-07, 3.47121579e-05, 3.41672897e-05,
  1.70135880e-05, 5.30389541e-06, 1.70720499e-05,-8.06416553e-06,
  3.37044722e-03, 2.42784562e-05, 2.55089488e-05, 9.44606213e-06,
  9.72338460e-06, 1.13684253e-05,-4.90495392e+00, 1.13969502e-04,
  3.41095387e-03,-1.23085722e-04]


--- 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,
  1.39624018, 0.00770133, 1.37484797, 0.04402868,-0.08531255,-0.04586054,
  0.09335204, 0.70992384,-0.08083489,-0.69672931,-0.0635778 ]

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,
  2.43054538e-02, 1.02958437e-01,-4.17343284e+00, 1.44857334e+01,
 -4.77828074e+00, 1.07490434e+00,-1.95158413e+00,-2.27318660e+00,
 -1.56375308e+02,-8.12698337e+00]

qfrc_actuator:
[-6.41955140e-05, 8.91504874e-04, 1.12432917e-04,-2.79431110e-05,
 -2.41578311e-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,-1.58270642e-03, 0.00000000e+00,-6.83039720e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039936812144814385
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91121496e-14,  1.38997452e-14,  1.00000000e+00, -2.65654010e-28,
        1.00000000e+00, -1.38997452e-14, -1.00000000e+00,  0.00000000e+00,
        1.91121496e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00872496, -0.06544859,  0.06179896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-7.52255690e-06,-1.53605318e-05,
  1.01531894e-05, 1.67140432e-05, 4.70895417e-06, 1.55918504e-05,
  3.36063910e-03, 1.83403060e-05, 1.00595390e-05, 7.30277372e-05,
  6.31072925e-05, 2.40242295e-05,-4.90477163e+00, 1.64984563e-04,
  3.42141744e-03,-1.19231930e-04]


--- 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 ,
  1.39623942, 0.00770168, 1.37493287, 0.04403182,-0.08532154,-0.04585278,
  0.09335735, 0.70981098,-0.08093089,-0.69683726,-0.06353264]

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,
  3.09541711e-02,-2.06926507e-01,-2.46459786e+00, 8.66582059e+00,
 -4.22710645e+00, 9.41973642e-01,-2.86981865e+00,-2.28063396e+00,
 -1.37998824e+02,-6.73009478e+00]

qfrc_actuator:
[-5.24008391e-05, 9.20905284e-04, 1.15682889e-04, 4.14439777e-06,
 -3.00749796e-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,-1.61613479e-03, 0.00000000e+00,-6.42859103e-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, -5.99883343,  6.21295214, -5.99883343, 35.6928509 ,
       26.12403195,  6.21295214, 26.12403195, 33.86007574,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004000363106329653
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73456602e-15,  1.38765281e-14,  1.00000000e+00, -2.40697542e-29,
        1.00000000e+00, -1.38765281e-14, -1.00000000e+00,  0.00000000e+00,
        1.73456602e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00871212, -0.06545356,  0.06179874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-1.19804016e-06,-2.82160977e-05,
  6.01244769e-06,-1.97286831e-07,-1.25255730e-05,-8.23370343e-06,
  3.35877209e-03,-2.50262294e-05, 1.08962806e-05, 4.51039134e-05,
  2.05571219e-06, 8.06628818e-06,-4.90497540e+00, 1.07673602e-04,
  3.42394836e-03,-1.18295096e-04]


--- 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,
  1.39623865, 0.00770164, 1.37501809, 0.04403309,-0.08534556,-0.04584171,
  0.09334805, 0.70952619,-0.08103783,-0.69711972,-0.06347874]

qacc:
[ 7.29042038e+00,-3.04222738e-01, 1.71858343e+00,-2.57146957e+00,
 -5.27450824e-02,-2.54215111e+00, 1.10793057e+01,-2.56038328e+01,
  9.39675840e+00, 1.18895696e+00,-3.76389994e+00, 2.81730320e+00,
  4.28212142e-02,-2.85775985e-01, 6.14319304e+00,-2.08200618e+01,
 -3.76049994e+00, 8.30416338e-01,-3.65218084e+00,-2.25123157e+00,
 -1.22533269e+02,-5.60625522e+00]

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,-1.63620709e-03, 0.00000000e+00,-7.44773445e-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, -5.98816701,  6.2232333 , -5.98816701, 38.10366701,
       28.3542534 ,  6.2232333 , 28.3542534 , 35.91960959,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003959610624556964
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22669277e-14, -5.60773839e-14,  1.00000000e+00,  6.87897214e-28,
        1.00000000e+00,  5.60773839e-14, -1.00000000e+00,  0.00000000e+00,
        1.22669277e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00880826, -0.0654796 ,  0.06180062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-9.28578363e-06,-1.53671123e-06,-7.09964509e-05,
  5.67800550e-05,-9.51851409e-06,-3.00801866e-05,-6.54731330e-06,
  3.36813466e-03,-3.45905749e-05, 7.60244692e-06,-9.85572864e-05,
  4.31240569e-06,-1.27043456e-05,-4.90495942e+00, 7.13910086e-05,
  3.41986779e-03,-1.17156765e-04]


--- 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,
  1.39623773, 0.00770135, 1.37510319, 0.04403449,-0.08535034,-0.04583398,
  0.09335477, 0.70946079,-0.08114389,-0.6971789 ,-0.06342434]

qacc:
[ 7.52666021e+00,-1.00231247e+00, 6.95900101e+00,-1.87704512e+01,
 -3.71170610e-02,-1.77739757e+00, 8.34505278e+00,-2.11661205e+01,
  2.75188027e+00, 1.34878791e+00,-2.61115794e+00,-3.82828886e+00,
  4.75769754e-02,-2.34751237e-01,-5.78812289e-01, 1.72578734e+00,
  4.81079620e+00,-8.37315573e-01, 4.00251881e+00, 2.28660893e+00,
  1.55683753e+02, 1.58733292e+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,-1.64799582e-03, 0.00000000e+00,-7.34293319e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00394670684737556
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.03259114e-15,  1.40651823e-14,  1.00000000e+00, -9.89146763e-29,
        1.00000000e+00, -1.40651823e-14, -1.00000000e+00,  0.00000000e+00,
        7.03259114e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13892009, -0.03578357,  0.06180116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-1.17662222e-06,-6.52436648e-06,-6.15413763e-05,
  1.67566020e-05, 2.31203486e-06,-4.04192991e-05,-2.31847363e-05,
  3.36884959e-03,-2.65620702e-05,-1.01783373e-05, 5.33895909e-06,
  5.01819232e-05,-3.69352707e-05,-4.90479135e+00, 4.94500954e-05,
  3.40993048e-03,-1.15927600e-04]


--- 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,
  1.3962368 , 0.00770102, 1.37518817, 0.04403631,-0.08533804,-0.0458292 ,
  0.09337123, 0.70958976,-0.08124888,-0.69704033,-0.06337007]

qacc:
[ 4.56803180e+00, 1.58648503e-01, 5.20969914e-03,-1.13996464e+00,
 -2.44634635e-02, 6.43557398e-02,-1.98321050e+00, 9.76170784e+00,
 -7.35709637e+00,-2.13241128e+00, 8.73491032e+00,-1.47888903e+01,
  5.48230408e-02,-7.86955825e-02,-1.47760900e+00, 4.90297219e+00,
  4.27160047e+00,-7.34119914e-01, 2.43598931e+00, 1.95196810e+00,
  1.37943032e+02, 1.37725414e+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,-1.63705069e-03, 0.00000000e+00,-7.10885647e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003951832958218937
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40469377e-14, -1.40469377e-14,  1.00000000e+00,  1.97316458e-28,
        1.00000000e+00,  1.40469377e-14, -1.00000000e+00,  0.00000000e+00,
        1.40469377e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13891338, -0.03578096,  0.06180096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-1.80647628e-05, 1.36725060e-05, 3.46823946e-05,
 -4.44835312e-05, 4.78330933e-07, 2.78181506e-05,-1.46314330e-05,
  3.37579046e-03,-3.15684028e-06,-5.53087081e-06, 2.20696964e-05,
 -1.95147087e-06,-7.66108765e-06,-4.90497625e+00, 7.71052957e-05,
  3.40889275e-03,-1.12881916e-04]


--- 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,
  1.39623599, 0.00770091, 1.37527301, 0.04403906,-0.08531045,-0.045827  ,
  0.09339212, 0.70989203,-0.08135264,-0.69672526,-0.06331634]

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,
  5.37525903e-02, 1.05204324e-01,-2.99199458e+00, 1.01718539e+01,
  3.82004536e+00,-6.48169168e-01, 1.10883034e+00, 1.69537856e+00,
  1.23080433e+02, 1.20426587e+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,-1.61258112e-03, 0.00000000e+00,-6.62322843e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039137156053744016
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.0918734e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        7.0918734e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13896745, -0.03576773,  0.06180277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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, 2.21347044e-05,
 -2.80076328e-05, 2.85102966e-05, 4.02956243e-05, 1.08561963e-05,
  3.37604976e-03, 2.30082429e-05,-1.46302209e-06, 4.87587198e-05,
  8.16593354e-06, 1.44817322e-05,-4.90494369e+00, 1.28757759e-04,
  3.41374085e-03,-1.08597091e-04]


--- 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,
  1.39623549, 0.00770078, 1.37535819, 0.04403934,-0.08530204,-0.04582045,
  0.09340525, 0.70997447,-0.08146831,-0.6966336 ,-0.06325176]

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,
  4.67541774e-02, 1.50278555e-02, 7.94816084e+00,-2.70828463e+01,
 -4.79448071e+00, 1.08870689e+00,-1.94056597e+00,-2.31486054e+00,
 -1.56695382e+02,-8.05197285e+00]

qfrc_actuator:
[ 7.52102063e-05, 9.22110108e-04, 1.40764027e-04,-1.91851723e-05,
 -7.54762781e-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,-1.61573916e-03, 0.00000000e+00,-7.94610721e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0039434705173399184
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.28746786e-14, -4.22301759e-14,  1.00000000e+00,  9.66001703e-28,
        1.00000000e+00,  4.22301759e-14, -1.00000000e+00,  0.00000000e+00,
        2.28746786e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00884927, -0.06551834,  0.06180152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,
  3.36995393e-03, 9.02654324e-06, 3.51533770e-06,-1.30063166e-04,
  6.20820786e-05, 3.12777919e-05,-4.90475905e+00, 1.95879600e-04,
  3.42396109e-03,-1.03363137e-04]


--- 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,
  1.39623517, 0.00770046, 1.37544351, 0.04403704,-0.0853106 ,-0.04581008,
  0.09340695, 0.70986297,-0.08159554,-0.69673909,-0.06317733]

qacc:
[-4.20705046e+00,-1.83891720e+00, 5.75010554e+00,-4.27951291e+00,
  6.05502921e-02,-1.84589307e+00, 6.95127353e+00,-1.50421408e+01,
  2.50544521e+00, 2.81181148e-01,-2.42881156e+00, 9.25857809e+00,
  3.28875020e-02,-9.74942042e-02, 8.01068112e+00,-2.77249613e+01,
 -4.24177805e+00, 9.54233243e-01,-2.85842082e+00,-2.34252577e+00,
 -1.38306626e+02,-6.63744919e+00]

qfrc_actuator:
[ 4.93452171e-05, 9.37748020e-04, 1.85905312e-04,-9.68465815e-06,
 -1.07094929e-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,-1.63531569e-03, 0.00000000e+00,-9.25876472e-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, -6.2131478 ,  5.99863078, -6.2131478 , 32.68492012,
       24.90855687,  5.99863078, 24.90855687, 34.43567537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039535518856990415
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.77551896e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.77551896e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00882734, -0.06552174,  0.06180113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-6.13717045e-05,-1.75026371e-05,-4.34425293e-05,
  1.50880337e-05, 3.98716863e-05, 2.84309647e-05, 2.47931227e-05,
  3.35434726e-03,-9.12674011e-06,-1.49585016e-05,-1.38568887e-04,
  3.08532241e-07, 1.00717390e-05,-4.90496416e+00, 1.18866347e-04,
  3.42677482e-03,-1.01890631e-04]


--- 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,
  1.39623494, 0.00770038, 1.37552846, 0.04403552,-0.08533426,-0.04579635,
  0.09339408, 0.70957915,-0.08173393,-0.69701948,-0.06309391]

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,
  2.16682024e-02, 1.45420455e-01,-2.88355481e+00, 9.29008243e+00,
 -3.77379203e+00, 8.41382486e-01,-3.64059643e+00,-2.32878292e+00,
 -1.22830211e+02,-5.50204336e+00]

qfrc_actuator:
[-1.22912879e-06, 9.47059657e-04, 2.12174071e-04,-3.98450392e-05,
  2.82042565e-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,-1.61131969e-03, 0.00000000e+00,-8.77900721e-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, -6.21775464,  5.99385553, -6.21775464, 34.7430765 ,
       27.0819232 ,  5.99385553, 27.0819232 , 36.72992594,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003916022400599434
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.31577187e-15, -4.25261749e-14,  1.00000000e+00,  2.26059444e-28,
        1.00000000e+00,  4.25261749e-14, -1.00000000e+00,  0.00000000e+00,
        5.31577187e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00891498, -0.06554638,  0.06180284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-2.50991586e-05,-5.64606162e-05,-4.50169542e-05,
  6.33124566e-05, 2.97144184e-05,-1.62184056e-05, 1.52187421e-05,
  3.34536590e-03, 2.40244189e-05,-2.36913715e-05, 3.80069251e-05,
  2.16894243e-06,-1.52220851e-05,-4.90494847e+00, 6.51198044e-05,
  3.42297060e-03,-1.00159422e-04]


--- 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,
  1.39623487, 0.00770054, 1.37561329, 0.0440342 ,-0.08533858,-0.04578595,
  0.09339733, 0.70951534,-0.08187204,-0.69707588,-0.06300933]

qacc:
[-5.12770790e+00, 1.30287921e+00,-4.19662009e+00, 4.83522199e+00,
 -2.44864793e-02, 1.43792105e+00,-3.12173150e+00,-3.50215008e+00,
  3.41295078e+00, 1.57823773e+00,-4.34617675e+00, 1.82459833e+00,
  1.53160207e-02, 1.67843594e-01,-7.87396936e-01, 2.52584900e+00,
  4.83259179e+00,-8.33803855e-01, 4.02896985e+00, 2.42400658e+00,
  1.56110747e+02, 1.64105125e+01]

qfrc_actuator:
[-3.04231413e-05, 9.52416464e-04, 1.91531316e-04,-3.98609780e-05,
 -1.26225283e-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,-1.59703587e-03, 0.00000000e+00,-8.66720565e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0038956215605070385
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.12481312e-15,  1.42496262e-14,  1.00000000e+00, -1.01525924e-28,
        1.00000000e+00, -1.42496262e-14, -1.00000000e+00,  0.00000000e+00,
        7.12481312e-15])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13899278, -0.03574794,  0.06180371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 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,-3.68765152e-05,-2.70841370e-05,
  2.07303811e-05, 1.38510752e-05,-3.05117147e-05,-1.01362521e-05,
  3.34067261e-03, 2.62882462e-05,-6.82503342e-06, 1.02149155e-05,
  4.78951556e-05,-4.34025578e-05,-4.90477984e+00, 2.75626805e-05,
  3.41329608e-03,-9.82887348e-05]


